DE102019202192A1 - Vehicle control and control procedures - Google Patents

Abstract

Embodiments of the present invention provide a controller (1110). The controller (1110) includes output means (1150) for outputting a component control signal indicative of a control request to cause a component associated with a host vehicle to perform an action corresponding to a carrier vehicle Maneuver of the carrier vehicle is assigned. The controller (1110) includes input means (1140) for receiving a fallback signal indicative of an action to be performed by the component, the action being associated with a maneuver of the host vehicle and receiving a keep alive signal indicative of another operation of the vehicle Communication link to the input means (1140) indicates. The controller (1110) includes control means (1120) arranged to determine whether a keep-alive signal is received from the input means (1140) within a predetermined period of time from a time of receipt of a fallback signal by the input means (1140). Will be received. The control means (1120) is arranged to control the output means (1150) to output the component control signal in response to the fallback signal, unless it is determined that the holdback signal is received from the input means (1140) within the predetermined period of time.

Description

TECHNICAL PART

The present disclosure relates to a vehicle controller and a control method, and more particularly, but not exclusively, to a controller and method for controlling the vehicle. Aspects of the invention relate to a controller, a system, a method, a vehicle, and computer software.

BACKGROUND

It is known that components for movement of a vehicle receive instructions to perform an action associated with a current maneuver of the vehicle based on a component control signal.

This can be problematic, especially if there is a problem with a connection between the components and a control of the vehicle that outputs the control signals of the component.

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

SUMMARY OF THE INVENTION

Aspects and embodiments of the invention constitute a controller, system, method, and vehicle as required by the appended claims.

According to one aspect of the invention, there is provided a controller arranged to operatively cause an output of a component control signal indicative of a control request to cause a component associated with a host vehicle to perform an action, which is associated with a maneuver of the host vehicle depending on whether a keep-alive signal is received within a predetermined period of a received fallback signal. The component control signal is determined in response to the fallback signal. The fallback signal is an indicator of the action to be performed by the component.

According to one aspect of the invention, a controller is provided having output means for outputting a component control signal indicative of a control request to cause a component associated with a host vehicle to perform an action associated with a maneuver of the host vehicle Input means for receiving a fallback signal indicative of an action to be taken by the component, the action associated with a maneuver of the host vehicle, and for receiving a keep alive signal indicating continued operation of a communication link to the input means and control means arranged to determine whether a keep-alive signal is received by the input means within a predetermined period of time from the time of receipt of a fallback signal by the input means and arranged to control the output means; around the component control signal in A depending on the fallback signal, if the keep alive signal is not determined to be received by the input means within the predetermined time period. Advantageously, the fallback signal may be used to determine instructions to be sent to a component of the host vehicle if a keep alive signal is not received later within the expected time. For example, if the system suffers from a network or communication failure, the host vehicle may be stalled by the component control signal determined in response to the fallback signal.

• das Eingabemittel einen elektrischen Eingang zum Empfangen des Signals umfasst;
• die Ausgabeeinrichtung einen elektrischen Ausgang zur Ausgabe des Signals umfasst; und
• die Steuermittel eine oder mehrere Steuervorrichtungen, wie beispielsweise elektronische Verarbeitungsvorrichtungen, umfassen.

The controller as described above, wherein:

• the input means comprises an electrical input for receiving the signal;
• the output device comprises an electrical output for outputting the signal; and
• the control means comprise one or more control devices, such as electronic processing devices.

The predetermined time span can be less than five seconds. The predetermined period of time may be less than one second. In some embodiments, the predetermined amount of time may be less than half a second.

The fallback signal may be an indicator of one or more actions to be taken by the component over a period of at least two seconds. The duration can be at least five seconds.

The component associated with the host vehicle may be a component for the movement of the host vehicle. The Movement component may be a component for the longitudinal movement of the host vehicle, such as a component for the torque. The torque component may be a component for braking or a component for propulsion, such as a motor or motor. The movement component may be a component for the transverse movement of the host vehicle, such as a component for the steering.

The fallback signal may be indicative of a maneuver to be performed by the host vehicle. Therefore, in some embodiments, the action to be performed by the component may be determined by the controller in response to the maneuver to be performed by the host vehicle. In other embodiments, the action to be performed by the component may be determined by the component in dependence on the maneuver to be performed by the host vehicle. The fallback signal may include an instruction to receive by the component associated with the host vehicle to cause the component to perform the action.

The keep-alive signal may be a dedicated keep-alive signal. In some embodiments, the keep-alive signal may include at least a portion of the keep-alive signal used by the controller to determine something in addition to further operation of the communication link to the input means.

The input means may be arranged to receive a command signal indicative of a request for an action to be performed by the component. The control means may be arranged to control the output means to output the component control signal in response to the command signal. Advantageously, other commands for the component may be received by the controller as fallback instructions to be executed only upon failure of the communication link. The command signal may indicate a request to perform an action before or in place of the action indicated by the fallback signal. In some embodiments, the control signal may be received with the fallback signal.

The keep-alive signal may include the command signal. Advantageously, the requirement that the action to be performed by the component, as indicated by the command signal, may act as a keep-alive signal.

The input means may be arranged to receive a further fallback signal indicative of another action to be taken by the component, rather than the action indicated by the previous fallback signal. The keep-alive signal may include the further fallback signal. It is advantageous that the fallback signal can be replaced by the further fallback signal. The further fallback signal may be an indication of an updated action to be taken by the component in the event of a fault in the communication link to the input means. The further fallback signal can also act as a keep-alive signal.

The output means may be arranged to output a further component control signal to cause another component associated with the host vehicle to perform an action associated with the maneuver of the host vehicle. The control means may be arranged to control the output means to output the further component control signal in response to the fallback signal, unless it is determined that the holding means signal is received within the predetermined time period from the input means. In some embodiments, the further component control signal is an indicator of the maneuver of the host vehicle. Therefore, the further component determines the action to be performed in dependence on the further component control signal. In other embodiments, the further component control signal is directly indicative of the action to be taken by the further component.

The input means may be arranged to receive the keep alive signal over a first communication link. The output means may be arranged to output the component control signal via a second communication link different from the first communication connection. It is advantageous that in case of failure of the first communication connection, the component control signal can continue to be sent via the second communication link to the component of the host vehicle. The first communication connection may be a network communication connection. The first communication connection may be a direct wired connection. The second communication connection may be a network communication connection. The second communication connection may be a direct wired connection. The second communication link may be a Controller Area Network (CAN). The first communication connection may be a FlexRay network.

The control means may be arranged to generate a plurality of component control signals each causing the component to execute a different portion of the action indicated by the fallback signal in response to the fallback signal and to control the output means for each of the plurality of component control signals issue. Advantageously, the plurality of component control signals may allow the component to perform a multi-stage maneuver. If the carrier vehicle For example, in a lane travels a passable route, the maneuver may consist in removing the carrier vehicle from the lane and then bring the carrier vehicle to a standstill.

The action may be associated with a stopping maneuver of the host vehicle. It is advantageous that the carrier vehicle can be stopped if the keep-alive signal is not received within the predetermined period of time. The stopping maneuver may be performed over a distance greater than a minimum stopping distance of the host vehicle. Advantageously, the carrier vehicle can be stopped at a distance, so that all other vehicles that follow the carrier vehicle immediately, can take appropriate evasive action. In some embodiments, the stopping maneuver includes a steering section preceding a stopping section of the maneuver. Therefore, before stopping, the host vehicle may navigate out of a lane of a drivable track of the host vehicle.

According to one aspect of the invention, there is provided a system comprising the above-described control as a first controller arranged to receive the fallback signal and to output the component control signal, and a second controller arranged to generate the fallback signal. Advantageously, the second controller may generate the fallback signal for use by the first controller.

The system may include input means for receiving one or more status signals, each indicative of at least one of the characteristics of a vehicle, a user, or an environment. The second controller may be arranged to generate the fallback signal in response to one or more state signals received from the input means. Advantageously, the fallback signal may be determined based on at least one or more vehicle characteristics, one or more user properties, and one or more environmental characteristics. Thus, for example, the fallback signal can be determined as a function of a vehicle characteristic in the form of a current speed of the host vehicle and an environmental characteristic in the form of a position of at least one further vehicle in the vicinity of the host vehicle.

• das Eingabemittel einen elektrischen Eingang zum Empfangen des Signals umfasst.

The system as described above, wherein:

• the input means comprises an electrical input for receiving the signal.

The system may include component control means arranged to control the component associated with the host vehicle to perform the action associated with the maneuver of the host vehicle in response to the component control signal. It is advantageous that the component control means can control the component in accordance with the instructions of the component control signal.

• die Komponenten-Steuermittel eine oder mehrere Steuervorrichtungen, wie beispielsweise elektronische Verarbeitungsvorrichtungen, umfassen.

The system as described above, wherein:

• the component control means comprise one or more control devices, such as electronic processing devices.

The system may include further component control means arranged to control the further component associated with the host vehicle to perform the action associated with the maneuver of the host vehicle. The other component may be of a different type than the component. The further component can be of the same type as the movement component. Advantageously, the system may control multiple components of the host vehicle with the first controller.

• die weiteren Komponenten-Steuermittel eine oder mehrere Steuervorrichtungen, wie beispielsweise elektronische Verarbeitungsvorrichtungen, umfassen.

The system as described above, wherein:

• the further component control means comprise one or more control devices, such as electronic processing devices.

According to one aspect of the invention, there is provided a method comprising receiving a fallback signal indicative of an action to be performed by a component, wherein the action associated with a vehicle vehicle maneuver determines whether a holdback signal is received within a predetermined time from the time of receipt of the event Fallback signal is received, the keep-alive signal indicating a continued operation of a communication link for receiving the keep-alive signal, and outputting a component control signal to cause the component associated with the host vehicle, the with the maneuver Perform the action associated with the host vehicle in response to the fallback signal when the keep alive signal is not received within the predetermined time period. Advantageously, the method ensures that a component of the host vehicle executes an action indicated by a fallback signal upon failure of a communication link through which the keep-alive signal (or the fall-back signal) is received.

The method may include issuing a further component control signal to cause another component associated with the host vehicle to perform an action associated with the maneuver of the host vehicle in response to the fallback signal if the containment signal is not received within the predetermined amount of time. Advantageously, more than one component of the host vehicle may be instructed to perform an action based on the fallback signal if the containment signal is not received within the predetermined amount of time.

The method may include determining a plurality of component control signals, each of which causes the component to execute a different portion of the action in response to the fallback signal, and outputting each of the plurality of component control signals. It is advantageous that a multi-stage maneuver can be performed by the host vehicle by providing the component with a plurality of different component control signals if the keep-alive signal is not received within the predetermined period of time.

According to one aspect of the invention, there is provided a vehicle comprising a controller according to any aspect of the invention described above, a system according to any previously described aspect of the invention or a method according to any previously described aspect of the invention.

According to one aspect of the invention, computer software is available which, when executed by a processing means, is arranged to perform a method according to an aspect of the invention. The computer software can be stored on a computer readable medium. The computer software can be tangibly stored on a computer-readable medium. The computer-readable medium can not be transient.

In accordance with one aspect of the invention, a non-transitory computer-readable storage medium is provided on which instructions are stored that, when executed by one or more processors, cause the one or more processors to perform a method in accordance with an aspect of the invention.

The J3016 from SAE International defines six stages of road automation for road vehicles. The term autonomous driving mode as used herein is understood to cover each of the SAE stages one to five. In one embodiment, the autonomous modes of behavior disclosed herein are understood to be at least SAE stage three. In other words, the automated drive system of the host vehicle controls all aspects of the dynamic driving task.

Any controller (s) described herein may suitably comprise a controller or computing device having one or more electronic processors. Thus, the system may comprise a single control unit or an electronic control, or alternatively, various functions of the control may be embodied or housed in various control units or controls. As used herein, the term "controller" or "controller" includes both a single controller or controller and a plurality of controllers or controllers that are operated in concert to provide a particular controller functionality. To configure a controller, an appropriate set of instructions may be provided that, when executed, cause the controller or computing device to implement the control techniques specified herein. The instruction set may be suitably embedded in the one or more electronic processors. Alternatively, the instruction set may also be provided as software stored in one or more memories associated with the controller for execution on the computing device. A first controller may be implemented in software running on one or more processors. One or more other controllers may be implemented in software running on one or more processors, optionally one or more processors such as the first controller. Other suitable arrangements may be made.

It is expressly intended in the context of this application that the various aspects, embodiments, examples and alternatives set forth in the preceding paragraphs, in the claims and / or in the following descriptions and drawings, and in particular the individual features thereof, be made independently or in part any combination can be accepted. That is, all embodiments and / or features of an embodiment may be combined in any manner and / or combination, unless these features are incompatible. The Applicant reserves the right to change a claim originally filed or to submit a new claim accordingly, including the right to change a claim originally filed in order to be dependent on another claim and / or to receive a property of another claim, although it was not initially claimed in this way.

list of figures

• zeigt eine schematische Darstellung einer Steuerung gemäß einer Ausführungsform der vorliegenden Erfindung;
• zeigt eine schematische Darstellung eines Systems mit einer Steuerung gemäß einer Ausführungsform der vorliegenden Erfindung;
• zeigt ein Flussdiagramm, das ein Verfahren gemäß einer Ausführungsform der vorliegenden Erfindung veranschaulicht;
• zeigt eine schematische Darstellung einer Steuerung gemäß einer Ausführungsform der vorliegenden Erfindung;
• zeigt eine schematische Darstellung eines Systems mit einer Steuerung gemäß einer Ausführungsform der vorliegenden Erfindung;
• zeigt ein Flussdiagramm, das ein Verfahren gemäß einer Ausführungsform der vorliegenden Erfindung veranschaulicht;
• zeigt eine schematische Darstellung einer Steuerung gemäß einer Ausführungsform der vorliegenden Erfindung;
• zeigt eine schematische Darstellung eines Systems mit einer Steuerung gemäß einer Ausführungsform der vorliegenden Erfindung;
• zeigt ein Flussdiagramm, das ein Verfahren gemäß einer Ausführungsform der vorliegenden Erfindung veranschaulicht;
• zeigt eine schematische Darstellung einer Situation, in der eine Ausführungsform der vorliegenden Erfindung nützlich sein kann;
• zeigt eine schematische Darstellung einer Steuerung gemäß einer Ausführungsform der vorliegenden Erfindung;
• zeigt eine schematische Darstellung eines Systems mit einer Steuerung gemäß einer Ausführungsform der vorliegenden Erfindung;
• zeigt eine Lenksteuerung gemäß einer Ausführungsform der vorliegenden Erfindung;
• zeigt ein Flussdiagramm, das ein Verfahren gemäß einer Ausführungsform der vorliegenden Erfindung veranschaulicht;
• zeigt eine schematische Darstellung einer Steuerung gemäß einer Ausführungsform der vorliegenden Erfindung;
• zeigt eine schematische Darstellung eines Systems mit einer Steuerung gemäß einer Ausführungsform der vorliegenden Erfindung;
• zeigt ein Flussdiagramm, das ein Verfahren gemäß einer Ausführungsform der vorliegenden Erfindung veranschaulicht;
• zeigt eine schematische Darstellung einer Steuerung gemäß einer Ausführungsform der vorliegenden Erfindung;
• zeigt eine schematische Darstellung eines Systems mit einer Steuerung gemäß einer Ausführungsform der vorliegenden Erfindung;
• zeigt ein Flussdiagramm, das ein Verfahren gemäß einer Ausführungsform der vorliegenden Erfindung veranschaulicht;
• zeigt eine schematische Darstellung einer Steuerung gemäß einer Ausführungsform der vorliegenden Erfindung;
• Die bis zeigen eine Vielzahl von befahrbaren Wegen, in denen eine Ausführungsform der vorliegenden Erfindung nützlich sein kann;
• zeigt eine schematische Darstellung eines Systems mit einer Steuerung gemäß einer Ausführungsform der vorliegenden Erfindung;
• zeigt ein Flussdiagramm, das ein Verfahren gemäß einer Ausführungsform der vorliegenden Erfindung veranschaulicht;
• zeigt eine schematische Darstellung einer Steuerung gemäß einer Ausführungsform der vorliegenden Erfindung;
• zeigt eine schematische Darstellung eines Systems mit einer Steuerung gemäß einer Ausführungsform der vorliegenden Erfindung;
• zeigt ein Flussdiagramm, das ein Verfahren gemäß einer Ausführungsform der vorliegenden Erfindung veranschaulicht;
• zeigt eine schematische Darstellung einer Steuerung gemäß einer Ausführungsform der vorliegenden Erfindung;
• zeigt eine schematische Darstellung eines Systems mit einer Steuerung gemäß einer Ausführungsform der vorliegenden Erfindung;
• zeigt ein Flussdiagramm, das ein Verfahren gemäß einer Ausführungsform der vorliegenden Erfindung veranschaulicht;
• zeigt eine schematische Darstellung einer Steuerung gemäß einer Ausführungsform der vorliegenden Erfindung;
• zeigt eine schematische Darstellung eines Systems mit einer Steuerung gemäß einer Ausführungsform der vorliegenden Erfindung;
• zeigt ein Flussdiagramm, das ein Verfahren gemäß einer Ausführungsform der vorliegenden Erfindung veranschaulicht; und
• zeigt eine schematische Darstellung eines Fahrzeugs gemäß einer Ausführungsform der vorliegenden Erfindung.

