MULTI-FACTOR TRANSITION INTO OR OUT OF AUTONOMY
Methods and apparatus for self-driving vehicles to safely control transitions into and out of autonomy modes. The techniques may be used in a single autonomous vehicle or adapted to collaborative control of vehicles travelling in formation.
1 . A method for operating an autonomous vehicle to control transitions into or out of autonomy mode comprising:
detecting a plurality of conditions including a readiness state of autonomy logic, driver readiness, traffic conditions, road conditions, ambient weather conditions, ambient lighting conditions and compliance with an operational driving domain for autonomy; and
transitioning into or out of an autonomy mode only when two or more of the conditions are satisfied.
2 . The method of claim 1 additionally wherein the plurality of conditions persist for a determined period of time, and the driver readiness condition includes any two or more of:
a driver seat in a proper position;
weight on a driver seat;
a steering wheel moves;
the steering wheel experiences a force;
the steering wheel tilts;
the steering wheel is being grabbed;
a fingerprint is detected on the steering wheel;
a brake pedal moves;
a accelerator pedal moves;
an arm rest moves; and
a camera confirms a driver is or is not in the driver seat.
3 . The method of claim 1 and further wherein inputs from a steering wheel are ignored in an autonomy mode when a driver seat is not in a driving position or when the driver seat does not have sufficient weight to indicate a driver is present in the seat.
4 . The method of claim 1 wherein the traffic conditions, the road conditions, the ambient weather conditions, the lighting conditions, and the operational driving domain restrictions do not preclude the transition.
5 . The method of claim 1 wherein
the autonomous vehicle is part of a formation with a second vehicle;
the plurality of conditions further include approval originating from the second vehicle; and
such that the transitioning into or out of the autonomy mode is a collaborative decision made between the autonomous vehicle and the second vehicle.
6 . An apparatus for operating an autonomous vehicle to control transitions into or out of autonomy mode comprising:
one or more data processors; and
one or more computer readable media including instructions that, when executed by the one or more data processors, cause the one or more data processors to perform a process for:
detecting a plurality of conditions including a readiness state of autonomy logic, driver readiness, traffic conditions, road conditions, ambient weather conditions, ambient lighting conditions and compliance with an operational driving domain for autonomy; and
transitioning into or out of an autonomy mode only when two or more of the conditions are satisfied.
7 . The apparatus of claim 6 wherein the plurality of conditions persist for a determined period of time, and the driver readiness condition includes any two or more of:
a driver seat in a proper position;
weight on a driver seat;
a steering wheel moves;
the steering wheel experiences a force;
the steering wheel tilts;
the steering wheel is being grabbed;
a fingerprint is detected on the steering wheel;
a brake pedal moves;
a accelerator pedal moves;
an arm rest moves; and
a camera confirms a driver is or is not in the driver seat.
8 . The apparatus of claim 6 and further wherein inputs from a steering wheel are ignored in an autonomy mode when a driver seat is not in a driving position or when the driver seat does not have sufficient weight to indicate a driver is present in the seat.
9 . The apparatus of claim 6 wherein the traffic conditions, the road conditions, the ambient weather conditions, the lighting conditions, and the operational driving domain restrictions do not preclude the transition.
10 . The apparatus of claim 6 wherein
the autonomous vehicle is part of a formation with a second vehicle;
the plurality of conditions further include approval originating from the second vehicle; and
such that the transitioning into or out of the autonomy mode is a collaborative decision made between the autonomous vehicle and the second vehicle.