System for switching control of an autonomous vehicle
View Patent ↗A control interface for a first vehicle operation of an autonomous vehicle. The control interface detects an autonomy activation signal to enable a first automated controller to control the first vehicle operation. The control interface then couples the first automated controller to a vehicle control platform configured to manage the first vehicle operation in response to input signals. For example, the control inter face may include a double-throw electromechanical relay that switchably couples the vehicle control platform to one of the first automated controller or a manual input mechanism. The control interface then provides the input signals to the vehicle control platform from the first automated controller.
1. A method of controlling a vehicle operation of an autonomous vehicle, the method comprising:
using a fault detection component, monitoring an autonomy controller while the autonomous vehicle is in a manual driving mode and prior to detecting an autonomy activation signal, the autonomy controller being operable to control the vehicle operation when the autonomous vehicle is in an autonomous driving mode;
detecting the autonomy activation signal to enable the autonomy controller to control the vehicle operation;
in response to the autonomy activation signal, determining, using the fault detection component, whether the autonomy controller is in a ready condition;
in response to determining that the autonomy controller is in the ready condition, coupling the autonomy controller to a vehicle control platform configured to manage the vehicle operation;
receiving input signals from the autonomy controller to autonomously control the vehicle operation; and
based on the autonomy controller being coupled to the vehicle control platform, providing the input signals to the vehicle control platform from the autonomy controller to enable autonomous control of the vehicle operation.
2. The method of claim 1 , wherein the vehicle operation corresponds to a braking, steering, shifting, or throttle operation of the autonomous vehicle.
3. The method of claim 1 , further comprising:
based on the autonomy controller being in the ready condition, decoupling a manual input mechanism from the vehicle control platform.
4. The method of claim 3 , wherein coupling the autonomy controller to the vehicle control platform comprises:
toggling a relay that switchably couples the vehicle control platform to one of the autonomy controller or the manual input mechanism.
5. The method of claim 4 , wherein the relay is a double-throw (DT) electromechanical relay having a normally open position and a closed position.
6. The method of claim 5 , wherein the vehicle control platform is coupled to receive the input signals from the manual input mechanism when the relay is in the normally open position.
7. The method of claim 6 , wherein toggling the relay comprises:
closing the relay to enable the vehicle control platform to receive the input signals from the autonomy controller.
8. The method of claim 1 , further comprising:
detecting an autonomy deactivation signal to disable the autonomy controller; and
in response to the autonomy deactivation signal, decoupling the autonomy controller from the vehicle control platform.
9. The method of claim 1 , wherein the autonomy activation signal indicates a standby state for the vehicle operation, the standby state corresponding to the autonomy controller being able to safely assume control of the vehicle operation.
10. The method of claim 1 , wherein the autonomy controller corresponds to one of a plurality of autonomy controllers for the autonomous vehicle, and wherein the autonomy activation signal indicates that each of the plurality of autonomy controllers is able to safely assume control of a respective vehicle operation.
11. A control interface for a vehicle operation of an autonomous vehicle, the control interface comprising:
one or more processors; and
a memory storing instructions that, when executed by the one or more processors, cause the control interface to:
using a fault detection component, monitor an autonomy controller while the autonomous vehicle is in a manual driving mode and prior to detecting an autonomy activation signal, the autonomy controller being operable to control the vehicle operation when the autonomous vehicle is in an autonomous driving mode;
detect the autonomy activation signal to enable the autonomy controller to control the vehicle operation;
in response to the autonomy activation signal, determine, using the fault detection component, whether the autonomy controller is in a ready condition;
in response to determining that the autonomy controller is in the ready condition, couple the autonomy controller to a vehicle control platform configured to manage the vehicle operation;
receive input signals from the autonomy controller to autonomously control the vehicle operation; and
based on the autonomy controller being coupled to the vehicle control platform, provide the input signals to the vehicle control platform from the autonomy controller to enable autonomous control of the vehicle operation.
12. The control interface of claim 11 , wherein the vehicle operation corresponds to a braking, steering, shifting, or throttle operation of the autonomous vehicle.
13. The control interface of claim 11 , wherein execution of the instructions further causes the control interface to:
based on the autonomy controller being in the ready condition, decouple a manual input mechanism from the vehicle control platform.
14. The control interface of claim 13 , further comprising:
a relay that switchably couples the vehicle control platform to one of the autonomy controller or the manual input mechanism.
15. The control interface of claim 14 , wherein the relay is a double-throw (DT) electromechanical relay having a normally open position and a closed position.
16. The control interface of claim 15 , wherein the vehicle control platform is coupled to receive the input signals from the manual input mechanism when the relay is in the normally open position.
17. The control interface of claim 16 , wherein execution of the instructions to couple the autonomy controller to the vehicle control platform causes the control interface to:
close the relay to enable the vehicle control platform to receive the input signals from the autonomy controller.
18. The control interface of claim 11 , wherein execution of the instructions further causes the control interface to:
detect an autonomy deactivation signal to disable the autonomy controller;
in response to the autonomy deactivation signal, decouple the autonomy controller from the vehicle control platform.
19. The control interface of claim 11 , wherein the autonomy activation signal indicates a standby state for the vehicle operation, the standby state corresponding to the autonomy controller being able to safely assume control of the vehicle operation.
20. A non-transitory computer-readable medium storing instructions that, when executed by one or more processors of a control interface for a vehicle operation of an autonomous vehicle, cause the control interface to:
using a fault detection component, monitor an autonomy controller while the autonomous vehicle is in a manual driving mode and prior to detecting an autonomy activation signal, the autonomy controller being operable to control the vehicle operation when the autonomous vehicle is in an autonomous driving mode;
detect the autonomy activation signal to enable the autonomy controller to control the vehicle operation;
in response to the autonomy activation signal, determine, using the fault detection component, whether the autonomy controller is in a ready condition;
in response to determining that the autonomy controller is in the ready condition, couple the autonomy controller to a vehicle control platform configured to manage the vehicle operation;
receive input signals from the autonomy controller to autonomously control the vehicle operation; and
based on the autonomy controller being coupled to the vehicle control platform, provide the input signals to the vehicle control platform from the autonomy controller to enable autonomous control of the vehicle operation.