Vehicle controller and control method
Embodiments of the present invention provide a controller ( 110 ). The controller ( 110 ) comprises input means ( 140 ) for receiving one or more state signals each indicative of one or more of a vehicle characteristic, a user characteristic and an environment characteristic. The controller ( 110 ) comprises output means ( 150 ) for outputting an availability signal indicative of an availability of an autonomous driving mode of a host vehicle. The controller ( 110 ) comprises control means ( 120 ) arranged to control the output means ( 150 ) to output the availability signal in dependence on the one or more state signals.
1. A controller, comprising:
input means for receiving one or more state signals each indicative of at least one selected from the group consisting of: a vehicle characteristic, a user characteristic and an environment characteristic;
output means for outputting an availability signal indicative of an availability of an autonomous driving mode of a host vehicle; and
control means arranged to control the output means to output the availability signal based at least in part on the one or more state signals, wherein the input means is arranged to receive a frequency signal indicative of a frequency of previous activation of the autonomous driving mode of the host vehicle, and wherein the control means is further arranged to control the output means to output the availability signal based at least in part on the frequency signal,
wherein the input means is further arranged to receive an initiation signal indicative of a user's request to initiate the autonomous driving mode in response to the availability signal and wherein the output means is further arranged to output a driving mode signal to cause the host vehicle to initiate the autonomous driving mode, wherein the control means is further arranged to control the output means to output the driving mode signal based at least in part on the initiation signal,
wherein the control means is further arranged to determine a transition phase of the autonomous driving mode, during which control of a vehicle movement of the host vehicle is transitioned away from the user to an autonomous driving control means, wherein at the end of the transition phase, the autonomous driving control means is arranged to autonomously control the vehicle movement, wherein a duration of the transition phase is determined based at least in part on the one or more state signals, and wherein during the transition phase, the autonomous driving control means begins to take control of the host vehicle but the host vehicle continues to respond to vehicle control inputs from the user, and, as the transition phase progresses, the host vehicle becomes less responsive to the vehicle control inputs from the user until the end of the transition phase where the autonomous driving control means fully controls the vehicle movement, and
wherein the output means is further arranged to output a progress signal indicative of a progress through the transition phase, wherein the control means is further arranged to control the output means to output the progress signal during the transition phase.
2. The controller of claim 1 , wherein the control means is further arranged to determine the duration of the transition phase during the transition phase.
3. The controller of claim 1 , wherein at least one of the one or more state signals is indicative of a driving environment of the host vehicle.
4. The controller of claim 3 , wherein the driving environment is indicative of a type of navigable path.
5. The controller of claim 1 , wherein at least one of the one or more state signals is indicative of a speed.
6. The controller of claim 5 , wherein the speed is a speed of the host vehicle or a speed of at least one target vehicle.
7. The controller of claim 1 , wherein at least one of the one or more state signals is indicative of at least one selected from the group consisting of: a detection range of one or more sensors associated with the host vehicle, a weather condition, and an awareness of the user.
8. The controller of claim 1 , wherein the control means is further arranged to determine:
the frequency signal as having a first value if a frequency of previous activation of the autonomous driving mode is greater than a threshold; and
the frequency signal as having a second value if a frequency of previous activation of the autonomous driving mode is lower than a threshold.
9. A system, comprising:
the controller of claim 1 , arranged to output the availability signal; and
notification means for receiving the availability signal and to indicate to a user that the autonomous driving mode is available based at least in part on the received availability signal.
10. The system of claim 9 , wherein the notification means is further arranged to receive the driving mode signal to cause the notification means to indicate to the user that the autonomous driving mode is to be initiated.
11. The system of claim 9 , wherein the notification means is further arranged to receive the progress signal and to indicate to the user the progress through the transition phase based on the progress signal.
12. The system of claim 9 , further comprising sensing means for determining at least one selected from the group consisting of: the vehicle characteristic, the user characteristic and the environment characteristic, sensor output means for outputting the one or more state signals to the controller, and sensor control means to control the sensor output means to output the one or more state signals to the controller based at least in part on the at least one of the vehicle characteristic, wherein the user characteristic and the environment characteristic are determined by the sensing means.
13. A vehicle comprising the controller of claim 1 .
14. A vehicle comprising the system of claim 9 .
15. A method comprising:
receiving one or more state signals each indicative of at least one selected from the group consisting of: a vehicle characteristic, a user characteristic and an environment characteristic from an input means;
determining the availability signal indicative of an availability of an autonomous driving mode of a host vehicle based at least in part on the one or more state signals;
controlling an output means with a control means to output the availability signal;
determining whether to make the user aware that the autonomous driving mode is currently available based at least in part on a frequency of previous activation of the autonomous driving mode of the host vehicle;
receiving an initiation signal indicative of a user's request to initiate the autonomous driving mode in response to the availability signal;
outputting a driving mode signal to cause the host vehicle to initiate the autonomous driving mode;
controlling the output means to output the driving mode signal based at least in part on the initiation signal;
determining a transition phase of the autonomous driving mode, during which control of a vehicle movement of the host vehicle is transitioned away from the user to an autonomous driving control means, wherein at the end of the transition phase, the autonomous driving control means is arranged to autonomously control the vehicle movement, wherein a duration of the transition phase is determined based at least in part on the one or more state signals, and wherein during the transition phase, the autonomous driving control means begins to take control of the host vehicle but the host vehicle continues to respond to vehicle control inputs from the user, and, as the transition phase progresses, the host vehicle becomes less responsive to the vehicle control inputs from the user until the end of the transition phase where the autonomous driving control means fully controls the vehicle movement; and
outputting a progress signal indicative of a progress through the transition phase, wherein the control means is further arranged to control the output means to output the progress signal during the transition phase.
16. A non-transitory, computer-readable storage medium storing instructions thereon that when executed by one or more processors causes the one or more processors to perform the method of claim 15 .