Vehicle Steering Control

Abstract

A computer is programmed to deactivate a plurality of lights on a steering wheel rim when it is determined that the vehicle enters an autonomous steering mode; and to illuminate at least one of the lights at a steering wheel angle corresponding to a current steering angle of the vehicle when starting to transition the vehicle from the autonomous steering mode to a manual steering mode.

Description

Technical Field

[0001] The present invention relates to a computer and a vehicle, and more particularly to a vehicle steering control method. Background Art

[0002] The Society of Automotive Engineers (SAE) has defined multi-level autonomous vehicle operation. At levels 0-2, the driver typically monitors or controls most driving tasks without vehicle assistance. At level 0 (“non-autonomous”), the human driver is responsible for all vehicle operations. At level 1 (“driver assistance”), the vehicle sometimes assists with steering, acceleration, or braking, but the driver is still responsible for the vast majority of vehicle control. At level 2 (“partial autonomy”), the vehicle can control steering, acceleration, and braking in some situations without human intervention. At levels 3-5, the vehicle undertakes more driving-related tasks. At level 3 (“conditional autonomy”), the vehicle can handle steering, acceleration, and braking in some situations, as well as monitor the driving environment. However, level 3 requires occasional driver intervention. At level 4 (“high autonomy”), the vehicle can handle the same tasks as level 3 without relying on driver intervention in certain driving modes. At level 5 (“fully autonomous”), the vehicle can handle almost all tasks without driver intervention.

[0003] During level 2 or level 3 autonomous driving, vehicle occupants are expected to remain focused on the task of driving the vehicle and / or be ready to take over vehicle operation when the vehicle performs many driving task actions. During level 4 autonomous driving, the vehicle can require the driver to intervene when entering a specific environment, and during level 5 autonomous driving, the driver can still request control of the vehicle. Switching control from the vehicle to the driver is a problem in semi-autonomous and autonomous vehicles that allow manual driving. If the vehicle is non-autonomous or operating in a non-autonomous mode, there is no switching process because the driver maintains full or most control of the vehicle. Summary of the Invention

[0004] According to the present invention, there is provided a computer programmed to:

[0005] When it is determined that the vehicle enters an autonomous steering mode, deactivate a plurality of lights on the steering wheel rim; and

[0006] When starting to convert the vehicle from the autonomous steering mode to the manual steering mode, illuminate at least one of the lights at a steering wheel angle corresponding to the current steering angle of the vehicle.

[0007] According to an embodiment of the present invention, the computer is further programmed to, when it is determined that the vehicle is in the autonomous steering mode, instruct an actuator rotatably connected to the steering wheel rim to hold the steering wheel rim stationary.

[0008] According to one embodiment of the present invention, the computer is further programmed to start transitioning from an autonomous steering mode to a manual steering mode when data indicating that a hand of a vehicle occupant is holding the steering wheel rim is received.

[0009] According to one embodiment of the present invention, the data indicating that a hand of an occupant is holding the steering wheel rim includes data from a pressure sensor attached to the steering wheel rim.

[0010] According to one embodiment of the present invention, the data indicating that a hand of an occupant is holding the steering wheel rim includes data from a capacitive sensor disposed on the steering wheel rim.

[0011] According to one embodiment of the present invention, the data indicating that a hand of an occupant is holding the steering wheel rim includes data from a torque sensor connected to the steering wheel rim.

[0012] According to one embodiment of the present invention, the data indicating that a hand of an occupant is holding the steering wheel rim includes data from a camera having a field of view surrounding the steering wheel rim.

[0013] According to one embodiment of the present invention, the computer is further programmed to start transitioning from an autonomous steering mode to a manual steering mode when data indicating that the brake pedal is depressed is received.

[0014] According to the present invention, a method is provided, including:

[0015] When it is determined that the vehicle enters an autonomous steering mode, deactivate a plurality of lights on the steering wheel rim; and

[0016] When starting to transition the vehicle from an autonomous steering mode to a manual steering mode, illuminate at least one of the lights at a steering wheel angle corresponding to the current steering angle of the vehicle.

[0017] According to one embodiment of the present invention, the method further includes, when it is determined that the vehicle is in an autonomous steering mode, instructing an actuator rotatably connected to the steering wheel rim to hold the steering wheel rim stationary.

[0018] According to one embodiment of the present invention, the method further includes, when data indicating that a hand of a vehicle occupant is holding the steering wheel rim is received, starting to transition from an autonomous steering mode to a manual steering mode.

