METHOD FOR TRANSITIONING CONTROL OF A VEHICLE FROM AN AUTONOMOUS DRIVING SYSTEM TO A HUMAN DRIVER, DATA PROCESSING APPARATUS, SYSTEM, COMPUTER PROGRAM AND COMPUTER-READABLE STORAGE MEDIUM

Abstract

A method for transitioning control of a vehicle from an autonomous driving system to a human driver. The method includes receiving, from the autonomous driving system, a take-over request. Additionally, the method includes determining whether a singular switching means is actuated, and triggering a deactivation of the autonomous driving system under the only condition that the singular switching means is determined to be actuated. Moreover, a data processing apparatus is provided. The data processing apparatus includes means for carrying out the method. Furthermore, a system for transitioning control of a vehicle from an autonomous driving system to a human driver is provided. The system includes a steering wheel, the data processing apparatus and the singular switching means. Additionally, a corresponding computer program and a corresponding non-transitory computer-readable storage medium provided.

Claims

1. A method for transitioning control of a vehicle from an autonomous driving system to a human driver, the method comprising: receiving, from the autonomous driving system, a take-over request; determining whether a singular switching means is actuated; and triggering a deactivation of the autonomous driving system under the only condition that the singular switching means is determined to be actuated.

2. The method of claim 1, wherein the deactivation of the autonomous driving system is triggered if the singular switching means is determined to be actuated within a defined time period.

3. The method of claim 2, further comprising triggering a low risk maneuver if the singular switching means is not determined to be actuated within the defined time period.

4. The method of claim 1, wherein the deactivation of the autonomous driving system is triggered if the singular switching means is determined to be actuated for a defined time.

5. The method of claim 1, further comprising triggering a notification for the human driver.

6. The method of claim 1, further comprising requesting a steering wheel to move into an actuation position and/or a driver seat to move into an upright position.

7. A system for transitioning control of a vehicle from an autonomous driving system to a human driver, the system comprising: a steering wheel; and a data processing apparatus comprising a memory storing instructions executed by a processor to: receive, from the autonomous driving system, a take-over request; determine whether a first singular switching means is actuated; and trigger a deactivation of the autonomous driving system under the only condition that the singular switching means is determined to be actuated; wherein the first singular switching means is located in a defined position on the steering wheel such that the first singular switching means can be actuated by a single human hand; and wherein the first singular switching means is communicatively coupled to the data processing apparatus such that the data processing apparatus can determine whether the first singular switching means is actuated.

8. The system of claim 7, further comprising a second singular switching means located in a defined position on the steering wheel such that the second singular switching means can be actuated by a single human hand, wherein the second singular switching means is communicatively coupled to the data processing apparatus such that the data processing apparatus can determine whether the second singular switching means is actuated.

9. The system of claim 8, wherein the first singular switching means and the second singular switching means (18b) are redundant with respect to each other.

10. The system of claim 8, wherein, in a standard position of the steering wheel, the first singular switching means is arranged in a left half of the steering wheel and the second singular switching means is arranged in a right half of the steering wheel or vice versa.

11. The system of claim 8, wherein at least one of the first singular switching means and the second singular switching means is a press switch or a paddle switch.

12. The system of claim 8, wherein at least one of the first singular switching means and the second singular switching means comprises at least one of a redundant power supply, a redundant signal connection, and two redundant signal generation units.

13. A non-transitory computer readable medium comprising instructions stored in a memory and executed by a processor to carry out steps for transitioning control of a vehicle from an autonomous driving system to a human driver, the steps comprising: receiving, from the autonomous driving system, a take-over request; determining whether a singular switching means is actuated; and triggering a deactivation of the autonomous driving system under the only condition that the singular switching means is determined to be actuated.

14. The non-transitory computer readable medium of claim 13, wherein the deactivation of the autonomous driving system is triggered if the singular switching means is determined to be actuated within a defined time period.

