Vehicle Components Operation

Abstract

The present disclosure provides "vehicle component operation". A system includes a computer including a processor and a memory storing instructions executable by the computer to: operate a component in a vehicle in an autonomous mode, detect an impact to the vehicle, and then actuate any of the propellers, brakes, and steering gears based solely on user input.

Description

Technical Field

[0001] The present invention relates to a system for converting from an autonomous or semi-autonomous vehicle mode to a manual mode, thereby allowing a human user to manually operate vehicle components after a vehicle impact is detected. Background Art

[0002] The vehicle may be operated in an autonomous mode along a road. In a vehicle impact, one or more vehicle components may be damaged. A computer in the vehicle may detect a vehicle impact, such as a frontal impact, a side impact, a rear impact, an oblique impact, etc., using one or more vehicle sensors. However, damage to certain vehicle components, including components that are necessary and / or desired for vehicle operation and / or components that may jeopardize vehicle operation if used in a damaged state, may not be detected. Inhibiting operation of potentially damaged vehicle components when a vehicle impact is detected is a problem. Summary of the invention

[0003] A system includes a computer including a processor and a memory storing instructions executable by the computer to: operate components in a vehicle in an autonomous mode, detect an impact to the vehicle, and then actuate any of the propellers, brakes, and steering based solely on user input.

[0004] The instructions may also include instructions for receiving authentication data and activating autonomous operation of the thrusters, brakes, and steering upon receipt of the authentication data.

[0005] The instructions may also include instructions to actuate the parking brake when an impact is detected, and then actuate any of the propellers, brakes, and steering solely based on user input.

[0006] The instructions may also include instructions for receiving a manual user input and actuating at least one of a thruster, a brake, and a steering based on the manual user input.

[0007] The instructions may also include instructions to deactivate power to the component when an impact is detected.

[0008] The instructions may also include instructions for suppressing electrical signals from the virtual operator to the component.

[0009] The instructions may also include instructions to actuate the brakes upon receiving input from the mechanical actuator.

[0010] A system includes: a component in a vehicle; an interface connected to the component, the component including means for manually actuating the component, means for autonomously operating the component, means for detecting an impact to the vehicle, and means for actuating any one of a propeller, a brake, and a steering gear based solely on user input to the means for manually actuating the component when an impact is detected.

[0011] The system may also include means for receiving authentication data and means for activating autonomous operation of the component upon receipt of the authentication data.

[0012] The system may also include means for actuating the parking brake when an impact is detected.

[0013] The system may also include means for suppressing electrical signals from the virtual operator to the component.

[0014] The system may also include means for preventing autonomous actuation of the brakes and means for manually actuating the brakes.

[0015] One method includes operating components in the vehicle in an autonomous mode, detecting an impact to the vehicle, and then actuating any of the thrusters, brakes, and steering based solely on user input.

[0016] The method may also include receiving authentication data and activating autonomous operation of the component upon receiving the authentication data.

[0017] The method may further include detecting an impact, actuating a parking brake, and then actuating any of the propellers, brakes and steering based solely on user input.

[0018] The method may also include suppressing electrical signals from the virtual operator to the component.

[0019] The method may further include actuating a brake upon receiving input from a mechanical actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a block diagram of an example system for operating a vehicle.

[0021] Figure 2 An example vehicle with manual controls is shown.

[0022] Figure 3 is a block diagram of an example process for operating a vehicle. DETAILED DESCRIPTION

[0023] Upon detecting a vehicle impact, a computer in the vehicle may switch from an autonomous or semi-autonomous mode to a manual mode, allowing a human user to manually operate vehicle components, such as steering, brakes, thrusters. Thus, the computer inhibits virtual operation of vehicle components, thereby preventing the computer from actuating components that may have been damaged during the impact. In addition, the computer may continue to inhibit autonomous or semi-autonomous operation, in which the computer actuates such components, until authorization is received from a human user (e.g., a service worker). The computer is thereby prevented from autonomously actuating components before repair. A human user may actuate a manual controller to manually actuate components (with or without assistance from the computer, such as power steering, brake assist, etc.) to move the vehicle after the impact but before repair.