[0019] According to one embodiment of the present invention, the data indicating that a hand of an occupant is holding the steering wheel rim includes data from a pressure sensor attached to the steering wheel rim.

[0020] According to one embodiment of the present invention, the data indicating that a hand of an occupant is holding the steering wheel rim includes data from a capacitive sensor disposed on the steering wheel rim.

[0021] According to one embodiment of the present invention, data indicating that an occupant's hand is gripping the steering wheel rim includes data from a torque sensor connected to the steering wheel rim.

[0022] According to one embodiment of the present invention, data indicating that an occupant's hand is gripping the steering wheel rim includes data from a camera having a field of view surrounding the steering wheel rim.

[0023] According to one embodiment of the present invention, the method further includes starting to switch from an autonomous steering mode to a manual steering mode when data indicating that the brake pedal is depressed is received.

[0024] According to the present invention, there is provided a vehicle including:

[0025] A steering wheel rim;

[0026] A plurality of lights on the steering wheel rim; and

[0027] A computer in communication with the plurality of lights, the computer being programmed to

[0028] Deactivate the plurality of lights when it is determined that the vehicle has entered the autonomous steering mode; and

[0029] Illuminate at least one of the lights at a steering wheel angle corresponding to the current steering angle of the vehicle when starting to switch the vehicle from the autonomous steering mode to the manual steering mode.

[0030] According to one embodiment of the present invention, the vehicle further includes an actuator rotatably connected to the steering wheel rim, wherein the computer is in communication with the actuator; and the computer is further programmed to instruct the actuator to keep the steering wheel rim stationary when it is determined that the vehicle is in the autonomous steering mode.

[0031] According to one embodiment of the present invention, the vehicle further includes a sensor in communication with the computer, wherein the sensor is one of a pressure sensor attached to the steering wheel rim, a capacitive sensor provided on the steering wheel rim, a torque sensor connected to the steering wheel rim, and a camera facing the steering wheel rim.

[0032] According to one embodiment of the present invention, the computer is further programmed to start switching from the autonomous steering mode to the manual steering mode when data is received from the sensor indicating that an occupant's hand of the vehicle is gripping the steering wheel rim. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a block diagram of an exemplary vehicle;

[0034] Figure 2 is a top view of the vehicle;

[0035] Figure 3It is the front view of the vehicle steering wheel;

[0036] Figure 4 It is a process flow diagram of an exemplary process for controlling the steering system of a vehicle. Detailed implementation

[0037] The steering system disclosed herein solves the problems that occur in the control of semi-autonomous and autonomous vehicles and provides a solution that allows for enhanced control of such vehicles. The steering system includes a steer-by-wire system, a steering wheel with lighting display lights, and a computer programmed to communicate with a human driver using the lights. The steering system provides an informed handover from the computer to the human driver while minimizing driver distraction during autonomous driving.

[0038] A computer is programmed to deactivate a plurality of lights on the steering wheel rim when it is determined that the vehicle has entered the autonomous steering mode; and to illuminate at least one of the lights at a steering wheel angle corresponding to the current steering angle of the vehicle when starting to transition the vehicle from the autonomous steering mode to the manual steering mode.

[0039] The computer can also be programmed to instruct an actuator rotatably connected to the steering wheel rim to hold the steering wheel rim stationary when it is determined that the vehicle is in the autonomous steering mode.

[0040] The computer can also be programmed to start transitioning from the autonomous steering mode to the manual steering mode when it receives data indicating that a hand of an occupant of the vehicle is gripping the steering wheel rim. The data indicating that a hand of an occupant is gripping the steering wheel rim can include data from a pressure sensor attached to the steering wheel rim. The data indicating that a hand of an occupant is gripping the steering wheel rim can include data from a capacitive sensor disposed on the steering wheel rim. The data indicating that a hand of an occupant is gripping the steering wheel rim can include data from a torque sensor connected to the steering wheel rim. The data indicating that a hand of an occupant is gripping the steering wheel rim can include data from a camera having a field of view surrounding the steering wheel rim.

[0041] The computer can also be programmed to start transitioning from the autonomous steering mode to the manual steering mode when it receives data indicating that the brake pedal has been depressed.

[0042] A method includes deactivating a plurality of lights on the steering wheel rim when it is determined that the vehicle has entered the autonomous steering mode; and illuminating at least one of the lights at a steering wheel angle corresponding to the current steering angle of the vehicle when starting to transition the vehicle from the autonomous steering mode to the manual steering mode.