15. The non-transitory computer readable medium of claim 14, the steps further comprising triggering a low risk maneuver if the singular switching means is not determined to be actuated within the defined time period.

16. The non-transitory computer readable medium of claim 13, wherein the deactivation of the autonomous driving system is triggered if the singular switching means is determined to be actuated for a defined time.

17. The non-transitory computer readable medium of claim 13, the steps further comprising triggering a notification for the human driver.

18. The non-transitory computer readable medium of claim 13, the steps further comprising requesting a steering wheel to move into an actuation position and/or a driver seat to move into an upright position.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Examples of the disclosure will be described in the following with reference to the following drawings.

[0035] FIG. 1 shows a system according to the present disclosure for transitioning control of a vehicle from an autonomous driving system to a human driver, including a data processing apparatus according to the present disclosure, a computer program according to the present disclosure, and a computer-readable storage medium according to the present disclosure, wherein the data processing apparatus is configured to perform a method according to the present disclosure,

[0036] FIG. 2 shows a steering wheel of the system of FIG. 1 in more detail,

[0037] FIG. 3 shows an alternative steering wheel that can be used instead of the steering wheel of FIG. 2,

[0038] FIG. 4 shows a further alternative steering wheel that can be used instead of the steering wheel of FIG. 2 or instead of the steering wheel of FIG. 3, and

[0039] FIG. 5 illustrates steps of the method according to the present disclosure.

[0040] The figures are merely schematic representations and serve only to illustrate examples of the disclosure. Identical or equivalent elements are in principle provided with the same reference signs.

DETAILED DESCRIPTION

[0041] FIG. 1 shows a system 10 for transitioning control of a vehicle from an autonomous driving system 12 to a human driver 14. The system 10 includes a steering wheel 16. In a first defined position, a first singular switching means 18a is located on the steering wheel 16. The first singular switching means 18a is arranged on the steering wheel 16 such that it can be actuated by a single human hand (see especially FIGS. 2 to 4). Moreover, in a second defined position, a second singular switching means 18b is located on the steering wheel 16. Also the second singular switching means 18b is arranged on the steering wheel 16 such that it can be actuated by a single human hand (see also FIGS. 2 to 4).

[0042] As can be seen from FIG. 2, the first singular switching means 18a and the second singular switching means 18b may be press switches 20a, 20b being arranged on a front side of the steering wheel 16. The front side of the steering wheel 16 is the side of the steering wheel 16 which faces the human driver 14 when the steering wheel 16 is mounted in a vehicle.

[0043] Moreover, the press switches 20a, 20b are arranged such that they can be easily reached by a human hand holding the steering wheel rim, especially with a thumb of the human hand grabbing the steering wheel rim. In more details, a distance D20a, D20b between each of the press switches 20a, 20b and the respectively closest portion of the outer circumference of the steering wheel 16 is shorter than a length of a thumb of the human hand.

[0044] In the present example, the distances D20a, D20b are 4 to 5 centimeters respectively.

[0045] Alternatively, as can be seen from FIG. 3, the first singular switching means 18a and the second singular switching means 18b may be paddle switches 22a, 22b being actuatable via the front side of the steering wheel 16.

[0046] Also the paddle switches 22a, 22b are arranged such that they can be easily reached by a human hand holding the steering wheel rim, especially with a thumb of the human hand grabbing the steering wheel rim. In more details, a distance D22a, D22b between each of the paddle switches 22a, 22b and the respectively closest portion of the outer circumference of the steering wheel 16 is shorter than a length of a thumb of the human hand.

[0047] In the present example, the distances D22a, D22b are 3 to 5 centimeters respectively.

[0048] A further alternative can be seen in FIG. 4. In this alternative, the first singular switching means 18a and the second singular switching means 18b may be paddle switches 24a, 24b which are actuatable via the back side of the steering wheel 16.