[0024] Figure 1 An example system 100 for operating a vehicle 101 after an impact is shown. A computer 105 in the vehicle 101 is programmed to receive collected data 115 from one or more sensors 110. For example, the vehicle 101 data 115 may include the location of the vehicle 101, data about the vehicle's surroundings, data about objects external to the vehicle such as another vehicle, etc. The vehicle 101 location is typically provided in a conventional form, such as geographic coordinates obtained via a navigation system using a global positioning system (GPS), such as latitude and longitude coordinates. Additional examples of data 115 may include measurements of vehicle 101 systems and components, such as vehicle 101 speed, vehicle 101 trajectory, etc.

[0025] The computer 105 is typically programmed to communicate over a vehicle 101 network (e.g., including a communication bus). Via the network, bus, and / or other wired or wireless mechanisms (e.g., a wired or wireless local area network in the vehicle 101), the computer 105 can transmit messages to and / or receive messages from various devices in the vehicle 101, such as controllers, actuators, sensors, etc., including sensor 110. Alternatively or additionally, in the event that the computer 105 actually includes multiple devices, the vehicle network can be used for communication between devices represented as the computer 105 in this disclosure. In addition, the computer 105 can be programmed to communicate with a network 125, as described below, which can include various wired and / or wireless network technologies, such as cellular, Low power consumption (BLE), wired and / or wireless packet networks, etc.

[0026] The data storage device 106 may be of any type, such as a hard drive, a solid state drive, a server, or any volatile or non-volatile medium. The data storage device 106 may store the collected data 115 sent from the sensors 110 .

[0027] Sensors 110 may include various devices. For example, various controllers in vehicle 101 may operate as sensors 110 to provide data 115 via a vehicle 101 network or bus, such as data 115 related to vehicle speed, acceleration, position, subsystem and / or component status, etc. In addition, other sensors 110 may include cameras, motion detectors, etc., i.e., sensors 110 to provide data 115 for evaluating the location of a target, projecting a path of a target, evaluating the location of a road lane, etc. Sensors 110 may also include short-range radar, long-range radar, lidar, and / or ultrasonic transducers.

[0028] The collected data 115 may include various data collected in the vehicle 101. Examples of the collected data 115 are provided above, and furthermore, the data 115 is generally collected using one or more sensors 110, and may additionally include data calculated therefrom in the computer 105 and / or at the server 130. In general, the collected data 115 may include any data that may be collected by the sensors 110 and / or calculated therefrom.

[0029] The vehicle 101 may include a plurality of vehicle components 120. As used herein, each vehicle component 120 includes one or more hardware components adapted to perform a mechanical function or operation, such as moving the vehicle, slowing or stopping the vehicle, steering the vehicle, etc. Non-limiting examples of components 120 include: a propulsion component (which includes, for example, an internal combustion engine and / or an electric motor, etc.), a transmission component, a steering component (which may include, for example, one or more of a steering wheel, a steering rack, etc.), a braking component, a parking assist component, an adaptive cruise control component, an adaptive steering component, etc.

[0030] When the computer 105 operates the vehicle 101, the vehicle 101 is an "autonomous" vehicle 101. For the purposes of this disclosure, the term "autonomous vehicle" is used to refer to a vehicle 101 operating in a fully autonomous mode. The fully autonomous mode is defined as a mode in which each of the vehicle 101 propulsion (typically via a powertrain including an electric motor and / or an internal combustion engine), braking, and steering are controlled by the computer 105. The semi-autonomous mode is a mode in which at least one of the vehicle 101 propulsion (typically via a powertrain including an electric motor and / or an internal combustion engine), braking, and steering is at least partially controlled by the computer 105 rather than a human operator. In the non-autonomous mode, i.e., the manual mode, the vehicle 101 propulsion, braking, and steering are controlled solely based on user input, i.e., by a human operator.