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

• shows a schematic representation of a controller according to an embodiment of the present invention;
• shows a schematic representation of a system with a controller according to an embodiment of the present invention;
• FIG. 12 is a flow chart illustrating a method according to an embodiment of the present invention; FIG.
• shows a schematic representation of a controller according to an embodiment of the present invention;
• shows a schematic representation of a system with a controller according to an embodiment of the present invention;
• FIG. 12 is a flow chart illustrating a method according to an embodiment of the present invention; FIG.
• shows a schematic representation of a controller according to an embodiment of the present invention;
• shows a schematic representation of a system with a controller according to an embodiment of the present invention;
• FIG. 12 is a flow chart illustrating a method according to an embodiment of the present invention; FIG.
• shows a schematic representation of a situation in which an embodiment of the present invention may be useful;
• shows a schematic representation of a controller according to an embodiment of the present invention;
• shows a schematic representation of a system with a controller according to an embodiment of the present invention;
• shows a steering controller according to an embodiment of the present invention;
• FIG. 12 is a flow chart illustrating a method according to an embodiment of the present invention; FIG.
• shows a schematic representation of a controller according to an embodiment of the present invention;
• shows a schematic representation of a system with a controller according to an embodiment of the present invention;
• FIG. 12 is a flow chart illustrating a method according to an embodiment of the present invention; FIG.
• shows a schematic representation of a controller according to an embodiment of the present invention;
• shows a schematic representation of a system with a controller according to an embodiment of the present invention;
• FIG. 12 is a flow chart illustrating a method according to an embodiment of the present invention; FIG.
• shows a schematic representation of a controller according to an embodiment of the present invention;
• The to show a variety of drivable ways in which an embodiment of the present invention may be useful;
• shows a schematic representation of a system with a controller according to an embodiment of the present invention;
• FIG. 12 is a flow chart illustrating a method according to an embodiment of the present invention; FIG.
• shows a schematic representation of a controller according to an embodiment of the present invention;
• shows a schematic representation of a system with a controller according to an embodiment of the present invention;
• FIG. 12 is a flow chart illustrating a method according to an embodiment of the present invention; FIG.
• shows a schematic representation of a controller according to an embodiment of the present invention;
• shows a schematic representation of a system with a controller according to an embodiment of the present invention;
• FIG. 12 is a flow chart illustrating a method according to an embodiment of the present invention; FIG.
• shows a schematic representation of a controller according to an embodiment of the present invention;
• shows a schematic representation of a system with a controller according to an embodiment of the present invention;
• FIG. 12 is a flow chart illustrating a method according to an embodiment of the present invention; FIG. and
• shows a schematic representation of a vehicle according to an embodiment of the present invention.

DETAILED DESCRIPTION

A controller 110 or control unit 110 according to one embodiment of the invention is in shown.

The control 110 comprises a control means 120 , an input device 140 and an output means 150 , In some embodiments, the controller includes 110 a storage means 130 , such as one or more storage devices 130 to store data in it. The input device 140 may comprise an electrical input for receiving a signal in the form of one or more state signals. The one or more state signals are an indicator of the suitability of a host vehicle to initiate an autonomous driving mode. In some embodiments, the one or more state signals are each an indicator of one or more vehicle characteristics, a user characteristic, and an environmental characteristic, as discussed. The output device 150 may include an electrical output for outputting an availability signal. The availability signal is an indicator of the availability of the autonomous driving mode of the host vehicle. The control device 120 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may have computer readable instructions stored in one or more memory devices 130 stored are functional. The control device 120 is arranged to the output device 150 to output the availability signal in response to one or more status signals. Therefore, the suitability of the host vehicle to operate in an autonomous driving mode may be used to determine whether to indicate to the user by the availability signal that the autonomous driving mode is available. In other words, if at least one of the vehicle features, a user attribute, and an environment property associated with the host vehicle is not adapted to initiate the autonomous driving mode of the host vehicle, the user is not advised of the availability of the autonomous driving mode. In some embodiments, the controller is 120 arranged to initiate the autonomous driving mode in response to the output of the availability signal to the user. In some embodiments, the input means 140 and the output means 150 be combined, for example, by being formed by an I / O unit or an interface unit. For example, the controller 110 an interface to a network forming a communication bus of the host vehicle. The interface bus may be an Internet Protocol (IP) based communication bus such as Ethernet, although embodiments of the invention are not limited in this regard.

In the autonomous driving mode described herein, at least one of a side steering control and a longitudinal control in the form of a driveline torque or propulsion torque of the host vehicle are autonomously controlled. It is understood that the powertrain torque may include either an acceleration torque for accelerating the host vehicle or a braking torque for decelerating the host vehicle. In some embodiments, steering, acceleration and braking torque of the host vehicle are autonomously controlled.

In some embodiments, the input means is 140 arranged to receive an initiation signal. The initiation signal is an indicator of a user's request to activate the autonomous driving mode. Typically, the user requests the autonomous driving mode in response to user awareness of the availability signal. In some embodiments, the output means is 150 arranged so that it outputs a drive mode signal. The drive mode signal is to cause the host vehicle to start the autonomous drive mode. In embodiments, the control means is 120 arranged to the output means 150 to control to output the drive mode signal in response to the Initiationssignal.

In some embodiments, the controller is 120 arranged to determine a transition phase of the autonomous driving mode. During the transitional phase, the control of vehicle movement of the host vehicle away from the user is transferred to an autonomous driving control means in the form of an autonomous driving control unit. At the end of the transition phase, the autonomous drive control means is arranged to autonomously control the vehicle movement. In some embodiments, a duration of the transition phase is determined in dependence on one or more state signals.

In some embodiments, the output device is 150 arranged so that it outputs a progress signal. The progress signal is an indicator of progress through the Transition. The control device 120 is arranged to the output device 150 to output the progress signal during the transitional phase. The control means 120 can be arranged to determine the duration of the transitional phase. The duration of the transition phase can be set during the transitional phase. In some embodiments, the duration of the transition phase during the transition phase may be determined at a plurality of different times.

In some embodiments, one or more of the state signals indicative of one or more of the vehicle characteristics, user characteristics, and environmental characteristics is due to a driving environment of the host vehicle. The driving environment may indicate a type of navigable route. The driving environment may indicate a condition of the drivable route. For example, the one or more status signals may indicate that the host vehicle is traveling on a highway without pedestrians.

In some embodiments, at least one of the one or more state signals is an indicator of a vehicle characteristic or an environmental characteristic in the form of a speed. The speed can be a wheel speed. The speed can be a driveline speed. For example, the powertrain speed may be an engine speed. The powertrain speed may be an engine speed. The powertrain speed may be a drive shaft speed. The speed can be assigned to the carrier vehicle. In other words, the speed may be a speed of the host vehicle. In some embodiments, at least one of the one or more state signals is an indicator of a speed of at least one target vehicle. The at least one target vehicle differs from the host vehicle. In some embodiments, the control means 120 be arranged to the output means 150 for outputting the availability signal when the status signals indicate a speed of the host vehicle that is below a predetermined threshold. In other words, the user of the host vehicle can be made aware of the availability of the autonomous driving mode of the host vehicle when the speed of the host vehicle is below the predetermined threshold speed.

In some embodiments, at least one of the one or more state signals is an indicator of the vehicle characteristic in the form of a detection range of one or more sensors associated with the host vehicle. The one or more sensors (not in shown) via the input means 140 in data communication with the controller 110 stand. The one or more sensors may include at least one of a radar sensor, an ultrasonic sensor, a laser sensor, and a camera. It is understood that the detection range of the one or more sensors can be influenced by an environmental characteristic associated with the carrier vehicle, such as, for example, a weather situation in the surroundings of the carrier vehicle. Thus, for example, the detection range of the camera can be significantly reduced in fog. The control means 120 can be arranged to the output means 150 to control to output the availability signal when the state signal (s) indicate that the detection range of the one or more sensors is greater than a predetermined range threshold. In other words, the autonomous driving mode may not be available to the user of the host vehicle if the detection range of one or more sensors does not reach the predetermined range threshold.

In some embodiments, at least one of the one or more state signals is an indicator of an environmental characteristic in the form of a weather condition. The weather situation may be a current weather situation of the host vehicle or an imminent weather situation, which is exposed to the host vehicle at a predetermined point along the drivable path. For example, at least one of the one or more condition signals may be an indication of rain on the host vehicle. In another example, the weather conditions may be the presence of snow or ice on the ground. The weather conditions may be at least one of a temperature, a humidity, a wind speed, a visibility, a pressure, and a rain gauge. The control means 120 can be arranged to the output means 150 to control to output the availability signal when the status signal (s) indicate that the weather condition is one of a plurality of predetermined acceptable weather conditions. In other words, the autonomous driving mode may not be available to the user of the host vehicle if the weather conditions are not acceptable weather conditions.

In some embodiments, at least one of the one or more state signals is an indicator of a user characteristic in the form of a perception of the user of the host vehicle. The input device 140 may be for receiving the at least one or more status signals indicative of the user's awareness of one or more user sensors (not in FIG shown). The one or the A plurality of user sensors may include at least one camera and a physiological sensor to capture data indicative of the user's awareness. The control means 120 can be arranged to the output means 150 to control to output the availability signal when the status signal (s) is an indicator that the user's awareness is above a predetermined awareness threshold. In other words, the autonomous driving mode may not be available to the user of the host vehicle if the user is not sufficiently informed to resume control of the host vehicle from the autonomous driving mode when needed. Under certain circumstances, the control means 120 be arranged to the output means 150 to control to output a drive mode control signal to operate the host vehicle in a further autonomous drive mode when the user is determined to be insufficiently informed to control the host vehicle.

In some embodiments, the input means is 140 arranged to receive a frequency signal. The frequency signal is an indicator of a frequency of the previous activation of the autonomous driving mode of the host vehicle. The control device 120 can be arranged to the output device 150 to control to output the availability signal in response to the frequency signal. In some embodiments, the controller is 120 arranged to determine the frequency signal as a first value when a frequency of the previous activation of the autonomous driving mode is greater than a frequency threshold value. The control device 120 may be arranged to determine the frequency signal as having a second value when a frequency of the previous activation of the autonomous driving mode is lower than the frequency threshold value. In some embodiments, the controller is 120 arranged to the output device 150 to output the availability signal more frequently if the frequency signal indicates a more frequent prior activation of the autonomous driving mode of the host vehicle. In other words, the controller 120 can be arranged to the output device 150 to less frequently output the availability signal to a user who less frequently activates the autonomous driving mode of the host vehicle. Therefore, only users of the host vehicle, which often use the autonomous driving mode of the host vehicle, often be informed about the availability signal on the availability of the autonomous driving mode.

A system 210 according to one embodiment of the invention is in shown.

The system 210 includes the controller 110 as described above with reference to described, and the notification means 220 , In some embodiments, the system includes 210 sensor means 230 in the form of a sensor unit 230 , Sensor output means 240 and sensor control means 250 , The control 110 is arranged to output the availability signal as described above. The notification means 220 serve to receive the availability signal from the controller 110 , The notification means 220 should indicate to the user that the autonomous drive mode is dependent on the received availability signal of the controller 110 is available. In some embodiments, the notification agent is 220 a sensory output unit 220 , In some embodiments, the sensory output unit comprises 220 a lighting unit 220 , In some embodiments, the notification agent comprises 220 a display means. Optionally, the notification means comprises 220 at least one of tactile output means and audio output means. In some embodiments, the notification agent is 220 arranged to receive the drive mode signal. The notification means 220 are configured to indicate to the user that the autonomous drive mode for the host vehicle is to be initiated in response to receipt of the drive mode signal. In some embodiments, the notification agent is 220 arranged to the user the progress through the transition phase in response to the receipt of the progress signal from the controller 110 display.

In some embodiments, the sampling means is 230 arranged to determine at least one of the vehicle characteristics, the user characteristics, or the environmental characteristics. The sensor output device 240 may provide an electrical output for outputting the one or more status signals to the controller 110 include. The sensor control device 250 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may include computer readable instructions residing in one or more sensor storage devices 260 stored are functional. The sensor control device 250 is arranged to the sensor output device 240 to control the one or more status signals to the controller 110 depending on the at least one of the vehicle characteristics, the user characteristics and that of the scanner 230 output certain environmental characteristics.

In some embodiments, the sampling means 230 one or more cameras, Laser sensors, radar sensors, ultrasonic sensors and physiological sensors include.

A procedure 300 according to one embodiment of the invention is in shown. The procedure 300 is a method for controlling the host vehicle. In particular, the method 300 a method of controlling the output of the availability signal indicating an availability of the autonomous driving mode of the host vehicle. The procedure 300 can from the controller 110 and the system described above 210 with reference to the and be performed.

The procedure 300 essentially comprises the steps of receiving 310 a signal indicative of suitability for initiating an autonomous driving mode of a host vehicle and, depending thereon, determining 320 an availability signal indicating availability of the autonomous driving mode and controlling an output 330 the availability signal.

With reference to includes the illustrated embodiment of the method 300 a step of receiving 310 one or more status signals, each having one or more vehicle characteristics, a user characteristic, and an environmental characteristic from the input means 140 Show. In some embodiments, the one or more state signals are from the sensing means 230 via the sensor output means 240 receive. The one or more status signals may indicate a speed of the host vehicle or a path type of the drivable route on which the host vehicle is traveling or is set up for travel.

In step 320 the availability signal is determined as a function of one or more status signals. The availability signal is an indicator of the availability of an autonomous driving mode of a host vehicle. In some embodiments, the availability signal is determined as an indicator that an autonomous driving mode of the host vehicle is available when the one or more condition signals satisfy predetermined criteria. Thus, for example, the availability signal can be determined as an indicator that an autonomous driving mode of the host vehicle is available if the speed of the carrier vehicle is below a predetermined speed threshold and / or if the type of roadway on which the carrier vehicle is traveling or is arranged for driving , is of a predetermined path type, for example substantially free of pedestrians.

Other conditions of the navigable type that may instead or additionally be considered to determine whether the availability signal should be output are the presence of temporary roadblocks, such as roadworks, certain pathway environments, such as bridges or tunnels, and others, the speed limit the navigable way, the speed of other traffic on the navigable way. For example, it may be determined that the availability signal is not output in the presence of temporary roadblocks, such as roadworks, particular pathways, such as bridges or tunnels, and others, where the speed limit on the drivable path is above a predetermined threshold and the speed of the other traffic is on the drivable path above a predetermined threshold.

Other vehicle characteristics that may instead or additionally be considered to determine if the availability signal is to be output are at least one of multiple indications of the state of the host vehicle, such as tire pressure, oil level, fuel level, whether the host vehicle is carrying loaded vehicle carrier weight and health of one or more components of the host vehicle. For example, it may be determined that the availability signal is not output when a tire pressure is outside a predetermined acceptable range, an oil level is below a predetermined threshold, a fuel level is below a predetermined threshold, the host vehicle is towing, a loaded weight of the host vehicle is a predetermined one Threshold exceeds or a health status of one or more components of the host vehicle is outside a predetermined acceptable health status.