[0049] Thus, the paddle switches 24a, 24b are arranged such that they can be easily reached by a human hand holding the steering wheel rim, especially with one or more of the index finger, the middle finger, the ring finger and the little finger which are laid around the steering wheel rim. A distance D24a, D24b between the paddle switches 24a, 24b and the respectively closest portion of the outer circumference of the steering wheel 16 is shorter than a length of at least one of the fingers mentioned above.

[0050] In the present example, the distances D24a, D24b are 3 to 5 centimeters respectively.

[0051] In FIGS. 2 to 4, the steering wheel 16 is shown in a so-called standard position, i.e. in a position that corresponds to a straight orientation of the wheels being coupled to the steering wheel 16. In this standard position, the first singular switching means 18a is arranged in a left half 16a of the steering wheel 16 and the second singular switching means 18b is arranged in a right half 16b of the steering wheel 16. This is the case for all alternatives shown in FIGS. 2 to 4.

[0052] It is noted that the straight orientation of the wheels being coupled to the steering wheel 16 is used for explaining the standard position of the steering wheel 16 only. Of course, the vehicle may be equipped with a steer by wire system, i.e. the steering wheel 16 may not be mechanically coupled to the wheels. In such a configuration, the orientation of the steering wheel 16 with respect to the wheels may be generally freely chosen. A steer by wire system has the advantage that the steering wheel 16 may stand still even though the autonomous driving system 12 steers the vehicle.

[0053] Furthermore, in all alternatives, the first singular switching means 18a includes a redundant power supply which is represented by a first power connector 26a and a second power connector 28a.

[0054] Additionally, the first singular switching means 18a includes a first signal connector 30a and a second signal connector 31a. Thus, the first singular switching means 18a has a redundant signal connection.

[0055] Moreover, the first singular switching means 18a has two signal generation units 32a, 34a which are redundant with respect to one another. The signal generation units 32a, 34a are configured for generating an electric signal upon actuation of the first singular switching means 18a.

[0056] The same applies to the second singular switching means 18b.

[0057] Thus, also the second singular switching means 18b includes a redundant power supply which is represented by a first power connector 26b and a second power connector 28b.

[0058] Additionally, the second singular switching means 18b includes a first signal connector 30b and a second signal connector 31b. Thus, the second singular switching means 18b has a redundant signal connection.

[0059] Moreover, the second singular switching means 18b has two signal generation units 32b, 34b which are redundant with respect to one another.

[0060] The first singular switching means 18a and the second singular switching means 18b are redundant with respect to each other. This means that both switching means 18a, 18b offer the same functionality. In a case in which one of the switching means 18a, 18b is not available, the full functionality is still provided by the other of the switching means 18a, 18b.

[0061] The system 10 also includes a data processing apparatus 36.

[0062] The data processing apparatus 36 is communicatively coupled to the first singular switching means 18a via the first signal connector 30a and the second signal connector 31a.

[0063] Moreover, the data processing apparatus 36 is communicatively coupled to the second singular switching means 18b via the first signal connector 30b and a second signal connector 31b.

[0064] Moreover, the data processing means 36 is configured to determine whether the first singular switching means 18a is actuated and is configured to determine whether the second singular switching means 18b is actuated.

[0065] To this end, the data processing apparatus 36 includes redundant means 38a, 38b for processing data and redundant non-transitory computer-readable storage media 40a, 40b. Redundant computer programs 42a, 42b are stored on the respective non-transitory computer-readable storage media 40a, 40b.

[0066] In this context, the means 38a together with storage medium 40a and computer program 42a may be connected to the first singular switching means 18a via first signal connector 30a and to the second singular switching means 18b via first signal connector 30b. Moreover, the means 38b together with storage medium 40b and computer program 42b may be connected to the first singular switching means 18a via second signal connector 31a and to the second singular switching means 18b via second signal connector 31b.

[0067] The data processing apparatus 36 is communicatively connected to the autonomous driving system 12.