[0031] The system 100 may also include a network 125 connected to the server 130 and the data storage device 135. The computer 105 may also be programmed to communicate with one or more remote sites such as the server 130 via the network 125, such remote sites may include the data storage device 135. The network 125 represents one or more mechanisms by which the vehicle computer 105 can communicate with the remote server 130. Thus, the network 125 can be one or more of a variety of wired or wireless communication mechanisms, including any desired combination of wired (e.g., cable and fiber optic) and / or wireless (e.g., cellular, wireless, satellite, microwave, and radio frequency) communication mechanisms and any desired network topology (or topologies when multiple communication mechanisms are used). Exemplary communication networks include wireless communication networks that provide data communication services (e.g., using Low energy consumption (BLE), IEEE 802.11, vehicle-to-vehicle (V2V) such as dedicated short-range communication (DSRC), etc.), local area network (LAN) and / or wide area network (WAN), including the Internet.

[0032] The system 100 includes a manual controller 140. The manual controller 140 can be a device that physically actuates one or more vehicle components 120. The manual controller 140 can include an interface for user input, such as a joystick, a keyboard, a button, a pointing handle, that is, including a cross-shaped button or a group of buttons, such as those found on a video game controller that receive input in one of four directions. The interface can be connected to one or more components 120, for example, via a cable, a connecting rod, etc. For example, the interface can be a joystick connected to the steering component 120 with a flexible cable. Upon receiving input from the joystick, the steering component 120 can move a steering rack (not shown) to turn the wheels of the vehicle 101. The manual controller 140 may include a sensor (not shown) that converts physical movement on or in the device into an electrical signal. The manual controller 140 may include a separate power supply (not shown) that allows the actuation of the component 120 when the vehicle 101 is hit.

[0033] Figure 2An example vehicle 101 is shown. The vehicle 101 may include a manual controller 140. The manual controller 140 may be connected to one or more vehicle components 120. When the computer 105 operates the vehicle 101 in manual mode, for example, after the vehicle 101 is impacted, the manual controller 140 may actuate the component 120. As used herein, an "impact" is a collision between the vehicle 101 and an object (e.g., another vehicle, a wall, a lamp post, a tree, etc.). As described below, the computer 105 may detect an impact when the acceleration data 115 from the acceleration sensor 110 exceeds an acceleration threshold determined by a previous impact test. As described above, the manual controller 140 may be connected to one or more vehicle components 120, and the computer 105 may be programmed to inhibit actuation of the component 120 by input other than the manual controller 140. Therefore, when the vehicle 101 receives an impact, the computer 105 may prevent the computer 105 from actuating the component 120, and only accept input to the component 120 by the user using the manual controller 140. The computer 105 may inhibit autonomous operation by, for example, deactivating power to the vehicle component 120 upon detection of an impact, inhibiting electrical signals from the computer 105 to the vehicle component 120 , and the like.

[0034] The vehicle 101 may detect an impact to the vehicle 101. The vehicle 101 may include a sensor 110 that may detect an impact. For example, the vehicle 101 may include an accelerometer 110 that may measure the acceleration of the vehicle 101. The computer 105 may compare the acceleration data 115 to a stored acceleration threshold value (e.g., 4 times the acceleration of gravity, 4G) determined based on an impact test of the vehicle 101, and when the acceleration data 115 exceeds the acceleration threshold value, the computer 105 may determine that an impact to the vehicle 101 has occurred. Upon detecting an impact, the computer 105 may inhibit autonomous operation of the component 120, thereby allowing only manual operation of the component 120.

[0035] During an impact, one or more components 120 may be damaged. The computer 105 may attempt to actuate one of the potentially damaged components 120 after an impact. Actuating a damaged component 120 may further damage the component 120 and / or may be unsafe for a user of the vehicle 101. Therefore, the computer 105 may switch to a manual mode, allowing actuation of the component 120 by user input and preventing the computer 105 from actuating the component.

[0036] Prior to impact, the computer 105 may actuate the components 120 in an autonomous mode. The computer 105 may receive a predetermined route from the server 130 and may actuate the components 120 in an autonomous mode to follow the route. Alternatively, when the vehicle 101 is in a semi-autonomous mode, the computer 105 may actuate one or more of the components 120 and the vehicle 101 user may actuate one or more of the components 120 to follow the route. When in an autonomous or semi-autonomous mode, at least one of the components 120 is operated based on input from the computer 105.