Other user features that may instead or additionally be considered to determine if the availability signal is to be output are at least one of a presence of one or more hands of the user on the steering wheel, a user's awareness, such as a flashing characteristic of the user physiological status of the user and a legitimacy of the user to guide the carrier vehicle. Thus, for example, it may be determined that the availability signal is not output in the presence of less than one or more hands of the user on the steering wheel when the user's awareness is below a predetermined sensing threshold, if the user's physiological status falls outside a predetermined acceptable physiological state User is lying or if the user is not legally entitled to drive the carrier vehicle.

Other environmental features that may be considered instead or additionally to determine whether the availability signal is to be output are at least one weather condition near the host vehicle or the travel path measured in the past, present, or future, a temperature, and Humidity. Thus, for example, it may be determined that the availability signal is not output when a weather condition in the vicinity of the host vehicle deviates from a predetermined acceptable weather condition at a certain time, or when the weather condition coincides with a predetermined unacceptable weather condition, or when a temperature of the environment of Carrier vehicle is outside a predetermined allowable temperature range, or if a humidity of the environment of the host vehicle is outside a predetermined allowable humidity range.

In step 330 becomes the output device 150 by the control device 120 controlled to output the availability signal. The availability signal may be output as at least one of a tactile output (sometimes referred to as a haptic output), a visual output, and an audio output for the user. In some embodiments, the availability signal is sent to the notification means 220 is output to effect the at least one of the tactile outputs, the visual output and the audio output. Therefore, the availability signal causes the user to recognize that the autonomous driving mode of the host vehicle is available.

In some embodiments, the method includes receiving a request from the user to initiate the autonomous driving mode after the availability signal is output. The method may include outputting a drive mode control signal to a drive mode controller. The drive mode control signal is to cause the drive mode control means to initiate the autonomous drive mode. The user may require initiation of the autonomous driving mode through one or more input devices that may be operated by a user's hand. In some embodiments, the one or more input devices are switches, such as buttons, on the steering wheel of the host vehicle. The steering wheel may include two switches, each of which can be operated by another hand of the user. Therefore, the user can request the initiation of the autonomous driving mode by operating the two switches on the steering wheel of the host vehicle after being notified of the availability of the autonomous driving mode.

In some embodiments, the method includes determining if the user is to be made aware that the autonomous driving mode is currently available depending on a frequency of the prior activation of the autonomous driving mode of the host vehicle. In some embodiments, where the frequency of the previous activation is above a first threshold, the method may determine to alert the user that the autonomous driving mode is available in a first part of the cases. If the frequency of the previous activation is below a second threshold (the same or below the first threshold), the method may determine to alert the user that the autonomous driving mode is available in a second portion of cases different from the first portion is. In some embodiments, the second portion is less than the first portion. Therefore, users who rarely use the autonomous driving mode are only rarely advised that the autonomous driving mode is available, even if the other conditions for the availability of the autonomous driving mode are met.

In some embodiments, the method includes initiating the autonomous driving mode through a transitional phase in which the control of the host vehicle moves away from the user and to a control means of the host vehicle. The method may include modifying vehicle motion during the transitional phase to prepare for the end of the transitional phase. For example, a steering of the host vehicle may be changed during the transitional phase to center the host vehicle substantially within a lane of the drivable path. In some embodiments, a braking torque of the host vehicle may be autonomously controlled during the transient phase to substantially remove the host vehicle from another vehicle ahead of the host vehicle along the drivable path. During the transitional phase, the host vehicle continues to respond to user's motion control inputs. In the further course of the transition phase, the host vehicle reacts less strongly to the control by the user until the host vehicle is autonomously controlled in the autonomous driving mode. The user is informed about the progress in the transition phase by the above-described transition signal.

If the autonomous drive mode is initiated over a transitional phase, the autonomous drive mode may be fully initialized when the user request is during the transitional phase is maintained. The method may include determining whether the user request is being maintained during the transitional phase. The method may include stopping the initiation of the autonomous driving mode if the user request is interrupted during the transitional phase.

By the procedure 300 The host vehicle may advantageously inform via the availability signal that the autonomous driving mode is available. In some embodiments, the host vehicle informs the user, such as the driver or another occupant of the host vehicle, that the autonomous driving mode is available.

In some embodiments of the inventions disclosed herein, the autonomous driving mode may be initiated in other ways. For example, the autonomous driving mode may be initialized without first alerting the user to the availability of the autonomous driving mode, but simply in response to a request from the user to start the autonomous driving mode.

The following describes the operation of the autonomous driving style.

A controller 1110 or control unit 1110 according to one embodiment of the present invention is in shown. The control 1110 with the exception of the differences described below, is essentially the same with reference to described control 110 similar.

The control 1110 comprises a control means 1120 , an input device 1140 and an output means 1150 , In some embodiments, the controller includes 1110 a storage means 1130 , such as one or more storage devices 1130 to store data in it. The input device 1140 may include an electrical input for receiving a signal in the form of a fall back signal. The input device 1140 may comprise an electrical input for receiving a signal in the form of a keep-alive signal. Therefore, the input means 1140 for receiving the fallback signal and the keep-alive signal. The fallback signal is an indicator of an action to be taken by a component associated with a host vehicle. The action is associated with a maneuver of the host vehicle, as will be explained. The output device 1150 may include an electrical output for outputting a component control signal. The component control signal is an indicator of a control request that causes the component associated with the host vehicle to perform an action associated with a maneuver of the host vehicle. The control device 1120 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may have computer readable instructions stored in one or more memory devices 1130 stored are functional. The control device 1120 is arranged to determine if a keep-alive signal from the input device 1140 within a predetermined period of time from the time of receipt of a fallback signal by the input device 1140 Will be received. The control device 1120 is arranged to the output device 1150 to output the component control signal in response to the fallback signal, if it is not determined that the hold indication signal from the input device 1140 is received within the predetermined period of time. Therefore, instructions for the component associated with the host vehicle, which are indicated by the fallback signal, may be used if the subsequent communication of the holdback signal is not received within an expected period of time. In some embodiments, the keep-alive signal may be another fall back signal that includes other instructions for the component associated with the host vehicle. In other embodiments, the keep-alive signal may differ from the fallback signal, indicating a control request for a component associated with the host vehicle. In embodiments in which the keep-alive signal indicates a control request for the component associated with the host vehicle, the control request may be that an action is performed by the component associated with the host vehicle, rather than the action indicated by the fallback signal. In other words, if the communication link to the input means is lost 1140 the controller 1110 is the controller 1120 the controller 1110 arranged to implement the last received instructions indicated by the fallback signal. In some embodiments, the fallback signal is an indicator of one or more actions to be performed by the component associated with the host vehicle, wherein the one or more actions are performed along with a maneuver of the host vehicle to stop the host vehicle. In some embodiments, the input means 1140 and the output means 1150 be combined, for example, by being formed by an I / O unit or an interface unit. For example, the controller 1110 an interface to a network forming a communication bus of the host vehicle. The interface bus may be an Internet Protocol (IP) based communication bus such as Ethernet, although the embodiments of the invention are not limited in this regard.

As described above, the component connected to the host vehicle may be a component for the movement of the host vehicle. The movement component may be a component for the longitudinal movement of the host vehicle, such as a component for the torque. The torque component may be a component for braking or a component for propulsion, such as a motor or motor. The movement component may be a component for the transverse movement of the host vehicle, such as a component for the steering.

In some embodiments, the input device is 1140 arranged to receive a command signal indicative of a request that an action be made by the component associated with the host vehicle. The control device 1120 is arranged to the output device 1150 to control to output the component control signal in response to the control signal. In some embodiments, the input device is 1140 arranged to receive the command signal over the same communication link as the keep-alive signal. In some embodiments, the keep-alive signal comprises the command signal. Therefore, the controller 1110 be configured to receive the command signal as a keep-alive signal via the input means 1140 to recieve.

In some embodiments, the input device is 1140 arranged to receive a further fallback signal indicative of another action to be taken by the component, rather than the action indicated by the previous fallback signal. In such examples, the keep alive signal includes another fallback signal. Therefore, the controller 1110 be configured to the further fallback signal as a keep-alive signal via the input means 1140 to recieve.

In some embodiments, the output device is 1150 arranged to output a further component control signal to cause another component associated with the host vehicle to perform an action associated with the maneuver of the host vehicle. The control means 1120 can be arranged to the output means 1150 to control to output the further component control signal in response to the fallback signal, if it is not determined that the hold alive signal from the input means 1140 is received within the predetermined period of time. In this example, the default time span is one second. The predetermined period of time may be a predetermined number of processing cycles for the control means 1120 Show.

In some embodiments, the input device is 1140 arranged to receive the keep alive signal over a first communication link, such as a FlexRay network. The output device 1150 is arranged to output the component control signal via a second communication link, such as a Controller Area Network (CAN). In particular, the second communication connection differs from the first communication connection. Therefore, the component control signal can be sent even if the first communication connection fails over the second communication connection.

In some embodiments, the controller may 1110 be arranged to transmit and receive signals over both the first communication link and the second communication link. In other words, the input device 1140 may be arranged to receive signals via the first communication link and the second communication link, and the output device 1150 may be arranged to output signals via the first communication link and the second communication link.

In some embodiments, the controller is 1120 arranged to generate a plurality of component control signals. Each of the plurality of component control signals is to cause the component of the host vehicle to perform a different portion of the action indicated by the fallback signal. The plurality of component control signals are generated in response to the fallback signal. The control device 1120 is arranged to the output device 1150 to output each of the plurality of component control signals. Therefore, a maneuver of the host vehicle requiring a plurality of actions by one or more components of the host vehicle may be performed if the halt signal is not received by the input device within the predetermined time period 1140 Will be received. In some embodiments, the plurality of component control signals are output sequentially. In some embodiments, the plurality of component control signals are each output separately.

In some embodiments, the effect of the component is associated with a stopping maneuver of the host vehicle. The stopping maneuver can be done over a distance that is larger as a minimum stopping distance of the host vehicle. Therefore, the carrier vehicle may be stopped when the alarm signal is not within the predetermined time period from the input device 1140 Will be received.

A system 1210 according to one embodiment of the invention is in shown.

The system 1210 includes the controller 1110 as described above with reference to described as a first controller 1110 and a second controller 1220 , The first controller 1110 is arranged to receive the fallback signal as described above. The first controller 1110 is arranged to output the component control signal as described above. The second control 1220 is arranged to generate the fallback signal from the first controller 1110 should be received. In some embodiments, the system includes 1210 an input device 1230 for receiving one or more status signals. The second control 1220 is arranged to receive the fallback signal in response to one or more of the input means 1230 to generate received status signals. The one or more status signals are each an indicator of at least one of the following characteristics: vehicle characteristics, user characteristics, and environmental characteristics. In some embodiments, the one or more state signals together are an indicator of a speed of the host vehicle and a speed and relative position of one or more objects in the vicinity of the host vehicle. The one or more objects in the vicinity of the host vehicle may be stationary objects or moving objects, such as other vehicles.

In some embodiments, the system includes 1210 a component controller 1240 , The component control device 1240 is arranged to control the component associated with the host vehicle to perform the action associated with the maneuver of the host vehicle in response to the component control signal.

In some embodiments, the system includes 1210 further component control means 1250 arranged to control the further component associated with the host vehicle to perform an action associated with the maneuver of the host vehicle. In some embodiments, the further component is of a different type than the component. In other embodiments, the further component is of the same type as the component. Therefore, the system can 1210 several components with the same first controller 1110 Taxes.

A procedure 1300 according to one embodiment of the invention is in shown. The procedure 1300 is a method for controlling the host vehicle. In particular, the method 1300 a method for controlling the output of a component control signal to cause a component associated with the host vehicle to perform an action associated with a maneuver of the host vehicle. The procedure 1300 can from the controller 1110 and the system described above 1210 with reference to the and be performed.

The procedure 1300 essentially comprises the steps of receiving 1310 a fallback signal indicative of an action to be performed by a component of the host vehicle, determining 1320 which is a restraint signal received within a predetermined period from a time of receipt of the restraint signal and outputting 1330 a component control signal in response to the restraint signal when the restraint signal is not received within the predetermined period of time.

With reference to includes the illustrated embodiment of the method 1300 a step of receiving 1310 a fallback signal indicative of an action to be taken by a component associated with a host vehicle, the action associated with a maneuver of the host vehicle. In some embodiments, the fallback signal is via an input means 1140 the controller 1110 receive. The fallback signal may be determined in response to one or more state signals, each indicative of at least one of a vehicle's characteristics, a user's characteristic, and an environmental characteristic.

In step 1320 It is determined whether a keep-alive signal is received within a predetermined period of time from the time of receiving the fallback signal. The keep-alive signal is an indicator for the continued operation of a communication link for receiving the keep-alive signal. In some embodiments, the predetermined amount of time is less than one second. In some embodiments, the keep-alive signal is an indicator for further operation of a communication link to receive the fallback signal.

In step 1330 is output in response to the fallback signal and if the keep-alive signal is not received within the predetermined time period, a component control signal. The component control signal is configured to be the component associated with the host vehicle to cause the action associated with the maneuver of the host vehicle. In some embodiments, if the keep-alive signal is not received within the predetermined amount of time, the component outputs control signal. The component control signal is determined in response to the fallback signal.

Another aspect of autonomous driving operation will now be described. A controller 2110 or control unit 2110 according to one embodiment of the invention is in shown.

The control 2110 is associated with a host vehicle traveling at a host vehicle speed in a first lane of a multi-lane drivable path and includes a control means 2120 , an input device 2140 and an output means 2150 , In some embodiments, the controller includes 2110 a storage means 2130 , such as one or more storage devices 2130 to store data in it. The input device 2140 may comprise an electrical input for receiving a signal in the form of a second speed signal. The second speed signal is an indicator of another vehicle speed of another vehicle on a second lane of the multi-lane drivable path. In some embodiments, the electrical input is also for receiving a signal in the form of a first speed signal. The first speed signal is an indicator of the speed of the host vehicle traveling on the first lane of the multi-lane drivable path. The output device 2150 may include an electrical output for outputting a speed change signal. The speed change signal is to cause the host vehicle to control a speed of the host vehicle from the host vehicle speed toward the further vehicle speed. The control device 2120 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may have computer readable instructions stored in one or more memory devices 2130 stored are functional. The control device 2120 is arranged to the output device 2150 to output the speed change signal in response to the second speed signal. Therefore, the speed of the host vehicle may be changed depending on the speed of traffic on a lane other than the host vehicle, eg, in preparation for a lane change maneuver of the host vehicle. In some embodiments, the input means 2140 and the output means 2150 be combined, for example, by being formed by an I / O unit or an interface unit. For example, the controller 2110 an interface to a network forming a communication bus of the host vehicle. The interface bus may be an Internet Protocol (IP) based communication bus such as Ethernet, although embodiments of the invention are not limited in this regard.

In some embodiments, the second speed signal is an indicator of a relative speed of the other vehicle to the host vehicle. In other embodiments, the second speed signal is an indicator of an absolute speed of the other vehicle with respect to the drivable path.

In some embodiments, the controller is 2120 arranged to determine the speed change signal in response to the second speed signal. For example, the speed change signal may indicate another speed to which the speed of the host vehicle is to be changed. The additional speed can be determined as a function of the second speed signal. In some embodiments, the additional speed is the additional vehicle speed. In some embodiments, the controller is 2120 arranged to determine the speed change signal in response to the first speed signal and the second speed signal. In some embodiments, the controller is 2120 arranged to determine the speed change signal when the second speed signal (and optionally the first speed signal) indicates the further vehicle speed deviating from the host vehicle speed by more than a predetermined threshold.

In some embodiments, the speed change signal is intended to accelerate the host vehicle. In some embodiments, the speed change signal is to cause the host vehicle to decelerate. In some embodiments, the speed change signal is intended to cause the host vehicle to decelerate and then accelerate. Therefore, when the host vehicle follows another vehicle in the first lane, first, a distance between the host vehicle and the other vehicle in the first lane can be increased by braking the host vehicle, thereby giving the host vehicle enough space to accelerate before moving to the second lane Lane is driving.