[0043] The method can also include instructing an actuator rotatably connected to the steering wheel rim to hold the steering wheel rim stationary when it is determined that the vehicle is in the autonomous steering mode.

[0044] The method may further include starting to switch from an autonomous steering mode to a manual steering mode when data indicating that a hand of a vehicle occupant is gripping the steering wheel rim is received. The data indicating that a hand of the occupant is gripping the steering wheel rim may include data from a pressure sensor attached to the steering wheel rim. The data indicating that a hand of the occupant is gripping the steering wheel rim may include data from a capacitive sensor disposed on the steering wheel rim. The data indicating that a hand of the occupant is gripping the steering wheel rim may include data from a torque sensor connected to the steering wheel rim. The data indicating that a hand of the occupant is gripping the steering wheel rim may include data from a camera having a field of view surrounding the steering wheel rim.

[0045] The method may further include starting to switch from the autonomous steering mode to the manual steering mode when data indicating that the brake pedal is depressed is received.

[0046] A vehicle includes a steering wheel rim, a plurality of lights on the steering wheel rim, and a computer in communication with the plurality of lights. The computer is programmed to deactivate the plurality of lights when it is determined that the vehicle has entered an autonomous steering mode; and to illuminate at least one of the lights at a steering wheel angle corresponding to a current steering angle of the vehicle when starting to switch the vehicle from the autonomous steering mode to a manual steering mode.

[0047] The vehicle may include an actuator rotatably connected to the steering wheel rim. The computer may be in communication with the actuator and may further be programmed to instruct the actuator to hold the steering wheel rim stationary when it is determined that the vehicle is in the autonomous steering mode.

[0048] The vehicle may include a sensor in communication with the computer. The sensor may be one of a pressure sensor attached to the steering wheel rim, a capacitive sensor disposed on the steering wheel rim, a torque sensor connected to the steering wheel rim, and a camera facing the steering wheel rim. The computer may further be programmed to start switching from the autonomous steering mode to the manual steering mode when data is received from the sensor indicating that a hand of a vehicle occupant is gripping the steering wheel rim.

[0049] Reference Figure 1, vehicle 30 can be an autonomous vehicle. Computer 32 can be configured to operate vehicle 30 either fully or to a lesser extent independent of the intervention of a human driver. Computer 32 can be programmed to operate the propulsion system 34, the braking system 36, the steering system 38, and / or other vehicle systems. For the purposes of the present invention, autonomous operation means that computer 32 controls the propulsion system 34, the braking system 36, and the steering system 38; semi-autonomous operation means that computer 32 controls one or two of the propulsion system 34, the braking system 36, and the steering system 38 and the human driver controls the remainder; and non-autonomous operation means that the driver controls the propulsion system 34, the braking system 36, and the steering system 38.

[0050] Computer 32 is a microprocessor-based computer. Computer 32 includes a processor, a memory, etc. The memory of computer 32 includes a memory for storing instructions executable by the processor and for electronically storing data and / or databases. Computer 32 can be a single computer or multiple computers networked together.

[0051] Computer 32 can transmit signals via a communication network such as a Controller Area Network (CAN) bus, Ethernet, wireless network (WiFi), Local Interconnect Network (LIN), On-Board Diagnostic connector (OBD-II), and / or via any other wired or wireless communication network. Computer 32 can communicate with the propulsion system 34; the braking system 36; components of the steering system 38 such as a steer-by-wire system 40; multiple lights 42; an actuator 44; a torque sensor 46; a pressure sensor 48, and a capacitive sensor 50; and a camera 52.

[0052] The propulsion system 34 of vehicle 30 generates energy and converts the energy into the movement of vehicle 30. The propulsion system 34 can be a known vehicle propulsion subsystem, for example, a conventional powertrain including an internal combustion engine connected to a transmission that transfers rotational motion to a road wheel 54; an electric powertrain including a battery, an electric motor, and a transmission that transfers rotational motion to a road wheel 54; a hybrid powertrain including elements of a conventional powertrain and an electric powertrain; or any other type of propulsion system. The propulsion system 34 can include an electronic control unit (ECU), etc., that communicates with computer 32 and / or the human driver and receives input from computer 32 and / or the human driver. The human driver can control the propulsion system 34 via, for example, an accelerator pedal and / or a gear shift lever.