[0068] The data processing apparatus 36 is configured for performing a method for transitioning control of a vehicle from the autonomous driving system 12 to the human driver 14. In more detail, each of the computer-readable storage media 40a, 40b and the computer programs 42a, 42b being stored thereon includes instructions which, when being executed by the respective means 38a, 38b for processing data, cause the means 38a, 38b to carry out the method.

[0069] Each of the means 38a, 38b for processing data may be designated as a computer.

[0070] The method starts in a situation in which the autonomous driving system 12 controls the vehicle, i.e. the autonomous driving system 12 is responsible for steering, accelerating and decelerating the vehicle.

[0071] In such a situation, the autonomous driving system 12 may detect that it will not be able to further guide the vehicle, e.g. due to the absence of road markings.

[0072] In such a case, one of the data processing apparatuses 38a, 38b will receive, from the autonomous driving system 12, a take-over request as a first step S1. This means that a signal is transmitted to the respective data processing apparatus 38a, 38b including the information that the human driver 14 needs to take over control of the vehicle.

[0073] Subsequently, in a second step S2, a notification for the human driver 14 is triggered. Thus, the human driver 14 is informed that he or she needs to take over control. The notification for example includes displaying a graphic or text on a screen within the vehicle and issuing a warning sound.

[0074] It is noted that this does not at all influence the possibility that the driver can take over control on his or her own initiative, i.e. without being notified.

[0075] Also, in a third step S3, the steering wheel 16 will be requested to move to an actuation position, i.e. to approach the human driver 14 such that the human driver 14 can easily grab the steering wheel 16.

[0076] Additionally or alternatively, also a driver seat is requested to move into an upright position.

[0077] The third step S3 may be performed in parallel to the second step S2.

[0078] It is noted that the third step S3 is optional.

[0079] The human driver 14 will thus stop his or her current activity. If the human driver 14 holds one or more objects in his or her hands, he or she needs to liberate at least one hand.

[0080] The human driver 14 approaches one hand towards the steering wheel 16, more precisely towards the one out of the first singular switching means 18a and the second singular switching means 18b that is best reachable with the liberated hand.

[0081] At the same time, in a fourth step S4 of the method, it is determining whether one of the first singular switching means 18a and the second singular switching means 18b is actuated.

[0082] If the human driver 14 actuates one of the first singular switching means 18a and the second singular switching means 18b within a defined time period of for example 10 seconds, and the actuation is detected, in a fifth step S5 a deactivation of the autonomous driving system is triggered. More precisely, a deactivation of the autonomous driving system 12 is triggered.

[0083] In other words, an autonomous driving mode is terminated and a manual or human driving mode is started.

[0084] It is noted that the detection of the actuation of one of the first and second singular switching means 18a, 18b is the only condition for deactivating the autonomous driving system 12.

[0085] In the present example, the first singular switching means 18a or the second singular switching means 18b needs to be actuated for a defined time of for example 0.5 seconds.

[0086] In a case, in which no actuation of one of the first and second singular switching means 18a, 18b is detected within the defined time period of for example 10 seconds or in which the one of the first and second singular switching means 18a, 18b is actuated shorter than the defined time of for example 0.5 seconds, in a sixth step S6, a low risk manoeuver is triggered, i.e. the vehicle is autonomously stopped. This of course goes along with warnings of increasing intensity.

[0087] Other variations to the disclosed examples can be understood and effected by those skilled in the art in practicing the claimed disclosure, from the study of the drawings, the disclosure, and the appended claims. In the claims the word “comprising” does not exclude other elements or steps and the indefinite article “a” or “an” does not exclude a plurality. A single processor or other unit may fulfill the functions of several items or steps recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. A computer program may be stored/distributed on a suitable medium such as an optical storage medium or a solid-state medium supplied together with or as part of other hardware, but may also be distributed in other forms, such as via the Internet or other wired or wireless telecommunication systems. Any reference signs in the claims should not be construed as limiting the scope of the claims.