In some embodiments, the input device is 2140 arranged to receive a space available signal. The Space availability signal is an indicator of the presence of a space in front of or behind the other vehicle. One size of space is sufficient to accommodate the carrier vehicle. The control device 2120 is arranged so that the output device 2150 outputs the speed change signal depending on the space available signal. Therefore, in some embodiments, the speed change signal may be output when there is a sufficiently large space to accommodate the host vehicle in front of or behind the other vehicle on the second lane. In some embodiments, the controller is 2120 arranged to determine whether the space availability signal is indicative of the presence of the space in front of or behind the further vehicle whose size is sufficient to accommodate the host vehicle. A space may be determined to be sufficiently large to accommodate the host vehicle depending on the speed of the other vehicle and / or the speed of the host vehicle. Therefore, if the identified space has a sufficient size in view of the speed of the host vehicle and / or the other vehicle, the speed change signal may be output by the output means 2150 be issued. In some embodiments, the control means 2120 be arranged to determine the size of the space in response to the first speed signal, the second speed signal and the space available signal.

In some embodiments, the space is an expected space. In other words, the space available signal is an indicator of the presence of the expected space at a predetermined future time. In another embodiment, the space is a current space, i. the space availability signal is an indicator of the presence of the current room at a current time.

In some embodiments, the speed change signal is to cause the host vehicle to control the speed of the host vehicle toward the further vehicle speed while the host vehicle is traveling on the first lane. In other words, the host vehicle initiates a speed change at least while traveling on the first lane. In some embodiments, the speed change signal is to cause the host vehicle to travel from the first lane to the second lane. The host vehicle may move from the first lane to the second lane at a speed different from the speed of the host vehicle.

In some embodiments, the second speed signal is an indicator of an average speed of a plurality of other vehicles on the second lane. The second speed signal may indicate an average speed of a subset of the plurality of other vehicles on the second lane.

In some embodiments, the controller is 2120 arranged to determine whether the second speed signal indicates that another vehicle speed is deviating from the host vehicle speed. The control device 2120 is arranged so that the output device 2150 outputs the speed change signal depending on whether the second speed signal indicates that the other vehicle speed is different from the host vehicle speed. For example, the controller 2120 arranged so that the output device 2150 outputs the speed change signal when the second speed signal indicates that the further vehicle speed deviates from the host vehicle speed by a predetermined threshold. In some embodiments, the controller is 2120 arranged so that the output device 2150 outputs the speed change signal when the second speed signal indicates that the further vehicle speed is higher than the host vehicle speed by the predetermined threshold.

In some embodiments, the input device is used 2140 for receiving a request signal. The request signal is an indicator of a request from a user of the host vehicle to bring the host vehicle onto the second lane. The control device 2120 is arranged so that the output device 2150 the speed change signal outputs in response to the request signal. In other words, the speed of the host vehicle may be changed from the speed of the host vehicle toward the further vehicle speed in response to the user's request to move the host vehicle to the second lane.

In some embodiments, the output device is 2150 arranged to output a notification signal. The notification signal is to cause notification means in the form of a notification output device, such as a notification indication, of the host vehicle to indicate that the host vehicle is traveling on the second lane. The control device 2120 is arranged to the output device 2150 to control that Notify signal output in response to the second speed signal.

A system 2210 according to one embodiment of the invention is in shown.

The system 2210 includes the controller 2110 as described above with reference to described, sensor means 2220 and actuator means 2230 , In some embodiments, the system includes 2210 a turn signal switch 2240 and a notification device 2250 , The control 2110 is arranged to output the speed control signal as described above. In some embodiments, the sensor means 2220 the shape of a sensor unit 2220 , The scanning means 2220 serves to detect the further vehicle speed of the other vehicle. In some embodiments, the sampling means is used 2220 for detecting the further vehicle speed of a plurality of other vehicles. In some embodiments, the detection means is 2220 for detecting the further vehicle speed of a plurality of further vehicles traveling in one or more of the first-person lanes and an adjacent lane to the lane on which the host vehicle is traveling. The scanning means 2220 is arranged to output the second speed signal in response to the further vehicle speed to the controller. In some embodiments, the actuator is means 2230 in the form of an actuator. The actuator means 2230 is for receiving the speed change signal from the controller 2110 and is to cause the host vehicle to change speeds from the host vehicle speed toward the further vehicle speed. The turn signal switch 2240 is used to receive the request of the user of the host vehicle to change from the first lane to the second lane. The flashing light switch 2240 is arranged to send the request signal to the controller 2110 in response to receiving the request of the user of the host vehicle to change from the first lane to the second lane outputs. In some embodiments, the notification agent is 2250 in the form of a notification output device, such as an electronic display device. The notification means 2250 serve to receive the notification signal and are arranged to indicate that the host vehicle is traveling in response to the notification signal on the second lane. In some embodiments, the notification device comprises 2250 a warning light. In some embodiments, the system is 2210 configured to work in an autonomous driving mode when the controller 2110 the speed change signal outputs.

A procedure 2300 according to one embodiment of the invention is in shown. The procedure 2300 is a method for controlling the host vehicle. In particular, the method 2300 a method of controlling a speed of the host vehicle in response to another vehicle speed of another vehicle traveling in a different track than the host vehicle. The procedure 2300 can from the controller 2110 and the system described above 2210 with reference to the and be performed.

The procedure 2300 essentially comprises the steps of receiving 2310 Another vehicle speed of another vehicle in a second lane of a multi-lane drivable track and, depending on the changing of 2320 a speed of the host vehicle from a host vehicle speed to the further vehicle speed.

With reference to includes the illustrated embodiment of the method 2300 a step of receiving 2310 in a host vehicle traveling at a host vehicle speed in a first lane of a multi-lane drivable route, another vehicle speed of another vehicle in a second lane of the multi-lane drivable route. In some embodiments, the further vehicle speed is indicated by a second speed signal received from the sensor device 2220 at the control 2110 Will be received.

In step 2320 the speed of the carrier vehicle is changed in dependence on the further vehicle speed of the carrier vehicle speed in the direction of the further vehicle speed. In some embodiments, the further vehicle speed is a relative speed of the further vehicle to the host vehicle. In some embodiments, the speed of the host vehicle is changed depending on the speed of the host vehicle and the other vehicle speed.

In some embodiments, the step 2320 for changing the speed of the host vehicle depending on whether the further vehicle speed deviates by more than a predetermined threshold from the speed of the host vehicle. For example, the step 2320 be performed to change the speed of the host vehicle when the other vehicle speed, the speed of the host vehicle to exceeds at least the predetermined threshold.

In some embodiments, the method comprises 2300 receiving the host vehicle speed of the host vehicle, and the step 2320 for changing the speed of the host vehicle is performed depending on the host vehicle speed and the other vehicle speed.

In some embodiments, the method comprises 2300 receiving a request from a user of the host vehicle to move the host vehicle into the second lane. In some embodiments, the step 2320 for changing the speed of the host vehicle from the speed of the host vehicle toward the further vehicle speed in response to the user's request received.

In some embodiments, the method comprises 2300 indicating that the host vehicle is moving to the second lane.

In some embodiments, the method comprises 2300 receiving an indication of the presence of a space in front of or behind the further vehicle, the space having a size sufficient to accommodate the host vehicle. The step 2320 for changing the speed of the host vehicle, the presence of the space may be performed depending on the received indication.

In some embodiments, the method comprises 2300 determining if the size of the space is sufficient to accommodate the host vehicle in response to the host vehicle speed and the further vehicle speed. The step 2320 for changing the speed of the host vehicle may be performed if the size of the space is determined to be sufficient to accommodate the host vehicle therein.

In some embodiments, the second lane is adjacent to the first lane. In some embodiments, the host vehicle and the other vehicle travel in the same direction.

A carrier vehicle 2400 according to one embodiment of the invention is in shown. The carrier vehicle 2400 includes the controller 2110 and the system 2210 and is arranged to process 2300 to perform on it. With reference to Travels the illustrated embodiment of the carrier vehicle 2400 on a multi-lane navigable path 2410 in the form of a multi-lane expressway 2410 , The multi-lane navigable way 2410 includes a first track 2412 and a second track 2414 , The carrier vehicle 2400 drives on the first lane of the multi-lane motorable way 2410 , At least one more vehicle 2420 . 2430 in the form of a first further vehicle 2420 and a second further vehicle 2430 drive on the second lane 2414 of the multi-lane drivable path 2410 , Between the first further vehicle 2420 and the second other vehicle 2430 is a room S intended. Each of the carrier vehicles 2400 and that at least one other vehicle 2420 . 2430 drives in the direction D along the drivable path 2410 , In this way, the space S before the first further vehicle 2420 and behind the second further vehicle 2430 provided. The room has a size S1 , The carrier vehicle 2410 drives on the first lane at a speed VH , The at least one other vehicle 2420 . 2430 drives on the second lane 2414 at a speed VF , In this example, the speed is VF an average of the speed of the first further vehicle 2420 and the speed of the second further vehicle 2430 , In this particular example, move the first other vehicle 2420 and the second additional vehicle 2430 both on the second lane 2414 at the speed VF , The speed VF of the at least one other vehicle 2420 . 2430 and the speed VH of the carrier vehicle 2410 are different, so that the carrier vehicle 2410 relative to the at least one other vehicle 2420 . 2430 emotional. In this example, the speed is VH slower than the speed VF , The carrier vehicle 2400 changes the speed of the speed VH to the speed VF of the at least one other vehicle 2420 . 2430 , Therefore, the host vehicle 2400 at a speed closer to the speed VF of the at least one other vehicle 2420 . 2430 as the original speed VH of the carrier vehicle 2400 lies in the room S drive. As previously described, the host vehicle may 2400 autonomous from the first lane 2412 in the room S the second lane 2414 move. The carrier vehicle 2400 can determine if the size S1 of the space S is sufficient to the carrier vehicle 2400 take.

Another aspect of autonomous driving operation will now be described. In particular, in one embodiment, a description follows of a shutdown of the autonomous driving mode. A controller 3110 or control unit 3110 according to one embodiment of the invention is in shown.

The control 3110 is associated with a host vehicle for operation in an autonomous driving mode and includes a control means 3120 , an input device 3140 and an output means 3150 , In some embodiments, the controller includes 3110 a storage means 3130 , such as one or more storage devices 3130 to store data in it. The input device 3140 may comprise an electrical input for receiving a signal in the form of a first request signal. The first request signal is an indicator for a first request of a user of the host vehicle to remove the host vehicle from the autonomous drive mode. In some embodiments, the electrical input is also for receiving a signal in the form of a second request signal. The second request signal is an indicator of a second request of the user of the host vehicle to remove the host vehicle from the autonomous drive mode. The output device 3150 may include an electrical output for outputting a first transient signal. The first transient signal is to cause the host vehicle to exit the autonomous cruising mode. The control device 3120 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may have computer readable instructions stored in one or more memory devices 3130 stored are functional. The control device 3120 is arranged so that the output device 3150 outputs the first transition signal in response to the first request signal and the second request signal. Therefore, both a first request and a second request of the user are required to remove the host vehicle from the autonomous drive mode. In some embodiments, the input means 3140 and the output means 3150 be combined, for example, by being formed by an I / O unit or an interface unit. For example, the controller 3110 an interface to a network forming a communication bus of the host vehicle. The interface bus may be an Internet Protocol (IP) based communication bus such as Ethernet, although embodiments of the invention are not limited in this regard.

In some embodiments, the input means is used 3140 for receiving a further request signal. The further request signal is an indicator for another user request for the transition from the autonomous driving mode. The output device 3150 serves to output a second transition signal. The second transition signal is intended to cause the host vehicle to transition from the autonomous drive mode into a further drive mode in a shorter time than in the first transition signal. The control device 3120 is arranged so that the output device 3150 outputting the second transition signal in response to the further request signal and in response to a determination that the first request signal indicates the user's first request to transition from the autonomous drive mode and the second request signal indicates the user's second request to transition from the autonomous drive mode. Thus, if the user has already initiated the transition from the autonomous driving mode through the first request and the second request, the process can be completed more quickly by additionally setting the further request for the transition from the autonomous driving mode.

In some embodiments, the user's further request includes a vehicle motion request, such as at least one of a steering request and a torque request, such as a brake request or an acceleration request.

In some embodiments, the controller is 3120 arranged to determine whether the first request signal indicates the first request of the user having a duration of at least a predetermined first threshold. The control device 3120 is arranged so that the output device 3150 outputs the first transient signal when the first request signal indicates that the duration of the first request of the user is at least the predetermined first threshold. In this example, the default first threshold is three seconds, but may be different.

In some embodiments, the controller is 3120 arranged to determine whether the second request signal indicates the second request of the user having a duration of at least a predetermined second threshold. The control device 3120 is arranged so that the output device 3150 outputs the first transition signal when the second request signal indicates that the duration of the second request of the user is at least the predetermined second threshold. In this example, the predetermined second threshold is equal to the predetermined first threshold.

In some embodiments, the controller is 3120 arranged to determine whether the first request signal and the second request signal are received simultaneously. The control device 3120 is arranged so that the output device 3150 outputs the first transient signal when the first request signal and the second request signal are simultaneously be received. In some embodiments, the first request signal and the second request signal are determined to be concurrently received when the first request signal and the second request signal indicate a first request of the user that overlaps, at least partially with a second request of the user.

A system 3210 according to one embodiment of the invention is in shown.

The system 3210 includes the controller 3110 as described above with reference to described, and an input device 3220 , In some embodiments, the input device comprises 3220 a first input device 3222 and a second input device 3224 , As described above, the control is 3110 arranged to output the first transient signal. The input device 3220 is user-operable to send the first request signal to the controller 3110 issue. The input device 3220 is separately operable by the user to provide the second request signal to the controller 3110 issue. Therefore, the input device 3220 for receiving the user's first request to transition from the autonomous driving mode and receiving the user's second request to transition from the autonomous driving mode. In some embodiments, the input device is 3220 arranged to be provided on a steering control in the form of a steering wheel of the host vehicle. When the input device 3220 the first input device 3222 and the second input device 3224 includes at least one of the first input devices 3222 and the second input device 3224 be provided on the steering control of the host vehicle. In some embodiments, both are the first input device 3222 as well as the second input device 3224 arranged so that they are associated with the steering control of the host vehicle. In some embodiments, the first input device comprises 3222 a first input device 3222 in the form of a first push-button switch 3222 , In some embodiments, the second input device comprises 3224 a second input device 3224 in the form of a second push-button switch 3224 , In some embodiments, the input device is 3220 by a first hand of the user for outputting the first request signal and operable by a second hand of the user to output the second request signal. In some embodiments, the input device is 3220 configured to be operated by the user's hands when the user's hands are on the steering control of the host vehicle. In some embodiments, the input device is 3220 operable by the thumb of the first hand of the user when the first hand is on the steering control to output the first request signal. The input device 3220 is operable by the thumb of the second hand of the user when the second hand is on the steering control to output the second request signal. In embodiments, the input device is disposed in a central portion of the steering control, away from an edge portion of the steering control.

A steering control 3400 in the form of a steering wheel 3400 according to one embodiment of the invention is in shown. The steering control 3400 is generally circular and includes an edge portion 3410 and a middle section 3420 within the border section 3410 , As is known, the user's hands rotate when using the steering control 3400 the steering control 3400 by engagement in the edge section 3410 the steering control 3400 , As described above, the steering control is 3400 with the first input device 3222 and the second input device 3224 Mistake. In this example, the first input device 3222 and the second input device 3224 in the middle section 3420 the steering control 3400 arranged.

A procedure 3300 according to one embodiment of the invention is in shown. The procedure 3300 is a method for controlling the host vehicle. In particular, the method 3300 a method for controlling a transition from an autonomous driving mode of the host vehicle in response to a first request of the user for the transition from the autonomous driving mode and a second request of the user to the transition from the autonomous driving mode. The procedure 3300 can from the controller 3110 and the system described above 3210 with reference to the and be performed.