[0053] The braking system 36 is generally a known vehicle braking subsystem and resists the movement of the vehicle 30 to slow down and / or stop the vehicle 30. The braking system 36 can include friction brakes such as disc brakes, drum brakes, band brakes, etc.; regenerative brakes; any other suitable type of brakes; or combinations. The braking system 36 can include an electronic control unit (ECU) etc. that communicates with a controller and / or a human driver and receives inputs from the controller and / or the human driver. The human driver can control the braking system 36 via, for example, a brake pedal 56.

[0054] The steering system 38 is generally a known vehicle steering subsystem and controls the steering of the road wheel 54. The steering system 38 can be a rack and pinion system with electric power steering, a system using steer-by-wire (both are known), or any other suitable system. The steering system 38 can include an electronic control unit (ECU) etc. that communicates with the computer 32 and / or a human driver and receives inputs from the computer 32 and / or the human driver. The steering system 38 can include a steering wheel 58, and the driver can control the steering system 38 through the steering wheel 58. For the steering system 38 using steer-by-wire, the steering system 38 can include a steering rack 64 connected to the road wheel 54, a steer-by-wire system 40, a steering wheel 58, and an actuator 44.

[0055] The steering rack 64 is connected to the steer-by-wire system 40, and the steering rack 64 is connected to the road wheel 54. The steering rack 64 can be connected to the steer-by-wire system 40 via, for example, an electromechanical actuator (not shown) that converts an electrical signal into the mechanical movement of the steering rack 64. The position of the steering rack 64 determines the steering of the road wheel 54. As Figure 2 shown, the road wheel 54 has a steering angle i.e., the angle by which the road wheel 54 rotates relative to the body 66 of the vehicle 30. The steering angle can be measured relative to a longitudinal axis L extending along the forward direction of the vehicle. For example, when the road wheel 54 is oriented in the forward direction, the steering angle is zero; when the road wheel 54 steers to the right, the steering angle is negative; and when the road wheel 54 steers to the left, the steering angle is positive.

[0056] Continuing to refer to Figure 1 , the steer-by-wire system 40 can be connected to the steering rack 64 and the steering wheel 58 as described. The steer-by-wire system 40 can include a wire harness and an ECU (not shown) that communicates with the steering rack 64 and the steering wheel 58. In other words, there is no mechanical connection between the steering wheel 58 and the steering rack 64, only electrical or electronic connections.

[0057] Reference Figure 1 and Figure 3 , the steering wheel 58 can be rotatably connected to an instrument panel (not shown) of a seat facing a human driver. The steering wheel 58 includes a steering wheel rim 60 having a circular shape and a steering wheel body 62 that connects the steering wheel rim 60 to the instrument panel and the steer-by-wire system 40. As Figure 3 shown, the steering wheel 58 has a steering wheel angle θ. The steering wheel angle θ can be measured relative to a reference axis (such as a vertical axis V passing through the center of the steering wheel 58 and the highest point of the steering wheel rim 60 when the steering wheel 58 is centered). For example, when the steering wheel 58 is centered, the steering wheel angle θ is zero; when the steering wheel 58 is rotated to the right, the steering wheel angle θ is negative; and when the steering wheel 58 is rotated to the left, the steering wheel angle θ is positive. The steer-by-wire system 40 can detect the steering wheel angle θ via a position sensor (not shown) such as a Hall effect sensor, a rotary encoder, etc.

[0058] Reference Figure 1 , the actuator 44 communicates with the computer 32 and is rotatably connected to the steering wheel rim 60 via, for example, a steering column (not shown) and the steering wheel body 62. The actuator 44 can apply a torque T to the steering wheel 58, thereby causing or preventing the rotation of the steering wheel 58. The torque T applied by the actuator 44 is variable, and the computer 32 can instruct the actuator 44 to apply a specific level of torque T to the steering wheel 58. The actuator 44 can be, for example, an electric motor.

[0059] Continuing to refer Figure 1 , the torque sensor 46 is positioned to detect the torque that causes the rotation of the steering wheel rim 60. The torque sensor 46 is connected to the steering wheel rim 60 via, for example, a steering column and / or the steering wheel body 62. The torque sensor 46 can be any type of sensor that measures the applied torque, such as a torque sensor, i.e., a plurality of strain gauges wired together; a torsional angle torque sensor, i.e., a plurality of angular position sensors wired together; etc.