[0037] When an impact is detected, the computer 105 may suppress the autonomous mode and actuate the component 120 in a manual mode (i.e., only based on user input). One or more components 120 may be damaged, and the computer 105 may execute programming to ensure that the damaged component 120 is not autonomously actuated. For example, the computer 105 may suppress the autonomous operation of the brake 120 when an impact is detected. Upon receiving user input from a manual actuator (e.g., a manual controller 140, a mechanical control lever connected to the brake 120 and the computer 105, etc.), the user may actuate the brake 120 based on the user input. Alternatively, the manual actuator may instruct the computer 105 to actuate the brake 120, for example, with brake assistance. Similar possible arrangements exist with other components 120, for example, a steering gear (with steering assistance such as a power steering gear), a propeller (with propulsion assistance such as variable valve timing), etc.

[0038] Before inhibiting the autonomous mode but after detecting an impact, the computer 105 may actuate the parking brake 120 to stop the vehicle 101. The parking brake 120 prevents the vehicle 101 from moving until the parking brake 120 is released, for example, by manual input from a user of the vehicle 101 to a manual controller 140. The computer 105 may actuate the parking brake 120 to prevent movement of the impacted vehicle 101 and actuation of potentially damaged components 120. For example, if the vehicle 101 is impacted on a sloping hill, the parking brake 120 may prevent the vehicle 101 from rolling down the hill.

[0039] The computer 105 may receive authorization to allow autonomous operation of the component 120. The computer 105 may be programmed to actuate the thrusters 120, brakes 120, and steering 120 only based on user input until authorization to allow autonomous operation is received. The authorization may be authentication data 115 (e.g., from a hash function, public / private key encryption, etc.) that matches a stored authentication code. The authentication data 115 may be sent from a human user, such as a service worker at a repair facility. When repairing the vehicle 101 after a collision, the service worker may provide the authentication data 115 to allow autonomous operation of the vehicle 101. Alternatively, the server 130 may provide the authentication data 115. Upon receiving the authentication data 115, the computer 105 may operate the component 120 in an autonomous or semi-autonomous mode.

[0040] Figure 3 An example process 300 for operating a vehicle 101 after an impact is shown. The process 300 begins in block 305, where the computer 105 actuates components 120 in an autonomous or semi-autonomous mode. As described above, the computer 105 can actuate components 120 to move the vehicle 101 along a predetermined route from the server 130 without input from a user of the vehicle 101. For example, the computer 105 can actuate the thrusters 120 to accelerate the vehicle 101 along a road.

[0041] Next, in block 310, the computer 105 detects an impact to the vehicle 101. As described above, the computer 105 may include one or more sensors 110, such as an accelerometer, that may collect data 115. When the data 115 exceeds a predetermined threshold (e.g., an acceleration threshold), the computer 105 may determine that an impact has occurred. For example, the acceleration threshold may be 4 times the acceleration of gravity (i.e., 4G) based on an impact test, and when the acceleration data 115 from the accelerometer 110 indicates an acceleration greater than 4G, the computer 105 may determine that an impact has occurred.

[0042] Next, in box 315, the computer 105 switches to manual mode and executes programming based only on user input to actuate the propellers 120, brakes 120, and steering 120. Upon receiving an impact, the computer 105 may prevent autonomous operation of the components 120, thereby allowing the vehicle 101 user to manually operate the components 120 to move the vehicle 101 to, for example, the shoulder of the road. One or more of the components 120 may have been damaged in the impact, and the computer 105 switches to manual mode to prevent autonomous operation of the potentially damaged components 120.

[0043] Next, in box 320, the computer 105 receives a user input to one of the components 120. The user input may be, for example, from a manual controller 140. Alternatively, the user may provide input directly to the component 120, for example, by depressing a brake pedal, depressing an accelerator pedal, turning a steering wheel, etc. The user may provide the user input to manually operate the component 120, for example, to move the vehicle 101 to the shoulder of a road.

[0044] Next, in box 325, the computer 105 actuates one or more components 120 based on the user input. When the vehicle 101 is in manual mode, the computer 105 can actuate the components 120 based on the user input. For example, based on input to the steering wheel, the computer 105 can actuate the steering components 120 to move the steering rack and rotate the wheels. Alternatively, if the components 120 can be actuated without input from the computer 105 (e.g., completely manually), the computer 105 can execute programming to prevent autonomous actuation of the components 120 and allow the components 120 to be manually actuated.