The procedure 3300 essentially comprises the steps of receiving 3310 . 3320 a first request and a second request of the user to transition from the autonomous driving mode and, depending thereon, outputting 3330 a first transition request to cause the host vehicle to transition from the autonomous drive mode.

With reference to includes the illustrated embodiment of the method 3300 a step of receiving 3310 a first request from a user of the host vehicle to transition from an autonomous driving mode of the host vehicle. In some embodiments, the first request is via a input device 3220 on a steering control 3400 of the host vehicle.

In step 3320 a second request of the user of the host vehicle to transition from the autonomous driving mode is received. In some embodiments, the second request is from the input device 3220 on the steering control 3400 of the host vehicle.

In step 3330 In response to the first request and the second request, the transition request is issued to effect the transition of the host vehicle from the autonomous drive mode. In some embodiments, the method comprises 3300 the transition from the autonomous driving mode. In some embodiments, the method includes determining that at least one of the first requests and the second request has a duration of at least one predetermined threshold. The transition request is issued when at least one or, in some embodiments, both the first request and the second request have a duration of at least the predetermined threshold. In some embodiments, the method comprises 3300 determining if the first request and the second request are received simultaneously. The transition request is issued when the first request and the second request are received simultaneously. In some embodiments, the method determines 3300 in that the first request and the second request are received simultaneously when the first request and the second request at least partially overlap.

Another aspect of autonomous driving operation will now be described. In particular, in one embodiment, a description of another aspect of disengaging the autonomous driving mode follows. A controller 4110 or control unit 4110 according to one embodiment of the invention is in shown.

The control 4110 is associated with a host vehicle for operation in an autonomous driving mode and includes a control means 4120 , an input device 4140 and an output means 4150 , In some embodiments, the controller includes 4110 a storage means 4130 , such as one or more storage devices 4130 to store data in it. The input device 4140 may comprise an electrical input for receiving a signal in the form of a request signal. The request signal is an indicator for a request from a user of the host vehicle to remove the host vehicle from the autonomous driving mode. The electrical input also serves to receive a signal in the form of a capability signal. The capability signal is an indicator of the user's ability to take control of the host vehicle after the host vehicle has transitioned from the autonomous driving mode. The output device 4150 may include an electrical output for outputting a transient signal. The transition signal should cause the carrier vehicle to exit the autonomous driving mode. The control device 4120 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may have computer readable instructions stored in one or more memory devices 4130 stored are functional. The control device 4120 is arranged so that the output device 4150 outputs the transition signal in response to the request signal and the capability signal. Therefore, in this example, depending on both the user's request and the user's ability to take control of the host vehicle, the host vehicle will exit the autonomous drive mode. In some embodiments, the input means 4140 and the output means 4150 be combined, for example, by being formed by an I / O unit or an interface unit. For example, the controller 4110 an interface to a network forming a communication bus of the host vehicle. The interface bus may be an Internet Protocol (IP) based communication bus such as Ethernet, although embodiments of the invention are not limited in this regard.

In some embodiments, the control means is 4120 arranged to determine the ability of the user to take control of the host vehicle in response to the capability signal. The control device 4120 is arranged to determine that the user requests the transition from the autonomous drive mode in response to the request signal. The control device 4120 is arranged so that the output device 4150 outputs the transient signal when it is determined that the user is requesting the transition from the autonomous driving mode and when it is determined that the user is able to take control of the host vehicle.

In some embodiments, the controller is 4120 arranged so that it prevents the output device 4150 outputs the transient signal when it is determined that the user is unable to take control of the host vehicle.

In some embodiments, it may be determined that the user is able to take control of the host vehicle based on a level of awareness of the user. In other words, the capability signal is an indicator of a user's level of awareness. In some embodiments, awareness is a numeric scale, for example, from 0 to 10, where 0 is not known at all, such as sleep, and 10 is completely known. In some embodiments, the capability signal is an indicator of the gaze status of the user. The gaze state may include a blimp characteristic of the user and / or a pupil characteristic, such as a pupil motion characteristic, and / or a gaze direction of the user. In other words, in some examples, it may be noted that the user is able to take control of the host vehicle depending on the viewing direction of the user.

In some embodiments, it may be determined that the user is incapable of taking control of the host vehicle based on the level of awareness of the user.

In some embodiments, the capability signal is an indicator for one or more images of an eye of the user. The control device 4120 is arranged to determine the ability of the user to take control of the host vehicle in response to a blimp characteristic of the user's eye. The Blinzelcharakteristik the user's eye is determined in response to one or more images of the eye.

In some embodiments, the request signal is an indicator of an input of the user to an input device to require transition from the autonomous drive mode. In some examples, the user input may be a tactile input, such as a keystroke.

A system 4210 according to one embodiment of the invention is in shown.

The system 4210 includes the controller 4110 as referred to herein described, a first scanning means 4220 in the form of a first sensor 4220 and a second scanning means 4230 in the form of a second sensor 4230 , The control 4110 is arranged to output the transition signal as described above. The first sensor 4220 responds to the request of the user to exit the autonomous driving mode of the host vehicle. The first sensor 4220 is arranged to send the request signal to the controller 4110 depending on the request of the user. The second sensor 4230 responds to the ability of the user to take control of the host vehicle after the host vehicle has transitioned from the autonomous driving mode. The second sensor 4230 is arranged to send the capability signal to the controller 4110 depending on the ability of the user to issue.

In some embodiments, the first sensor comprises 4220 an input device 4220 , The input device 4220 is operable by a user's hand to generate the request signal. In some embodiments, the input device is 4220 arranged to be provided on a steering wheel of the host vehicle, such as in with respect to the input device 3220 related to is described. Likewise, the input device includes 4220 of the present embodiment, in some embodiments, two buttons.

In some embodiments, the second sensor comprises 4230 a touch sensor 4230 , The push button sensor 4230 is arranged to detect the presence of a user's hand on the steering wheel of the host vehicle. In some embodiments, the touch sensor is 4230 a capacitive push button sensor 4230 , In some embodiments, the second sensor comprises 4230 a physiological sensor. The physiological sensor is arranged to acquire data indicating a current consciousness of the user. For example, the physiological sensor may be a heart rate sensor. In some embodiments, the physiological sensor includes a camera. The camera is arranged to capture data indicative of current user awareness. In some examples, the camera is an infrared camera. The infrared camera may look through some user-worn sunglasses to further detect an eye characteristic of the user, such as a blimp characteristic.

In some embodiments, the second sensor comprises 4230 a torque input sensor (not in shown). The torque input sensor is arranged to detect a steering input of the user to a steering controller, such as a steering wheel, of the host vehicle. In this way, a steering input of the user of the host vehicle is an indicator of the ability of the user to take control of the host vehicle after the host vehicle has transitioned from the autonomous driving mode.

A procedure 4300 according to one embodiment of the invention is in shown. The procedure 4300 is a method for controlling the host vehicle. In particular, the method 4300 a method for controlling a transition from an autonomous driving mode of the host vehicle in response to a request of the user to transition from the autonomous driving mode and a capability of the user to take control of the host vehicle. The procedure 4300 can from the controller 4110 and the system described above 4210 with reference to the and be performed.

The procedure 4300 essentially comprises the steps of receiving 4310 a request of the user to transition from the autonomous driving mode, receiving 4320 an ability of the user to take control of the host vehicle after the host vehicle has transitioned from the autonomous driving mode and, depending thereon, the switching of 4330 of the host vehicle from the autonomous driving mode.

With reference to includes the illustrated embodiment of the method 4300 a step to receive 4310 a request from a user to transition from an autonomous driving mode of a host vehicle.

In step 4320 an ability of the user to take control of the host vehicle after the host vehicle has transitioned from the autonomous driving mode is received.

In step 4330 Depending on the user's request and the ability of the user to take control of the host vehicle, the host vehicle is moved out of the autonomous driving mode.

Another aspect of autonomous driving operation will now be described. In particular, in one embodiment, a description of another aspect of disengaging the autonomous driving mode follows. A controller 5110 or control unit 5110 according to one embodiment of the invention is in shown.

The control 5110 is associated with a host vehicle for operation in an autonomous driving mode and includes a control means 5120 , an input device 5140 and an output means 5150 , In some embodiments, the controller includes 5110 a storage means 5130 , such as one or more storage devices 5130 to store data in it. The input device 5140 may comprise an electrical input for receiving a signal in the form of a feedback signal. The feedback signal is an indicator of a resistance experienced by a steering wheel of a host vehicle in response to a force to move the steering wheel. The force is applied to the steering wheel. The output device 5150 may include an electrical output for outputting a user ready signal. The user's ready signal is an indicator of the presence of a user's hand on the steering wheel. The control device 5120 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may have computer readable instructions stored in one or more memory devices 5130 stored are functional. The control device 5120 is arranged so that the output device 5150 the user readiness signal in response to the feedback signal outputs. Therefore, in this example, the presence of the user's hand on the steering wheel can be determined by applying a force to the steering wheel and detecting the resistance of the steering wheel. It should be understood that having a hand on the steering wheel may result in additional resistance to movement of the steering wheel in response to an input force. In some embodiments, the input means 5140 and the output means 5150 combined, for example, by being formed by a 1/0 unit or an interface unit. For example, the controller 5110 an interface to a network forming a communication bus of the host vehicle. The interface bus may be an Internet Protocol (IP) based communication bus such as Ethernet, although embodiments of the invention are not limited in this regard.

In some embodiments, the output means is 5150 arranged to output a steering wheel movement control signal. The steering wheel movement control signal is to cause the steering wheel of the host vehicle to attempt to move at least. The control device 5120 is arranged so that the output device 5150 outputs the control signal for the steering wheel movement. The control signal for the steering wheel movement is to generate the force for moving the steering wheel. In some embodiments, the control signal for steering wheel movement is configured such that the steering wheel attempts to perform a rotational movement. Therefore, the steering wheel can try to turn. It is understood that the presence of the user's hand on the steering wheel resists the rotational movement of the steering wheel. In this way, the presence of the user's hand on the steering wheel can be determined based on the resistance of the steering wheel to the at least attempted movement of the steering wheel. The steering wheel movement control signal is a request to the movement of the steering wheel.

In some embodiments, the controller is 5120 arranged to the input device 5140 to control any feedback signal to the controller 5120 output only after the steering wheel movement control signal has been issued. That way is the controller 5110 only arranged to receive the feedback signal indicating the resistance of the steering wheel of the host vehicle in response to the force for moving the steering wheel when the controller 5110 has also caused a movement of the steering wheel via the steering wheel movement control signal.

In some embodiments, the steering wheel movement control signal is configured such that the steering wheel applies a predetermined torque. In some embodiments, the steering wheel movement control signal is configured to cause the steering wheel to make a first movement in a first direction. The steering wheel movement control signal is configured to cause the steering wheel to attempt a second movement in a second direction. The second direction is opposite to the first direction. In some embodiments, the steering wheel movement control signal is configured such that the steering wheel attempts to move away from a first position and return to the first position.

In some embodiments, the control signal of the steering wheel movement is such that the force is sufficiently low to make the attempt to move the steering wheel substantially imperceptible to the user. In other words, the force is so great that the steering wheel tries to move a substantially unnoticeable amount to the user.

In some embodiments, the steering wheel movement control signal is configured to attempt to make a rotational movement of up to a predetermined amount to effect a substantially imperceptible change in a direction of travel of the host vehicle.

In some embodiments, the steering wheel movement control signal is exclusively for determining the presence of the user's hand on the steering wheel. In some embodiments, the steering wheel movement control signal is configured to cause the steering wheel to attempt to move up to a certain amount. In some embodiments, attempting to move the steering wheel results in movement of the steering wheel in the absence of the user's hand on the steering wheel. In some embodiments, attempting to move the steering wheel results in movement of the steering wheel with the user's hand on the steering wheel.

In some embodiments, the input device is 5140 arranged to receive a detection signal. The detection signal is an indicator of further detection of contact with the user on the steering wheel. The control device 5120 is arranged so that the output device 5150 outputs the user-ready signal in response to the feedback signal and the detection signal.

In some embodiments, the controller is 5120 arranged to determine whether the feedback signal is an indication that the resistance experienced by the steering wheel is greater than a predetermined resistance threshold value. The control device 5120 is arranged so that the output device 5150 outputs the user-ready signal when the feedback signal is determined as an indicator of the resistance of the steering wheel that is greater than the predetermined resistance threshold value.

A system 5210 according to one embodiment of the invention is in shown.

The system 5210 includes the controller 5110 as described herein with reference to as the first controller 5110 and a second controller 5220 , In some embodiments, the system includes 5210 an actuator 5230 , In some embodiments, the system includes 5210 a push button sensor 5240 , In some embodiments, the system includes 5210 input means 5250 , The first controller 5110 is arranged to output the user-ready signal as described above. The second control 5220 is in data communication with the first controller 5110 , The second control 5220 includes an output device 5222 in the form of a second control output device 5222 and a controller 5224 in the form of a second control control device 5224 , The second control output means 5222 may comprise an electrical output for outputting a signal in the form of a mode change signal. The mode change signal is to cause the host vehicle to exit an autonomous drive mode. In some embodiments, the second controller comprises 5220 a storage means (not in shown), such as one or more storage devices for storing data therein. The second control device 5224 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may operatively execute computer readable instructions stored in one or more memory devices. The second control device 5224 is arranged so that it causes the second control device 5222 the Mode change signal depending on the user ready signal.

In some embodiments, the actuator 5230 in the form of an actuating unit 5230 be executed. The actuator 5230 serves to receive the control signal for the steering wheel movement. The actuating device 5230 is configured to apply the force to the steering wheel of a host vehicle in response to the control signal of the steering wheel movement. In some embodiments, the actuator means that 5230 an engine is.

In some embodiments, the touch sensor is 5240 to provide on the steering wheel. The touch sensor 5240 is arranged to output the detection signal in response to the further detection of the contact with the user on the steering wheel. In some embodiments, the touch sensor is 5240 a capacitive push button sensor 5240 ,

In some embodiments, the input device is 5250 for receiving a steering signal indicative of a path change request when the host vehicle is operating in the autonomous driving mode. The path change request is indicative of a steering command of the host vehicle, which is determined by an autonomous travel control for controlling the host vehicle in the autonomous drive mode. In some embodiments, the system includes 5210 Actuator means, such as an actuator unit, for steering the host vehicle in accordance with a steering command. The actuating means mentioned here may be identical or different from the actuating means described above. The second control device 5224 is arranged to determine the steering command in response to the steering wheel movement control signal. The steering wheel movement control signal is configured to cause the steering wheel to attempt to move by more than an amount required solely in response to the steering signal. In other words, the steering wheel of the host vehicle is configured to move more than necessary (or to try to move) only as part of the normal navigation of the host vehicle to stay on the navigable path on which the host vehicle is traveling ,

A procedure 5300 according to one embodiment of the invention is in shown. The procedure 5300 is a method for controlling a host vehicle. In particular, the method 5300 a method of determining the operational readiness of the user of the host vehicle in response to a resistance experienced by a steering wheel of the host vehicle against a force to move the steering wheel mounted on the steering wheel. The procedure 5300 can from the controller 5110 and the system described above 5210 with reference to the and be performed.

The procedure 5300 essentially comprises the steps of receiving 5310 a resistance to a force for moving a steering wheel of a host vehicle and generating 5320 and spending 5330 a user ready signal in response to the received resistance.

With reference to includes the illustrated embodiment of the method 5300 a step to receive 5310 a feedback signal indicating a resistance experienced by a steering wheel of a host vehicle in response to a force for moving the steering wheel mounted on the steering wheel.

In step 5320 a user-ready signal is generated in response to the feedback signal, which indicates the presence of a hand of a user on the steering wheel. In some embodiments, the step 5320 generating the user ready signal when the feedback signal indicates that the resistance is greater than a predetermined resistance threshold.

In step 5330 the user-ready signal is output.

In some embodiments, the method comprises 5300 outputting a steering wheel movement control signal to cause the steering wheel of the host vehicle to move, thereby generating the force for moving the steering wheel.