[0060] Reference Figure 1 and Figure 3 , the pressure sensor 48 is attached to the steering wheel rim 60. The pressure sensor 48 is positioned to be grasped by the hand of an occupant holding the steering wheel rim 60. The pressure sensor 48 can extend around the steering wheel rim 60, or a plurality of pressure sensors 48 can be attached around the steering wheel rim 60. Alternatively, the pressure sensor 48 can be attached to the steering wheel rim 60 only at positions where it is likely to be grasped by an occupant (e.g., at relative angles of 60° - 100° and 260° - 300°). The pressure sensor 48 can be any suitable type of pressure sensor for detecting the pressure from the hand of a human driver, such as a piezoelectric strain, a capacitive diaphragm, an electromagnetic diaphragm, a piezoelectric, an optical, or a potentiometric sensor.

[0061] Reference Figure 1 and Figure 3 ,a capacitive sensor 50 is disposed on the steering wheel rim 60. The capacitive sensor 50 is positioned to be touched by the hand of an occupant holding the steering wheel rim 60. The capacitive sensor 50 may extend around the steering wheel rim 60, or multiple capacitive sensors 50 may be attached around the steering wheel rim 60. Alternatively, the capacitive sensor 50 may be attached to the steering wheel rim 60 only at positions where it is likely to be held by the occupant (e.g., at 60°-100° and 260°-300° relative to a reference angle). The capacitive sensor 50 may be any suitable type of sensor that detects a change in the electric field due to proximity to human skin, such as a surface capacitive sensor, a projected capacitive touch sensor such as a mutual capacitive sensor or a self-capacitive sensor, etc.

[0062] Reference Figure 1 ,a camera 52 may be disposed in the passenger compartment of the vehicle 30. The camera 52 faces the steering wheel rim 60. The camera 52 is typically mounted such that it has a field of view that surrounds the steering wheel rim 60. The camera 52 may be positioned such that the field of view is blocked by the hand of an occupant holding the steering wheel rim 60, but not by other objects such as the body of the occupant. The camera 52 detects visual images.

[0063] Reference Figure 1 and Figure 3 ,multiple lights 42 are disposed on the steering wheel rim 60. The lights 42 may be arranged in a circle following the steering wheel rim 60. The lights 42 may be evenly spaced around the steering wheel rim 60. The lights 42 may face an occupant of the vehicle 30 facing the steering wheel rim 60. Similar to the steering wheel 58, the position of each light may be defined by a steering wheel angle θ based on a reference angle. The lights 42 are capable of independent illumination. The lights 42 may be illuminated one at a time in one color or one of multiple colors. The lights 42 may be, for example, light-emitting diodes (LEDs).

[0064] Figure 4 is a process flow diagram showing an exemplary process 400 for controlling the steering system 38. The memory of the computer 32 stores programming for performing the steps of the process 400.

[0065] Process 400 begins at decision block 405, where computer 32 determines the steering mode in which vehicle 30 is operating. The steering mode is a parameter that computer 32 stores in the memory. The steering modes in which vehicle 30 may operate include an autonomous steering mode, a manual steering mode, and other modes. For purposes of the present invention, the autonomous steering mode is defined as a mode in which computer 32 operates steering system 38; propulsion system 34 and braking system 36 may be operated by computer 32 or a human driver. For purposes of the present invention, the manual steering mode is defined as a mode in which a human driver operates steering system 38; propulsion system 34 and braking system 36 may be operated by computer 32 or a human driver. If the steering mode is the manual steering mode, then process 400 proceeds to block 445. If the steering mode is neither the manual steering mode nor the autonomous steering mode, then process 400 ends.

[0066] If the steering mode is the autonomous steering mode, then next at block 410, computer 32 instructs actuator 44 to hold steering wheel rim 60 stationary. In other words, steering wheel 58 does not move. Computer 32 may simultaneously instruct road wheel 54 to turn; however, the steering wheel angle θ of steering wheel rim 60 remains substantially equal to zero.