[0045] Next, in block 330, the computer 105 determines whether autonomous operation of the component 120 is authorized. As described above, the computer 105 may inhibit autonomous operation of the component 120 until authorization is received to allow autonomous operation. For example, a service worker at a repair facility may provide authentication data to the computer 105 to authorize autonomous operation of the component 120 while repairing the vehicle 101. If the computer 105 determines that autonomous operation has been authorized, the process 300 continues in block 335. Otherwise, the process 300 returns to block 320 to receive user input for the component 120.

[0046] In box 335, the computer 105 allows the vehicle 101 to operate the components 120 in the autonomous mode. After receiving the authorization, the computer 105 actuates one or more components 120 in the autonomous or semi-autonomous mode, as described above. The computer 105 can then continue to operate the vehicle 101 in the autonomous and semi-autonomous modes. After box 335, the process 300 ends.

[0047] As used herein, the adverb "substantially" modifying an adjective means that the shape, structure, measurement results, value, calculation, etc. may deviate from the precisely described geometry, distance, measurement results, value, calculation, etc. because of defects in materials, processing, manufacturing, data acquisition measurement, calculation, processing time, communication time, etc.

[0048] The computers 105 typically each include instructions that are executable by one or more computing devices (such as those identified above) and are used to perform the blocks or steps of the processes described above. The computer-executable instructions may be compiled or interpreted by a computer program created using a variety of programming languages ​​and / or techniques, including, alone or in combination, but not limited to Java. TM , C, C++, Visual Basic, Java Script, Perl, HTML, etc. In general, a processor (e.g., a microprocessor) receives instructions, such as from a memory, a computer-readable medium, etc., and executes these instructions to perform one or more processes, including one or more of the processes described herein. A variety of computer-readable media can be used to store and transmit such instructions and other data. Files in computer 105 are typically collections of data stored on computer-readable media (such as storage media, random access memory, etc.).

[0049] Computer readable media include any media that participate in providing data (e.g., instructions) that can be read by a computer. Such media can take many forms, including but not limited to non-volatile media, volatile media, etc. Non-volatile media include, for example, optical or magnetic disks and other permanent storage. Volatile media include dynamic random access memory (DRAM), which usually constitutes main memory. Common forms of computer readable media include, for example, floppy disks, floppy disks, hard disks, magnetic tapes, any other magnetic media, CD ROMs, DVDs, any other optical media, punch cards, paper tapes, any other physical media with hole patterns, RAMs, PROMs, EPROMs, FLASH EEPROMs, any other memory chips or cassettes, or any other media from which a computer can read.

[0050] With respect to the media, processes, systems, methods, etc. described herein, it should be understood that although the steps of such processes, etc. have been described as occurring in a certain ordered sequence, such processes may be practiced with the described steps performed 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. For example, in process 300, one or more of the steps may be omitted, or may be performed in an order other than the order described herein. Figure 3 In other words, the descriptions of systems and / or processes herein are provided to illustrate certain embodiments and should in no way be construed as limiting the disclosed subject matter.

[0051] Therefore, it should be understood that the present disclosure including the above description and the accompanying drawings and the following claims is intended to be illustrative and not restrictive. After reading the above description, many embodiments and applications other than the examples provided will be apparent to those skilled in the art. The scope of the present invention should not be determined with reference to the above description, but should instead be determined with reference to the claims attached and / or included in the non-provisional patent application based thereon together with the full scope of equivalents of the rights granted by the claims. It is contemplated and expected that future developments will occur in the fields discussed herein, and the disclosed systems and methods will be incorporated into such future embodiments. In short, it should be understood that the disclosed subject matter is capable of modification and variation.

[0052] Unless otherwise indicated or the context requires otherwise, the articles "a" and "an" modifying a noun are to be understood as meaning one or more. The phrase "based on" includes partly or wholly based on.

[0053] According to the present invention, a system is provided having a computer including a processor and a memory storing instructions executable by the computer to: operate components in a vehicle in an autonomous mode; detect an impact to the vehicle; and then actuate any of the propellers, brakes, and steering gear based solely on user input.

[0054] According to one embodiment, the instructions further include instructions for receiving authentication data and activating autonomous operation of the thrusters, brakes and steering upon receipt of the authentication data.