In some embodiments, the method comprises 5300 receiving a detection signal indicative of further detection of contact with the user on the steering wheel. The procedure 5300 includes generating the user ready signal in response to the feedback signal and the detection signal.

Another aspect of autonomous driving operation will now be described. In particular, in one embodiment, a description of another aspect of disengaging the autonomous driving mode follows. A controller 6110 or control unit 6110 according to one embodiment of the invention is in shown. The control 6110 is for use with one of the navigable track layouts described in greater detail below with reference to FIGS to certainly. The control 6110 is associated with a host vehicle for operation in an autonomous driving mode and includes control means 6120 , an input device 6140 and an output means 6150 , In some embodiments, the controller includes 6110 a storage means 6130 , such as one or more storage devices 6130 to store data in it. The input device 6140 may comprise an electrical input for receiving a signal in the form of a detection signal. The detection signal is an indicator of the detection of a first feature associated with a navigable path of the host vehicle. The input device 6140 may comprise an electrical input for receiving a signal in the form of a time signal and / or a distance signal. The time signal is an indicator of travel time from the host vehicle to the first feature. The distance signal is an indicator of a route from the host vehicle to the first feature. In some embodiments, the detection signal may include the time signal and / or the distance signal. In other words, both the time signal and / or the distance signal and the detection signal may be common to the input means 6140 be received. The output device 6150 may include an electrical output for outputting a transient signal. The transition signal is to cause the host vehicle to go from an autonomous driving mode in another driving mode. The control device 6120 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may have computer readable instructions stored in one or more memory devices 6130 stored are functional. The control device 6120 is arranged so that the output device 6150 in response to the detection signal, outputs a first transient signal when the time signal and / or the distance signal indicates that the travel time to the first feature is greater than a first predetermined threshold (time or distance). The first transition signal is to cause the carrier vehicle to change from the autonomous driving mode into a first further driving mode. The control device 6120 is arranged to the output device 6150 to cause a second transient signal to be output in response to the detection signal when the time signal and / or the distance signal indicates the travel time to the first feature that is less than the first predetermined threshold (time or distance). The second transition signal is to cause the carrier vehicle to change from the autonomous driving mode to a second further driving mode, which differs from the first further driving mode. Therefore, in this example, the travel distance and / or travel time from the host vehicle to the first feature may be used to determine the further driving mode into which the host vehicle is transferred from the autonomous driving mode. In some embodiments, the input means 6140 and the output means 6150 be combined, for example, by being formed by an I / O unit or an interface unit. For example, the controller 6110 an interface to a network forming a communication bus of the host vehicle. The interface bus may be an Internet Protocol (IP) based communication bus such as Ethernet, although embodiments of the invention are not limited in this regard. In some embodiments, the controller may 6120 be arranged so that the host vehicle, the transition between the driving modes directly and not by the transition signal of the output device 6150 causes. The first further driving mode and the second further driving mode each differ from the autonomous driving mode, for example, because both the first further driving mode and the second further driving mode are arranged so that the user is requested to take control of the host vehicle before the host vehicle reached the first feature.

The first feature is described below with reference to to described in more detail.

In some embodiments, the first transient signal is to cause the host vehicle to complete the transition from the autonomous cruising mode to the first further cruising mode before the host vehicle reaches the first feature. In some embodiments, a duration of the transition from the autonomous drive mode to the first further drive mode is greater than a duration of the transition from the autonomous drive mode to the second further drive mode. In this way, when the first feature is closer to the host vehicle, the host vehicle is arranged to exit the autonomous cruising mode more quickly.

In some embodiments, a torque for the longitudinal movement of the host vehicle (eg, braking and / or accelerating) is autonomously controlled in the first further driving mode and in the second further driving mode. In some embodiments, the host vehicle is arranged to be decelerated in the first further driving mode and the second further driving mode.

In some embodiments, in the first further travel mode, the host vehicle is to be delayed at a first deceleration rate, and in the second further cruising mode the host vehicle is to be decelerated at a second deceleration rate. Therefore, in the first further driving mode, the carrier vehicle can brake at different speeds than in the second further driving mode. In some embodiments, the carrier vehicle is arranged to be in the first further travel mode and in the first further travel mode second further driving mode is braked to a standstill.

In some embodiments, steering of the host vehicle is autonomously controlled in the first further driving mode and in the second further driving mode.

In some embodiments, the output means serves 6150 for issuing a request signal. The request signal is to prompt the user to transition the host vehicle from the first further drive mode or the second further drive mode to a manual drive mode before the host vehicle reaches the first feature. The control device 6120 is arranged so that the output device 6150 outputs the request signal in response to the detection signal. In other words, the user may be asked to take control of the host vehicle when the first feature is detected.

In some embodiments, the controller is 6120 arranged so that the output device 6150 the request signal outputs after the host vehicle has started to transition from the autonomous drive mode to the first further drive mode or to the second further drive mode. In other words, the user may be requested to take control of the host vehicle while the host vehicle is operating in the first further driving mode or in the second further driving mode.

In some embodiments, the transition from the autonomous drive mode to the first further drive mode includes a first section in which the controller 6120 is arranged to the output device 6150 to cause the output of the request signal, and a second section in which the carrier vehicle is to be decelerated at a faster speed than in the first section. In some embodiments, the transition from the autonomous drive mode to the second further drive mode includes a first section in which the controller 6120 is arranged to the output device 6150 to cause the output of the request signal, and a second section in which the carrier vehicle is to be decelerated at a faster speed than in the first section. The duration of the first section of the transition is greater in the transition from the autonomous driving mode to the first further driving mode than in the transition from the autonomous driving mode to the second further driving mode.

In some embodiments, the output means serves 6150 to output an availability signal. The availability signal is intended to indicate to the user an availability of the autonomous driving mode. The control device 6120 is arranged so that it causes the output device 6150 outputs the availability signal in response to the detection signal and a determination that the host vehicle has passed the first feature. In some embodiments, the availability signal may be to indicate to the user that the autonomous driving mode is not available when the host vehicle has detected but failed the first feature.

In some embodiments, the controller is 6120 arranged to determine that the host vehicle the first feature in response to another detection signal from the input device 6140 received, happened. The further recognition signal is indicative of recognizing a second feature associated with the navigable path (and with respect to the and will be described in more detail below), and for the end of the first feature.

A variety of navigable path layouts are in the to shown. shows a drivable way 6410 in the form of a street 6410 , In some embodiments, the navigable path is 6410 a multi-lane navigable path 6410 , In some embodiments, the drivable path includes a first lane 6412 , a second track 6414 , a third track 6416 and a fourth track 6418 , A carrier vehicle 6420 drives on the road 6410 in a direction D. In this particular example, the host vehicle is traveling 6420 on the fourth track 6418 of the drivable way 6410 , The navigable path 6410 is a first feature 6430 assigned. In some embodiments, the first feature is 6430 with a driving restriction 6430 connected. In some embodiments, the first feature includes 6430 the driving restriction 6430 , The driving restriction 6430 is at least part of the passable path 6410 assigned, for example, a variety of lanes 6412 . 6414 . 6416 of the passable path 6410 , In some embodiments, the driving restriction is 6430 an indicator for closing at least part of the drivable path 6410 , In some embodiments, the driving restriction is 6430 the construction site 6430 , In some embodiments, the driving restriction includes 6430 one or more traffic jams 6432 , In some embodiments, the driving restriction includes 6430 a temporary route marker, such as one or more of a temporary lane marker, a lane departure sign, and a temporary barrier, such as a temporary agent reservation barrier. In other words, the driving restriction 6430 can every feature of the navigable path 6410 be or with connected to this, the operation of the carrier vehicle 6420 in a drive mode other than a current drive mode of the host vehicle 6420 may require. For example, if the carrier vehicle 6420 operated in an autonomous driving mode, it may be desirable or necessary for the host vehicle 6420 is operated in a drive mode other than the autonomous drive mode, for example, a manual drive mode as described herein when the host vehicle 6420 on or by the direction of travel 6430 passes by.

In some embodiments, the navigable path is 6410 a first preceding feature 6440 assigned. The first preceding feature 6440 is an indicator of the presence of the first feature 6430 , In some embodiments, the first preceding feature comprises 6440 a pre-marking 6440 , In some embodiments, the feed mark is 6440 an indicator of the journey time to the first feature 6430 , In some embodiments, the feed mark is 6440 an indicator for a travel path to the first feature 6430 , It is understood that the driving time or the driving distance from the host vehicle 6420 or from the advance marker 6440 can be done from. Therefore, the first preceding feature 6440 provide an advance notice that the first feature 6430 on the passable way 6410 imminent so that the carrier vehicle 6420 focus on the first feature 6430 can prepare.

In some embodiments, the navigable path is 6410 a second preceding feature 6450 assigned to the presence of the first feature 6430 points. In some embodiments, the second preceding feature comprises a start tag 6450 , Therefore, the start mark 6450 the beginning of the first feature 6430 Show. In some embodiments, the launch flag is 6450 an indicator that the beginning of the first feature 6430 closer than from the pre-mark 6440 ,

In some embodiments, the navigable path is 6410 a second feature 6460 assigned. The second feature 6460 is beyond the first feature 6430 on the navigable path 6410 and is an indicator of the end of the first feature 6430 , In some embodiments, the second feature 6460 an endmarking 6460 include. If the carrier vehicle 6420 the second feature 6460 Therefore, it may be possible for the host vehicle 6420 returns to an earlier driving mode in which the host vehicle 6420 was operated before it on the first feature 6430 met.

In the in As shown, the carrier vehicle 6420 be operated in an autonomous driving mode before entering the in illustrated section of the drivable path 6410 entry. The carrier vehicle 6420 first recognizes the first preceding feature 6440 , indicating the presence of the first feature 6430 in front of the carrier vehicle 6420 along the passable path 6410 points. If the carrier vehicle 6420 in a manual driving mode or other driving mode different from the autonomous driving mode, the host vehicle becomes 6420 prevented after recognizing the first preceding feature 6440 to enter the autonomous driving mode.

The carrier vehicle 6420 next recognizes the second preceding feature 6450 in the form of the start brand 6450 before reaching the start mark 6450 through the carrier vehicle 6420 , In some embodiments, the host vehicle determines 6420 based on the first preceding feature 6440 a position of the start mark 6450 , The carrier vehicle 6420 is arranged so that it is before the start mark 6450 from autonomous driving mode to a transitional driving mode. In this example, the host vehicle 6420 arranged so that there is a predetermined distance before the start mark 6450 changes into the transitional driving mode. In the transit mode, the user of the host vehicle becomes 6420 asked to take control of the carrier vehicle 6420 to take over to the carrier vehicle 6420 to control beyond the first feature. When the user takes control of the carrier vehicle 6420 until reaching the start mark 6450 does not take over, is the carrier vehicle 6420 arranged so that it is delayed to the carrier vehicle 6420 to bring to a complete stop before the carrier vehicle 6420 the first function 6430 reached. It is understood that a certain delay of the carrier vehicle 6420 may occur in transient driving mode, such as coasting or engine braking, but that the deceleration of the host vehicle 6420 to the carrier vehicle 6420 to bring to a complete stop, can be greater.

As previously described, the host vehicle may 6420 as soon as the carrier vehicle 6420 the first feature 6430 has happened (manually or automatically) be transferred back into the autonomous driving mode. In some embodiments, the host vehicle is valid 6420 as the first feature 6430 passed when the carrier vehicle 6420 the endmarking 6460 happened. In some embodiments, the host vehicle is valid 6420 as the first feature 6430 happens when the carrier vehicle 6420 for a predetermined time or a predetermined distance after the first feature 6430 none recorded further features. In some embodiments, depending on the determination that the host vehicle is the first feature 6430 has happened, an availability of the autonomous driving mode will be displayed.

It is understood that the detection of the first feature 6430 , the first preceding feature 6440 , the second preceding feature 6450 and the second feature 6460 using sensor means, such as one or more sensor units, associated with the host vehicle 6420 are assigned, can take place. For example, the carrier vehicle 6420 comprise one or more cameras, laser sensors, radar sensors and ultrasonic sensors, and image processor sensor processing means configured to control the navigable path 6410 to observe and one or more of the first features 6430 , the first preceding feature 6440 , the second preceding feature 6450 and the second feature 6460 capture. In some embodiments, recognition of the first feature becomes 6430 , the first preceding feature 6440 , the second preceding feature 6450 and the second feature 6460 achieved based on map information instead of or in addition to the sampling means.

shows a further arrangement of features on a drivable way 6410a , The features are essentially as in described, but with the differences mentioned herein. In has the passable way 6410a no associated feed mark 6440 out , Instead, the road serves the passable way 6410a assigned start marker 6450a as the first indicator of the carrier vehicle 6420 the coming first feature 6430 , In this way, the carrier vehicle 6420 prevent the activation of the autonomous driving mode as soon as the start mark 6450a is recognized. If the carrier vehicle 6420 already working in autonomous driving mode, changes the carrier vehicle 6420 at the start mark 6450a from autonomous driving mode to transient driving mode. In this embodiment, the host vehicle 6420 arranged to remain in the transient driving mode for a predetermined duration, prompting the user to control the host vehicle 6420 to take over. As in is the carrier vehicle 6420 arranged so that it is in front of the first feature 6430 is delayed to a halt when the user takes control of the carrier vehicle 6420 does not take over.

shows another arrangement of features on a navigable path 6410b , The features are essentially as in described with the exception of the differences mentioned herein. In is the start marker 6450b closer to the first feature 6430 as in the or , In this example, if the carrier vehicle 6420 operates in autonomous driving mode, switches the carrier vehicle 6420 from the start marker 6450b in the transient driving mode. The carrier vehicle 6420 is arranged so that it starts the carrier vehicle 6420 earlier than in the or to delay a stop to make sure the carrier vehicle 6420 before the first feature 6430 is stopped. Therefore, the time period or distance for the transient driving mode in which the user is requested may be in control of the host vehicle 6420 to take over, compared to the situation in the or be reduced.

A system 6210 according to one embodiment of the invention is in shown. The system 6210 includes the controller 6110 as referred to herein with reference to as the first controller 6110 described, a scanning means 6220 and a vehicle controller 6230 , The scanning means 6220 serves to detect the first feature and is arranged to apply the detection signal to the first controller 6110 depending on the detection of the first feature. The scanning means 6220 is used for detecting a travel time (and / or travel distance) from the host vehicle to the first feature and is arranged so that it the time signal (and / or the distance signal) in response to detecting the travel time (and / or distance) to the first controller 6110 outputs. The vehicle control 6230 serves to receive the transition signal from the first controller 6110 and is to cause the host vehicle, depending on the transition signal from the autonomous driving mode in the first further driving mode or the autonomous driving mode in the second further driving mode to pass. The transition signal may be the first transition signal or the second transition signal. The scanning means 6220 can be a sensor unit 6220 include.

In some embodiments, the sampling means comprises 6220 a camera 6220 , In some embodiments, the sampling means comprises 6220 a radar. In some embodiments, the sampling means comprises 6220 a distance measuring device 6220 , For example, a distance measuring means, such as a rangefinder. The range finder may be a laser range finder or other form of rangefinder. In some embodiments, the sampling means is 6220 arranged to receive navigation data.

In some embodiments, the sampling means is used 6220 in addition to the first feature for detecting the second feature.

A procedure 6300 according to one embodiment of the invention is in shown. The procedure 6300 is a method for controlling a host vehicle. In particular, the method 6300 a method for transferring the host vehicle from an autonomous driving mode in response to the detection of a first feature associated with a navigable path of the host vehicle. The procedure 6300 can from the controller 6110 and the system described above 6210 with reference to the and be performed.

The procedure 6300 essentially comprises the steps of recognition 6310 a first feature associated with a navigable path of a host vehicle of receiving 6320 a travel time (and / or a travel distance) to the first feature and, depending on the recognition of the first feature, the transfer 6330 the carrier vehicle in a first further driving mode or the transferring 6340 of the host vehicle in a second further driving mode.

With reference to includes the illustrated embodiment of the method 6300 a step to capture 6310 a first feature associated with a navigable path of a host vehicle. In step 6320 a travel time and / or a travel distance from the carrier vehicle to the first vehicle is received. In some embodiments, the step 6320 as part of the step 6310 occur for detecting the first feature. In some embodiments, the travel time (and / or travel distance) may be determined depending on the recognition of the first feature.