[0067] Next, in block 415, computer 32 receives data from sensors 46, 48, 50, 52 (i.e., one or more of pressure sensor 48, capacitive sensor 50, torque sensor 46, and camera 52). The data indicates whether an occupant's hand is gripping the steering wheel rim 60. Data from pressure sensor 48 indicates whether the detected pressure is above a pressure threshold or within a pressure range. The pressure threshold or pressure range can be preset and can be selected based on, for example, experiments showing the pressure from an occupant gripping the steering wheel rim 60. Data from capacitive sensor 50 indicates whether the capacitance detected by capacitive sensor 50 at any location on the steering wheel rim 60 is within a capacitance range. The capacitance range can be preset and can be selected based on, for example, experiments showing the capacitance from an occupant gripping the steering wheel rim 60. Data from torque sensor 46 indicates whether the detected torque is above a torque threshold or within a torque range. The torque threshold or torque range can be preset and can be selected based on, for example, experiments showing the torque from an occupant attempting to turn the steering wheel 58. Data from camera 52 can indicate whether the steering wheel rim 60 is blocked from the camera's field of view. For example, computer 32 can compare an image from camera 52 to a baseline image of an unblocked steering wheel rim 60 and / or a steering wheel rim 60 blocked by a hand. If the image from camera 52 deviates from the baseline image of a blocked steering wheel rim 60, closely matches the baseline image of a blocked steering wheel rim 60, or is closer to matching the baseline image of a blocked steering wheel rim 60 than an unblocked steering wheel rim 60, then the data from camera 52 indicates that the occupant's hand is gripping the steering wheel rim 60.

[0068] Next, in block 420, computer 32 receives data from brake pedal 56 indicating whether brake pedal 56 is depressed. A position sensor (not shown) connected to brake pedal 56 can transmit data indicating that brake pedal 56 is depressed by more than a position threshold. The position threshold can be selected, for example, by experiment to be less than an intentional depression of brake pedal 56 and greater than an unintentional depression.

[0069] Next, in decision block 425, computer 32 determines whether to switch to manual steering mode. If in block 415 computer 32 receives data from sensors 46, 48, 50, 52 indicating that an occupant's hand is gripping the steering wheel rim 60, or if in block 420 computer 32 receives data from brake pedal 56 indicating that brake pedal 56 has been depressed, then computer 32 switches to manual steering mode. If computer 32 determines to switch to manual steering mode, then computer 32 begins the transition from autonomous steering mode to manual steering mode as described in blocks 435 and 440.

[0070] If computer 32 determines not to switch to the manual steering mode, then next, in decision block 430, computer 32 determines whether to switch to a mode other than the manual steering mode. If computer 32 has received an input to switch to a different mode from the occupant or the autonomous driving algorithm, then computer 32 switches to that mode and process 400 ends. If computer 32 has not received an input to switch to a different mode, then process 400 returns to block 410 and maintains the autonomous steering mode.

[0071] If computer 32 determines to switch to the manual steering mode, then after decision block 425, in block 435, as Figure 3 shown, computer 32 illuminates one of lights 42 at a steering wheel angle θ corresponding to the steering angle of vehicle 30. For the purposes of the present invention, "corresponding to" is defined in relation to the steering ratio R. For the purposes of the present invention, the steering ratio R is defined as the ratio of the steering wheel angle θ of steering wheel 58 to the steering angle of road wheel 54 when vehicle 30 is in the manual steering mode. The steering ratio R can be a constant value or can vary according to the steering angle or the steering wheel angle θ, according to the speed of vehicle 30, etc. For example, the steering ratio R can linearly depend on the speed of vehicle 30 and can be greater at higher speeds than at lower speeds. The illuminating lights indicate to the occupant the steering angle of vehicle 30 in the manual steering mode. For receiving a steering input from the occupant, the position of the illuminating lights is regarded as the center position of the steering wheel rim 60.

[0072] Next, in block 440, computer 32 enters the manual steering mode. Computer 32 no longer holds steering wheel 58 stationary but allows the human driver to move steering wheel 58.

[0073] Next, or after decision block 405, if the steering mode is the manual steering mode, then in block 445, computer 32 receives a steering input from the occupant. Specifically, computer 32 receives the steering wheel angle θ of steering wheel rim 60 that can be rotated by the occupant with the illuminating lights as the center position of steering wheel rim 60. In other words, the steering wheel angle θ of steering wheel 58 is the angle between the position of the illuminating lights and a reference angle. Computer 32 instructs steering system 38 to steer road wheel 54 to a steering angle

[0074] Next, in decision block 450, computer 32 determines whether to switch to the autonomous steering mode. If computer 32 receives an input from the occupant or from the autonomous driving algorithm to switch to the autonomous driving mode, then computer 32 switches to the autonomous driving mode. If computer 32 determines not to switch to the autonomous steering mode, then process 400 proceeds to decision block 465.