[0055] According to one embodiment, the instructions further comprise instructions for actuating the parking brake when an impact is detected and then actuating any one of the thrusters, brakes and steering solely in dependence on user input.

[0056] According to one embodiment, the instructions further include instructions for receiving manual user input and actuating at least one of a thruster, a brake, and a steering based on the manual user input.

[0057] According to one embodiment, the instructions further include instructions to deactivate power to the component when an impact is detected.

[0058] According to one embodiment, the instructions further include instructions for suppressing electrical signals from the virtual operator to the component.

[0059] According to one embodiment, the instructions further comprise instructions to actuate the brake upon receiving input from the mechanical actuator.

[0060] According to the present invention, a system is provided, comprising: a component in a vehicle; an interface connected to the component, the component including means for manually actuating the component, means for autonomously operating the component, means for detecting an impact to the vehicle, and means for actuating any one of a thruster, a brake, and a steering gear based solely on user input to the means for manually actuating the component when an impact is detected.

[0061] According to one embodiment, the above invention is also characterized by means for receiving authentication data and means for activating autonomous operation of the component upon receipt of the authentication data.

[0062] According to one embodiment, the above invention is further characterized by means for actuating the parking brake when an impact is detected.

[0063] According to one embodiment, the above invention is also characterized by means for suppressing the electrical signal from the virtual operator to the component.

[0064] According to one embodiment, the above invention is also characterized by means for preventing autonomous actuation of the brake and by means for manually actuating the brake.

[0065] According to the present invention, a method is provided having: operating components in a vehicle in an autonomous mode; detecting an impact to the vehicle; and then actuating any one of the propellers, brakes and steering based solely on user input.

[0066] According to one embodiment, the above invention is further characterized by receiving authentication data and activating autonomous operation of the component upon receiving the authentication data.

[0067] According to one embodiment, the above invention is further characterized by detecting an impact, actuating the parking brake, and then actuating any one of the thrusters, brakes, and steering based solely on user input.

[0068] According to one embodiment, the above invention is further characterized by suppressing electrical signals from the virtual operator to the component.

[0069] According to one embodiment, the above invention is further characterized by actuating the brake upon receiving input from a mechanical actuator.

Claims

1. A vehicle component operating method, comprising: operating components in the vehicle in autonomous mode; detecting an impact with the vehicle; upon detecting the impact, inhibiting autonomous operation of the component; and Any of the thrusters, brakes and steering are then actuated based solely on user input.

2. The method of claim 1 further comprising receiving authentication data and activating autonomous operation of the thrusters, the brakes, and the steering upon receipt of the authentication data.

3. The method of claim 1, further comprising: When the impact is detected, the parking brake is actuated, and then any one of the propeller, the brake, and the steering is actuated only based on user input.

4. The method of claim 1, further comprising receiving a manual user input and actuating at least one of the thrusters, the brakes, and the steering based on the manual user input.

5. The method of claim 1 further comprising deactivating power to the component upon detecting the impact.

6. The method of claim 1, further comprising: Electrical signals from the virtual operator to the component are suppressed.

7. The method of claim 1 further comprising actuating the brake upon receiving input from a mechanical actuator.

8. The method of any one of claims 3 to 7, further comprising receiving authentication data and activating autonomous operation of the thrusters, brakes and steering upon receipt of the authentication data.

9. The method of any one of claims 2 and 4 to 7, further comprising: When the impact is detected, the parking brake is actuated, and then any one of the propeller, the brake, and the steering is actuated only based on user input.

10. The method of any one of claims 2 to 3 and 5 to 7, further comprising receiving a manual user input and actuating at least one of the thrusters, the brakes, and the steering based on the manual user input.

11. The method of any one of claims 2 to 4 and 6 to 7, further comprising deactivating power to the component upon detection of the impact.

12. The method of any one of claims 2 to 5 and 7, further comprising suppressing electrical signals from a virtual operator to the component.

13. A computer programmed to perform the method of any one of claims 1 to 7.

14. A vehicle comprising a computer as claimed in claim 13.

15. A computer program product comprising a computer readable medium storing instructions executable by a computer processor to perform the method of any one of claims 1 to 7.

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