When in step 6330 the travel time (and / or travel distance) to the first feature is greater than a first predetermined time, the host vehicle is transferred in response to the detection of the first feature of an autonomous driving mode in a first further driving mode.

When in step 6340 the travel time (and / or the travel distance) to the first feature is less than the first predetermined time, the host vehicle is transferred in response to the detection of the first feature of the autonomous driving mode in a second further driving mode.

In some embodiments, the method comprises 6300 the step 6350 for determining whether the travel time (and / or travel distance) from the host vehicle to the first feature is greater than the first predetermined time.

Another aspect of autonomous driving operation will now be described. In particular, in one embodiment, a description of another aspect of disengaging the autonomous driving mode follows. A controller 7110 or control unit 7110 according to one embodiment of the invention is in shown.

The control 7110 comprises a control means 7120 , an input device 7140 and an output means 7150 , In some embodiments, the controller includes 7110 a storage means 7130 , such as one or more storage devices 7130 to store data in it. The input device 7140 may comprise an electrical input for receiving a signal in the form of a first request signal. The first request signal is an indicator of a primary control attempt by a user of a host vehicle. The primary control attempt is to control a first component of the host vehicle to perform a requested action. The requested action differs from a current action of the first component and is associated with a maneuver of the host vehicle. In some embodiments, the input device comprises 7140 an electrical input for receiving a signal in the form of a second request signal. The second request signal is an indicator of a secondary control attempt by the user of the host vehicle to control a second component of the host vehicle. The first component and the second component of the host vehicle are each components for the movement of the host vehicle. The output device 7150 may include an electrical output for outputting a first component control signal. The first component control signal is to cause the first component to perform the desired action. The control device 7120 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may have computer readable instructions stored in one or more memory devices 7130 stored are functional. The control device 7120 is arranged to the output device 7150 to control to output the control signal of the first component in response to the first request signal and the receipt of the second request signal. The control device 7120 is arranged to determine whether the first request signal indicates that the primary control attempt is greater than a first predetermined threshold. In other words, the controller 7120 is arranged to determine whether the first request signal satisfies a first predetermined criterion indicated by the first predetermined threshold. The control device 7120 is arranged so that the output device 7150 outputs the first component control signal depending on whether the first request signal indicates that the primary control attempt is greater than the first predetermined threshold. The control device 7120 is arranged to determine whether the second request signal from the input device 7140 Will be received. When the second request signal is determined to be received, the control means is 7120 arranged to determine whether the first request signal indicates that the primary control attempt is greater than a second predetermined threshold. In other words, the controller 7120 is arranged to determine whether the first request signal satisfies a second predetermined criterion indicated by the second predetermined threshold. The control device 7120 is arranged so that it causes the output device 7150 outputting the first component control signal depending on whether the second request signal is determined to be received and whether the first request signal indicates that the primary control attempt is greater than the second predetermined threshold. The second predetermined threshold differs from the first predetermined threshold. Therefore, the controller 7110 be arranged so that the host vehicle operates the first component for the movement of the host vehicle after a primary control attempt of the user according to various criteria, depending on whether the primary control attempt is accompanied by a secondary control attempt. In some embodiments, the control means is 7120 arranged to control the host vehicle according to an autonomous driving mode when the user supplies the first control attempt and the second control attempt. In some embodiments, the input means 7140 and the output means 7150 combined, for example, by being formed by a 1/0 unit or an interface unit. For example, the controller 7110 an interface to a network forming a communication bus of the host vehicle. The interface bus may be an Internet Protocol (IP) based communication bus such as Ethernet, although embodiments of the invention are not limited in this regard.

In some embodiments, the second predetermined threshold is less than the first predetermined threshold. Therefore, a primary control trial that is not accompanied by a secondary control trial must be stronger to allow the requested action to be performed by the first component than a primary control trial accompanied by a secondary control trial.

In some embodiments, the first component is a steering component operable to effect a change in the direction of travel of the host vehicle. In this way, the primary control attempt may be an attempt by the user of the host vehicle to change a direction of travel of the host vehicle. In some embodiments, the first predetermined threshold and / or the second predetermined threshold include a torque limit. In this context, the torque limit means a steering torque that is applied by the user as a primary control attempt to change the direction of travel of the host vehicle. In some embodiments, the primary control attempt is applied to a steering wheel of the host vehicle.

In some embodiments, the first predetermined threshold and / or the second predetermined threshold include an integral torque limit. The integral torque limit is an indicator of an integrated steering torque applied by the user as a primary control effort. The primary control attempt is applied by the user to the steering wheel of the host vehicle. It is understood that an integrated steering torque is a mathematical integral of the steering torque applied by the user via an integration window. In some embodiments, the integration window is less than five seconds.

In some embodiments, the control means is 7120 arranged to determine whether the first request signal indicates that the primary control attempt is greater than the first predetermined threshold for a time greater than a first threshold duration. The control device 7120 is arranged so that the output device 7150 outputting the first component control signal depending on whether the first request signal indicates that the primary control attempt is greater than the first predetermined threshold longer than the first threshold duration. In some embodiments, the duration of the first threshold is less than two seconds.

Therefore, using either the torque integral limit value described herein or the first threshold duration allows the controller 7120 does not issue the first component control signal in response to short primary control attempts that are not sufficiently sustained. For example, accidental impacts of the user of the host vehicle on the controller may not result in the requested action of the first component being executed.

In some embodiments, the output means serves 7150 for outputting a second component control signal. The second component Control signal is to cause the second component to perform another requested action. The further requested action may be associated with the same maneuver as the requested action of the first component or with a maneuver other than the maneuver associated with the requested action of the first component. The control device 7120 is arranged to determine whether the second request signal indicates that the secondary control attempt is greater than a third predetermined threshold. The control device 7120 is arranged so that the output device 7150 the second component control signal outputs according to whether the second request signal indicates that the secondary control attempt is greater than the third predetermined threshold value. The third predetermined threshold may be different from the first predetermined threshold and the second predetermined threshold. Alternatively, the third predetermined threshold may be equal to the first predetermined threshold and / or the second predetermined threshold.

In some embodiments, the second component is a speed control component, such as a torque control component. The speed control component is operable to cause a change in a speed of the host vehicle, such as a vehicle speed of the host vehicle. In some embodiments, the speed control component includes a brake component, such as a brake, that may be operated to reduce the speed of the host vehicle.

In some embodiments, the third predetermined threshold is a brake threshold. The brake threshold is an indicator of a braking force applied by the user to a brake input of the host vehicle when the secondary controller is attempted.

In some embodiments, the speed control component includes an acceleration component, such as a torque request component, such as a motor. The torque request component is operable to increase the speed of the host vehicle. In some embodiments, the third predetermined threshold is an acceleration threshold. The acceleration threshold is an indicator of an acceleration request to be applied by the user to an acceleration input of the host vehicle when attempting the secondary control.

In some embodiments, the input device is used 7140 for receiving a detection signal. The detection signal is an indicator of detection of a user's hand on the steering wheel of the host vehicle, in substantially any manner as described above. The control device 7120 is arranged so that the output device 7150 outputs the first component control signal in response to the detection signal.

In some embodiments, the control means is 7120 arranged to determine whether the first request signal indicates that the primary control attempt is greater than a fourth predetermined threshold. The control device 7120 is arranged so that the output device 7150 outputting the first component control signal depending on whether the first request signal indicates that the primary control attempt is greater than the fourth predetermined threshold, and whether the detection signal indicates the detection of the user's hand on the steering wheel. That is, a different threshold may be used depending on whether the user has at least one hand on the steering wheel.

In some embodiments, the fourth predetermined threshold is less than at least one of the first predetermined thresholds and the second predetermined threshold.

In some embodiments, the input device is used 7140 for receiving a further detection signal. The further detection signal indicates that another hand of the user is detected on the steering wheel of the host vehicle. The control device 7120 is arranged so that the output device 7150 outputs the first component control signal in response to the further control signal.

In some embodiments, the control means is 7120 arranged to determine whether the first request signal indicates that the primary control attempt is greater than a fifth predetermined threshold. The control device 7120 is arranged so that the output device 7150 outputting the first component control signal depending on whether the first request signal indicates that the primary control attempt is greater than the fifth predetermined threshold, and whether the detection signal and the further detection signal together indicate the detection of the hand and the further hand of the user on the steering wheel , In other words, another threshold may be used depending on whether the user has both hands on the steering wheel.

In some embodiments, the fifth predetermined threshold is less than at least one of the first predetermined thresholds second predetermined threshold and the fourth predetermined threshold.

In some embodiments, the output means serves 7150 to output a transition signal. The transient signal is intended to cause the host vehicle to exit an autonomous driving mode of the host vehicle. The control device 7120 is arranged so that the output device 7150 outputs the transition signal in response to the first request signal. In some examples, the controller may 7120 be arranged so that the output device 7150 outputs the transition signal when the controller 7120 the output device 7150 should cause to output the first component control signal. Therefore, the host vehicle can be moved out of the autonomous drive mode when the control signal of the first component is output.

In some embodiments, the transient signal is to cause the host vehicle to transition from the autonomous drive mode to a manual drive mode over a transition period. In some embodiments, the transition time may be at least half a second. In some embodiments, the transition time may be less than half a second.

A system 7210 according to one embodiment of the invention is in shown.

The system 7210 includes the controller 7110 as described above with reference to and is arranged to output the control signal of the first component. In some embodiments, the system includes 7210 an actuator 7230 in the form of an actuating unit 7230 and an input device 7220 , The actuating device 7230 serves to receive the first component control signal from the controller 7110 , The actuating device 7230 is to cause the first component of the host vehicle to perform the requested action in response to the control signal of the first component. The input device 7220 is used to receive the primary control attempt by the user of the host vehicle and is arranged to send the first request signal to the controller in response to the received primary control attempt 7110 issue. In some embodiments, the input device comprises 7220 a first input device 7222 for receiving the primary control attempt by the user and a second input device 7224 for receiving the secondary control attempt by the user. The second input device 7224 is arranged to the second request signal in response to the secondary control attempt to the controller 7110 issue. In some embodiments, the first input device 7222 a steering component 7222 be such as a steering wheel 7222 of the carrier vehicle. In some embodiments, the second input device 7224 a speed control component 7224 be such as a brake component 7224 , for example a brake pedal 7224 , the carrier vehicle.

A procedure 7300 according to one embodiment of the invention is in shown. The procedure 7300 is a method for controlling the host vehicle. In particular, the method 7300 a method for controlling a first component for the movement of the host vehicle to perform a requested action. The procedure 7300 can from the controller 7110 and the system described above 7210 with reference to the and be performed.

The procedure 7300 essentially comprises the steps of receiving 7310 a primary control attempt by a user of a host vehicle to control a first component of the host vehicle, determining 7320 whether a secondary control attempt of the user of the host vehicle to control a second component of the host vehicle is received, and depending on the control of the first component to perform the requested action.

With reference to includes the illustrated embodiment of the method 7300 a step to receive 7310 a primary control attempt by a user of a host vehicle. The primary control effort is to control a first component of the host vehicle to perform a requested action that is different than a current action of the first component. The requested action is associated with a maneuver of the host vehicle. The first component is a component for moving the host vehicle.

In step 7320 the receipt of a secondary control attempt is determined. The secondary control attempt is made by the user of the host vehicle and is to control a second component for the movement of the host vehicle.

If the secondary control attempt in step 7320 , in step 7330 , is not received, it determines if a Property of the primary control attempt is greater than a first predetermined threshold. In step 7340 the first component is controlled to perform the requested action depending on whether the property of the primary control attempt is greater than the first predetermined threshold.

If the secondary control attempt in step 7320 , in step 7350 is received, it is determined whether the property of the primary control attempt is greater than a second predetermined threshold. In step 7360 the first component is controlled to perform the requested action depending on whether the property of the primary control attempt is greater than the second predetermined threshold.

Another aspect of autonomous driving operation will now be described. In particular, in one embodiment, a description of another aspect of disengaging the autonomous driving mode follows. A controller 8110 or control unit 8110 according to one embodiment of the invention is in shown.

The control 8110 includes control means 8120 and input means 8140 , In some embodiments, the controller includes 8110 a storage means 8130 , such as one or more storage devices 8130 to store data in it. The input device 8140 may comprise an electrical input for receiving a signal in the form of a transition request signal. The transition request signal is an indicator of a transition request of a user of a host vehicle to transition from an autonomous driving mode of the host vehicle. In some embodiments, the input device comprises 8140 an electrical input for receiving a signal in the form of a steering request signal. The steering request signal is an indicator of a steering request of the user of the host vehicle. The control device 8120 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may have computer readable instructions stored in one or more memory devices 8130 stored are functional. The control device 8120 is arranged to change from the autonomous driving mode to a transitional driving mode depending on the transition request signal. In the transitional driving mode, the host vehicle is autonomously controlled. The control device 8120 is arranged to receive the steering request signal indicating the steering request of the user of the host vehicle. The control device 8120 is arranged to determine whether the steering request signal indicates that the steering request is greater than a predetermined threshold. The control device 8120 is arranged to change from the transitional driving mode to another driving mode, depending on whether the steering request signal indicates that the steering request is greater than the predetermined threshold value. In the further driving mode, the carrier vehicle is controlled in dependence on the steering request signal. In some embodiments, the control means is 8120 arranged to control the host vehicle according to the autonomous driving mode when the user provides the transition request. Therefore, the host vehicle can be switched out into the further drive mode and from a drive mode in which the steering of the host vehicle is autonomously controlled in response to a steering request signal.

In some embodiments, the controller is 8120 arranged so that it changes from the transitional driving mode in the other driving mode in less than half a second.

In some embodiments, the predetermined threshold includes a torque limit. The torque limit is an indicator of a steering torque that is applied by the handlebar used as a steering request to a steering wheel of the host vehicle.

In some embodiments, the control means is 8120 arranged to determine whether the steering request signal indicates that the steering request is greater than the torque limit threshold for more than a predetermined duration. The control device 8120 is arranged to change from the transitional driving mode to the further driving mode, depending on whether the steering request signal indicates that the steering request is longer than the predetermined duration over the torque limit value.

In some embodiments, the predetermined threshold includes an integral torque limit. The integral torque limit is an integrated steering torque indicator applied by the user as a steering request to a steering wheel of the host vehicle. In some embodiments, the integral torque limit is an integrated steering torque indicator to be applied by the user via an integration window. In some embodiments, the integration window has a duration of no more than three seconds.

In some embodiments, the controller is 8120 is arranged to cause a predetermined delay between the reception of the transition request signal and the change from the autonomous drive mode to the transient drive mode. In some embodiments, the predetermined delay is of a duration of at least half a second.

It is understood that the controller 8110 in some embodiments, dispensing means (not in illustrated) for outputting a drive mode control signal to cause the host vehicle to switch the drive mode. The dispensing means may be substantially as described above in relation to other aspects of the invention.

A system 8210 according to one embodiment of the invention is in shown.

The system 8210 includes the controller 8110 as described above with reference to and is arranged to switch between the autonomous driving mode and the transient driving mode. The control 8110 is arranged so that it switches between the transitional driving mode and the further driving mode. The system 8210 includes the input device 8220 , The input device 8220 is used to receive the transition request from the user and is arranged to receive the transition request signal in response to the transition request to the controller 8110 issue. The input device 8220 is used to receive the steering request of the user and is arranged to the steering request signal in response to the steering request to the controller 8110 issue. In some embodiments, the input device comprises 8220 a first input device 8222 for receiving the transition request from the user and a second input device 8224 for receiving the steering request from the user. In some embodiments, the input device is 8220 provided for operation by a user's hand to the input device 8220 cause to issue the transition request signal. In some embodiments, the input device comprises 8220 in the form of the first input device 8222 an input switch 8222 , In some embodiments, at least part of the input device is 8220 arranged to be provided on a steering wheel of the host vehicle. In some embodiments, the input device comprises 8220 a steering wheel 8220 ,

In some embodiments, the input device is 8220 arranged to cause a predetermined delay between the first receipt of the transition request from the user and the output of the transition request signal. The predetermined delay is of a duration of at least half a second.