[0075] If computer 32 determines to switch to the autonomous steering mode, then next, in block 455, computer 32 enters the autonomous steering mode.

[0076] Next, in block 460, computer 32 deactivates lights 42 such that no lights 42 are illuminated. After block 460, process 400 returns to block 410.

[0077] If computer 32 determines not to switch to the autonomous steering mode, then after decision block 450, in decision block 465, computer 32 determines whether to switch to a mode other than the autonomous steering mode. If computer 32 has received an input from the occupant or from the autonomous driving algorithm to switch to a different mode, then computer 32 switches to that mode and process 400 ends. If computer 32 has not received an input to switch to a different mode, then process 400 returns to block 445 and remains in the manual steering mode.

[0078] Generally, the described computing system and / or device may employ any of a number of computer operating systems, including but not limited to versions and / or variants of the following operating systems: Ford Apps, AppLink / Smart Device Link middleware operating system, Microsoft operating system, Unix operating system (e.g., the operating system released by Oracle Corporation of Redwood Shores, California), the AIX UNIX operating system released by International Business Machines Corporation of Armonk, New York, USA, Linux operating system, Mac OS X and iOS operating systems released by Apple Inc. of Cupertino, California, BlackBerry OS released by BlackBerry Limited of Waterloo, Canada, and the Android operating system developed by Google Inc. and the Open Handset Alliance or provided by QNX Software Systems An infotainment automotive platform. Examples of computing devices include, but are not limited to, in-vehicle vehicle computers, computer workstations, servers, desktops, notebooks, laptop computers, or handheld computers, or some other computing systems and / or devices.

[0079] The computing device generally includes computer-executable instructions, where the instructions can be executed by one or more computing devices such as those listed above. The computer-executable instructions can be compiled or interpreted from computer programs created using a variety of programming languages and / or technologies, which include, but are not limited to, Java TM , C, C++, Matlab, Simulink, Stateflow, Visual Basic, Java Script, Perl, HTML, and so on. Some of these applications may be compiled and executed on a virtual machine (such as a Java virtual machine, Dalvik virtual machine, etc.). Generally, a processor (e.g., a microprocessor) receives instructions from memory, a computer-readable medium, etc. and executes these instructions, thereby performing one or more processes including one or more of the processes described herein. Various computer-readable media can be used to store and transmit such instructions and other data. Files in a computing device are typically a collection of data stored on a computer-readable medium such as a storage medium, random access memory, etc.

[0080] A computer-readable medium (also referred to as a processor-readable medium) includes any non-transitory (e.g., tangible) medium that participates in providing data (e.g., instructions) that can be read by a computer (e.g., by a processor of the computer). Such a medium can take many forms, including but not limited to non-volatile media and volatile media. Non-volatile media can include, for example, optical or magnetic disks and other persistent memories. Volatile media can include, for example, dynamic random access memory (DRAM) that typically constitutes main memory. Such instructions can be transmitted by one or more transmission media, which include coaxial cables, copper wires, and fiber optics of the system bus connecting to the processor of an electronic control unit (ECU). Common forms of computer-readable media include, for example, floppy disks, flexible disks, hard disks, magnetic tapes, any other magnetic media, compact disc read-only memory (CD-ROM), digital versatile discs (DVD), any other optical media, punch cards, paper tapes, any other physical media with hole patterns, random access memory (RAM), programmable read-only memory (PROM), electrically programmable read-only memory (EPROM), flash electrically erasable programmable read-only memory (FLASH-EEPROM), any other memory chip or cartridge, or any other medium readable by a computer.

[0081] The databases, data repositories, or other data stores described herein can include various mechanisms for storing, accessing, and retrieving various data, including hierarchical databases, sets of files in a file system, application databases in a proprietary format, relational database management systems (RDBMSs), and the like. Each such data store is typically included in a computing device that employs a computer operating system such as one of the above, and is accessed via a network in any one or more of various ways. The file system can be accessed from the computer operating system, and the file system can include files stored in various formats. In addition to languages for creating, storing, editing, and executing stored programs, RDBMSs also typically employ a structured query language (SQL), such as the PL / SQL language described above.

[0082] In some examples, system components can be implemented as computer-readable instructions (e.g., software) on one or more computing devices (e.g., servers, personal computers, etc.) stored on a computer-readable medium associated therewith (e.g., a disk, a memory, etc.). A computer program product can include instructions stored on a computer-readable medium for performing the functions described herein.

[0083] In the drawings, like reference numerals denote like elements. Moreover, some or all of these elements may be altered. With regard to the media, processes, systems, methods, heuristics, etc. described herein, it should be understood that although the steps of these processes etc. have been described as occurring according to a certain ordered sequence, these processes can be implemented by performing the described steps in an order other than the order described herein. It should also be understood that certain steps may be performed simultaneously, other steps may be added, or certain steps described herein may be omitted. In other words, the description of the processes herein is provided for the purpose of illustrating certain embodiments and should not be construed as limiting the claims.

[0084] Accordingly, it should be understood that the foregoing description is intended to be illustrative and not restrictive. After reading the foregoing description, many embodiments and applications other than the provided examples will be apparent to those skilled in the art. The scope of the invention should not be determined with reference to the above description, but rather should be determined with reference to the appended claims and the full scope of equivalents to which such claims are entitled. It is expected that future developments will occur in the technologies discussed herein, and the disclosed systems and methods will be incorporated into future embodiments. In sum, it should be understood that the invention is capable of modification and variation and is not limited solely by the following claims.

[0085] All terms used in the claims are intended to have the simple and ordinary meaning understood by those skilled in the art, unless given the contrary clear indication herein. In particular, unless a claim states a contrary clear limitation, use of the singular forms such as "a", "the", and "said" are to be read as stating one or more of the indicated elements.

[0086] As used herein, "substantially" means that the dimension, duration, shape or other adjectives may be slightly different from those described due to physical defects, power interruptions, processing or other variations in manufacturing, etc.

[0087] The invention has been described in an illustrative manner, and it is to be understood that the terms used are intended to be in the nature of description words rather than restrictive. Many modifications and variations of the invention are possible in light of the above teachings, and the invention is operable apart from the specific description.

Claims

1. A vehicle steering control method, comprising: When it is determined that the vehicle enters the autonomous steering mode, deactivate a plurality of lights on the steering wheel rim; When it is determined that the vehicle is in the autonomous steering mode, instruct an actuator rotatably connected to the steering wheel rim to keep the steering wheel rim stationary; And When starting to convert the vehicle from the autonomous steering mode to the manual steering mode, illuminate at least one of the lights at a steering wheel angle corresponding to the current steering angle of the vehicle.

2. The method according to claim 1, further comprising starting to convert from the autonomous steering mode to the manual steering mode when data indicating that the hand of a vehicle occupant is holding the steering wheel rim is received.

3. The method according to claim 2, wherein the data indicating that the hand of the occupant is holding the steering wheel rim includes data from a pressure sensor attached to the steering wheel rim.

4. The method according to claim 2, wherein the data indicating that the hand of the occupant is holding the steering wheel rim includes data from a capacitive sensor provided on the steering wheel rim.

5. The method according to claim 2, wherein the data indicating that the hand of the occupant is holding the steering wheel rim includes data from a torque sensor connected to the steering wheel rim.

6. The method according to claim 2, wherein the data indicating that the hand of the occupant is holding the steering wheel rim includes data from a camera having a field of view surrounding the steering wheel rim.

7. The method according to claim 1, further comprising starting to convert from the autonomous steering mode to the manual steering mode when data indicating that a brake pedal is depressed is received.

8. A computer programmed to execute the method according to any one of claims 1-7.

9. A vehicle, comprising: A steering wheel rim; A plurality of lights on the steering wheel rim; An actuator rotatably connected to the steering wheel rim; And A computer in communication with the plurality of lights and the actuator, the computer programmed to, When it is determined that the vehicle enters the autonomous steering mode, deactivate the plurality of lights; When it is determined that the vehicle is in the autonomous steering mode, instruct the actuator to keep the steering wheel rim stationary; And When starting to convert the vehicle from the autonomous steering mode to the manual steering mode, illuminate at least one of the lights at a steering wheel angle corresponding to the current steering angle of the vehicle.

10. The vehicle according to claim 9, further comprising a sensor in communication with the computer, wherein the sensor is one of a pressure sensor attached to the steering wheel rim, a capacitive sensor provided on the steering wheel rim, a torque sensor connected to the steering wheel rim, and a camera facing the steering wheel rim.

11. The vehicle according to claim 10, wherein the computer is further programmed to begin transitioning from the autonomous steering mode to the manual steering mode when receiving data from the sensor indicating that a hand of an occupant of the vehicle is gripping the steering wheel rim.

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