In some embodiments, the input device is 8220 provided for operation by a user's hand to the input device 8220 to cause the steering request signal to be output.

In some embodiments, the system is 8210 during the transition from the transitional driving mode to the further driving mode arranged to limit a rate of change of the steering of the host vehicle to a speed threshold. In some embodiments, the rate threshold is determined in response to the steering request signal. Therefore, with significant steering requirements, the host vehicle may be only partially controlled in response to the steering request signal to reduce the likelihood of carrier vehicle crash.

In some embodiments, the rate threshold is arranged to increase as the host vehicle transitions from the transitional drive mode to the further drive mode. In other words, when the host vehicle transitions from the transient driving mode to the further driving mode, the host vehicle can better meet a user's steering request.

In some embodiments, the system is 8210 arranged to reduce a steering of the vehicle from a steering request, which is indicated by the steering request signal, by a predetermined amount during the transition from the transitional driving mode to the further driving mode. This is an alternative approach to the approach described above using the guess threshold.

A procedure 8300 according to one embodiment of the invention is in shown. The procedure 8300 is a method for controlling the host vehicle. In particular, the method 8300 a method for transferring the host vehicle from an autonomous driving mode to another driving mode in which the host vehicle is controlled in response to a steering request of a user of the host vehicle. The procedure 8300 can from the controller 8110 and the system described above 8210 with reference to the and be performed.

The procedure 8300 essentially comprises the steps of receiving 8310 a transition request by a user of a host vehicle to transition from an autonomous driving mode, the transition 8320 of the host vehicle from the autonomous driving mode to a transient driving mode, receiving 8330 a steering request by the user of the host vehicle and depending on the transition 8340 of the host vehicle from the transitional driving mode to another driving mode.

With reference to includes the illustrated embodiment of the method 8300 a step to receive 8310 a transition request by a user of a host vehicle. The transitional requirement is the transition from an autonomous driving mode of the host vehicle. As already mentioned, the carrier vehicle is autonomously controlled in autonomous driving mode. In some embodiments, longitudinal movement of the host vehicle may also be autonomously controlled in the autonomous driving mode.

In step 8320 the carrier vehicle is transferred or switched in a further driving mode depending on the transition request from the autonomous driving mode. In the further driving mode, the carrier vehicle steers autonomously. If, for example, the transition request fulfills all requirements for the transition request as described above, the host vehicle can change from the autonomous drive mode to the further drive mode.

In step 8330 a steering request is received by the user of the host vehicle. The steering request can be answered in any manner described above.

In step 8340 Depending on whether a property of the steering request is greater than a predetermined threshold, the host vehicle is transferred or switched from the transitional driving mode in another driving mode. The property of the steering request may be any property of the steering request, eg as described above. In the further driving mode, the carrier vehicle is controlled as a function of the steering request. In some embodiments, the further drive mode may be a manual drive mode in which the host vehicle is controlled in response to a steering input to a steering wheel of the host vehicle. Therefore, the host vehicle may be moved out of the transient driving mode in which an appropriate steering request is received while the host vehicle is in the transient driving mode.

In some embodiments, the host vehicle is transitioned from the transitional drive mode to the further drive mode, depending on whether a steering torque to be applied by the user as a steering request to a steering wheel of the host vehicle is greater than a torque limit. In some embodiments, depending on whether the steering torque of the steering request is greater than the torque limit for a predetermined period of time, the host vehicle is transitioned from the transitional driving mode to the further driving mode.

In some embodiments, the host vehicle is transitioned from the transitional driving mode to the further driving mode depending on whether an integrated steering torque to be applied by the user as a steering request is greater than an integral torque limit value. The steering requirement applies to a steering wheel of the host vehicle.

In some embodiments, the host vehicle changes from the transient driving mode to the further driving mode after a predetermined period of time even if the steering request is not received. In some embodiments, the predetermined amount of time is at least three seconds.

Another aspect of autonomous driving operation will now be described. In particular, in one embodiment, a description of another aspect of disengaging the autonomous driving mode follows. A controller 9110 or control unit 9110 according to one embodiment of the invention is in shown.

The control 9110 includes control means 9120 and input means 9140 , In some embodiments, the controller includes 9110 a storage means 9130 , such as one or more storage devices 9130 to store data in it. The input device 9140 may comprise an electrical input for receiving a signal in the form of one or more state signals. The one or more state signals are each an indicator of one or more of a vehicle characteristic, a user characteristic, and an environmental characteristic. In some embodiments, the input device comprises 9140 an electrical input for receiving a signal in the form of an acknowledgment signal. The confirmation signal is an indicator of confirmation by a user of a host vehicle to exit a current driving mode of the host vehicle. The control device 9120 may be formed by one or more electronic processing devices, such as an electronic processor. The processor may have computer readable instructions stored in one or more memory devices 9130 stored are functional. The control device 9120 is arranged to change from an autonomous drive mode to a transitional drive mode depending on one or more status signals. In the transitional driving mode, the host vehicle is autonomously controlled. The control device 9120 is arranged to receive the confirmation signal indicative of the confirmation by the user of the host vehicle to exit the current driving mode of the host vehicle. The control device 9120 is arranged to vary depending on Confirmation signal from the transitional driving mode to another driving mode to change. In some embodiments, the host vehicle is controlled in the further drive mode in response to a steering request signal. Thus, depending on the user's confirmation, the host vehicle may be moved out of the transient driving mode, although the transient driving mode has been input from the autonomous driving mode in response to one or more status signals.

In some embodiments, the acknowledgment signal is indicative of at least one of a steering acknowledgment, a torque acknowledgment, a brake acknowledgment, and a driving mode change acknowledgment by the user of the host vehicle.

In some embodiments, the controller may 9110 output means 9150 include. The output device 9150 may include an electrical output for outputting a notification signal. The notification signal is to notify the user to confirm the transition from the transitional drive mode to the further drive mode of the host vehicle. The control device 9120 is arranged so that the output device 9150 outputs the notification signal in response to one or more status signals. In some embodiments, the controller is 9120 arranged so that the output device 9150 outputs the notification signal in response to the host vehicle changing from the autonomous drive mode to the transitional drive mode.

In some embodiments, the input device is used 9140 for receiving a capability signal. The capability signal is an indicator of the user's ability to take control of the host vehicle after the host vehicle has transitioned from the autonomous driving mode. The capability signal may be determined substantially as described elsewhere in this specification.

In some embodiments, the controller is 9120 arranged so that it changes in the further driving mode depending on the ability signal from the transitional driving mode. Therefore, the control device 9120 change to the further drive mode if it is determined that the user is able to take control of the host vehicle after the host vehicle has changed or changed to the other drive mode.

A system 9210 corresponds to an embodiment of the invention, which in is shown.

The system 9210 includes the controller 9110 as described above with reference to described. The control 9110 is arranged to switch between the autonomous driving mode and the transient driving mode. The control 9110 is arranged so that it switches between the transitional driving mode and the further driving mode. The system includes an input device 9220 , The input device 9220 serves to receive the confirmation of the user to transition from the current driving mode of the host vehicle. The input device 9220 is arranged to send the acknowledgment signal to the controller in response to user confirmation 9110 outputs. In some embodiments, the input device is 9220 operated by a user's hand and is an input switch 9220 essentially as described above.

In some embodiments, the controller is 9110 arranged in the transitional driving mode so that it brakes the carrier vehicle autonomously. In some embodiments, the controller is 9110 arranged to autonomously decelerate the host vehicle at a deceleration rate less than a maximum deceleration rate of the host vehicle. In other words, the deceleration rate is adjusted so that a less severe deceleration is achieved than is possible by the host vehicle when the host vehicle is in the further driving mode. In some embodiments, the further driving mode is a manual driving mode of the host vehicle in which the host vehicle is controlled in response to a steering request of the user indicated by a steering request signal as described above.

In some embodiments, the controller is 9110 configured to autonomously decelerate the host vehicle at a maximum deceleration rate of the host vehicle.

In some embodiments, the system includes 9210 notification means 9230 in the form of a notification unit 9230 , The notification means 9230 serves to receive the notification signal from the controller 9110 , The notification means 9230 are arranged to indicate to the user that he is confirming the transition from the transient driving mode to the further driving mode of the host vehicle in response to the notification signal. In some embodiments, the notification agent comprises 9230 a display means 9230 such as a display unit 9230 , In some embodiments, the notification agent comprises 9230 a tactile output means (not in shown). In some embodiments, this includes notification means 9230 an audio output means (not in shown).

A procedure 9300 according to one embodiment of the invention is in shown. The procedure 9300 is a method for controlling the host vehicle. In particular, the method 9300 a method of transitioning the host vehicle from an autonomous drive mode to a further drive mode in response to one or more of a vehicle characteristic, a user characteristic, and an environmental characteristic, and in response to a user vehicle user acknowledgment. The procedure 9300 can from the controller 9110 and the system described above 9210 with reference to the and be performed.

The procedure 9300 essentially comprises the steps of receiving 9310 one or more vehicle properties, user properties, and environmental characteristics, transformation, or switching 9320 a host vehicle from an autonomous driving mode to a transient driving mode depending on the received characteristics, the receiving 9330 a confirmation by a user of the host vehicle to transition from a current drive mode and the conversion or switching 9340 of the host vehicle from the transient driving mode to another driving mode in response to the confirmation.

With reference to includes the illustrated embodiment of the method 9300 a step to receive 9310 one or more of a vehicle characteristic, a user characteristic, and an environmental characteristic. As described above, the characteristics may be received in the form of one or more state signals. The features are all aspects of a vehicle, a user, or an environment that may cause a host vehicle to no longer operate in an autonomous driving mode.

In step 9320 For example, the host vehicle is transitioned or switched from an autonomous driving mode to a transient driving mode depending on one or more of the vehicle characteristics, the user characteristics, and the environmental characteristic. In the transitional driving mode, the host vehicle is autonomously controlled. The transitional mode may be as described above with respect to other embodiments of the invention.

In step 9330 an acknowledgment is received by a user of the host vehicle that it exits a current driving mode of the host vehicle. In some embodiments, the confirmation is an acknowledgment of the transition to another mode of travel of the host vehicle. The confirmation can be determined in any manner described above.

In step 9340 the carrier vehicle is transferred or switched in one or the other driving mode in response to the confirmation of the transitional driving mode.

In some embodiments, the method comprises 9300 displaying to the user to request the transition from the transient driving mode to the further driving mode of the host vehicle. The indication to the user may be made based on the one or more of the vehicle properties, the user properties, and the environmental characteristics. In some embodiments, the display may be to the user depending on the transition of the host vehicle or switching 9320 from the autonomous driving mode to the transient driving mode.

In some embodiments, the method comprises 9300 the transition or the switching of the host vehicle from the transitional driving mode in the further driving mode depending on the ability of the user to take control of the host vehicle after the host vehicle has gone into the further driving mode. In some embodiments, the ability differs from the confirmation. The ability of the user to take control of the host vehicle may be determined as described in relation to all embodiments of the invention described herein.

In some embodiments, the method comprises 9300 causing the host vehicle to decelerate autonomously in the transient mode. The autonomous delay may be substantially as described with respect to all embodiments of the invention described herein.

A carrier vehicle 10 according to one embodiment of the invention is in shown. The carrier vehicle 10 serves for driving on a traversable track in an autonomous driving mode of the host vehicle 10 , The carrier vehicle 10 may include any of the controllers or systems described above. The carrier vehicle 10 can be arranged to perform any of the methods described above.

As understood, the carrier vehicle 10 a ground vehicle, for example a road vehicle such as a car, a truck or other suitable vehicle.

It should be noted that embodiments of the present invention may be implemented in the form of hardware, software, or a combination of hardware and software. Such software may take the form of a volatile or nonvolatile memory, such as a memory device such as a ROM, erasable or rewritable or not, or memory, such as RAM, memory chips, device or integrated circuits, or optical or magnetic readable medium, such as a CD, DVD, magnetic disk or magnetic tape. It should be noted that the storage devices and storage media are embodiments of machine-readable storage suitable for storing a program or programs that implement embodiments of the present invention when executed. Accordingly, embodiments provide a program that includes code for implementing a system or method as required in an earlier claim and a machine-readable memory that stores such a program. In addition, embodiments of the present invention may be transmitted electronically over any medium, such as a communication signal transmitted over a wired or wireless connection, and embodiments comprising the same.

All features disclosed in this specification (including all appended claims, abstractions, and drawings) and / or all steps of a method or process thus disclosed may be combined in any combination unless they are combinations involving at least some of them Characteristics and / or steps mutually exclusive.

Each feature (including all associated claims, abstractions and drawings) disclosed in this specification may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Unless otherwise stated, each feature disclosed is just one example of a generic set of equivalent or similar features.

The invention is not limited to the details of the aforementioned embodiments. The invention extends to any novel or novel combination of features disclosed in this specification (including all appended claims, abstractions and drawings) or any novel or novel combination of the steps of a method or process thus disclosed. The claims are to be interpreted not only to the aforementioned embodiments but also to all embodiments that fall within the scope of the claims.

Claims (12)

A controller comprising: Output means for outputting a component control signal indicative of a control request to cause a component associated with a host vehicle to perform an action associated with a maneuver of the host vehicle; Input means for receiving a fallback signal indicative of an action to be performed by the component, the action associated with a maneuver of the host vehicle, and for receiving a keep alive signal indicative of further operation of a communication link to the input means; and Control means arranged to: Determining whether a keep-alive signal is received by the input device within a predetermined period of time from a time of receipt of a fallback signal by the input device; and Controlling the output means to output the component control signal in response to the fallback signal, unless it is determined that the hold alve signal is received by the input device within the predetermined time period. Control after Claim 1 wherein the input means is arranged to receive a command signal indicating a request for an action to be performed by the component, and wherein the control means is arranged to control the output means to output the component control signal in response to the command signal, and wherein the keep-alive signal optionally comprises the command signal. Control after Claim 1 or Claim 2 wherein the input means is arranged to receive a further fallback signal indicative of another action to be performed by the component in place of the action indicated by the previous fallback signal, and wherein the retention signal comprises the further fallback signal. The controller of any preceding claim, wherein the output device is arranged to output a further component control signal to cause another component associated with the host vehicle to perform an action associated with the maneuver of the host vehicle, and wherein the controller so is arranged to control the output device to output the further component control signal in response to the fallback signal, unless it is determined that the retaining signal is received within the predetermined period of time from the input device. The controller of any preceding claim, wherein the input device is arranged to receive the keep alive signal over a first communication link, and wherein the output device is arranged to output the component control signal via a second communication link different from the first communication link , The controller of any preceding claim, wherein the controller is arranged to generate a plurality of component control signals each causing the component to execute a different portion of the action indicated by the fallback signal in response to the fallback signal and to control the output device to output each of the plurality of component control signals. The controller of any preceding claim, wherein the action is associated with a stopping maneuver of the host vehicle. System comprising: the controller of a preceding claim as a first controller adapted to receive the fallback signal and to output the component control signal; and a second controller arranged to generate the fallback signal. System after Claim 8 wherein the system includes input means for receiving one or more condition signals each indicative of at least one of a vehicle characteristic, a user characteristic, and an environmental characteristic, and wherein the second controller is arranged to apply the fallback signal in response to one or more status signals received from the input means to create. Method, comprising: Receiving a fallback signal indicative of an action to be taken by a component associated with a host vehicle, the action associated with a maneuver of the host vehicle; Determining whether a keep-alive signal is received within a predetermined time from a time of receipt of the fallback signal, the keep-alive signal indicating further operation of a communication link to receive the keep-alive signal; Outputting a component control signal to cause the component associated with the host vehicle to perform the action associated with the maneuver of the host vehicle in response to the fallback signal when the containment signal is not received within the predetermined period of time. Vehicle, comprising the control of one of Claims 1 to 7 or the system after Claim 8 or Claim 9 or arranged to follow the procedure Claim 10 perform. A non-transitory computer-readable storage medium storing instructions thereon that, when executed by one or more processors, cause the one or more processors to perform the method claim 10 To run.

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