Controlling an autonomous vehicle when the autonomous vehicle is outside its operational design domain

Abstract

A system for controlling an autonomous vehicle when the autonomous vehicle is outside of its operational design domain. The system includes an environment detection system, a vehicle control system, and a first electronic processor. The first electronic processor is configured to detect that the autonomous vehicle is outside of its operational design domain and send a first electronic message. The first electronic message requests a surrounding vehicle to lead the autonomous vehicle until the autonomous vehicle returns to its operational design domain or reaches a predetermined location. The electronic processor is further configured to determine a lead vehicle and control the autonomous vehicle to follow the lead vehicle until the autonomous vehicle returns to its operational design domain or reaches the predetermined location.

Description

TECHNICAL FIELD

[0001] Embodiments relate to improving operation of autonomous vehicles, for example, when such vehicles operate in environments in which human-driven vehicles also operate. BACKGROUND

[0002] Modern vehicles include various partially autonomous driving features, e.g., adaptive cruise control, collision avoidance systems, automatic parking, and the like. Fully autonomous driving is a goal, but has not yet been achieved, at least on a marketable, commercially viable scale. SUMMARY

[0003] Autonomous vehicles are limited to operating autonomously within a certain operational design domain (ODD). The ODD is defined by one or more parameters, and an electronic processor is trained to operate the autonomous vehicle within the ODD with a predetermined level of confidence. Outside the ODD, the autonomous vehicle is not guaranteed to behave as expected. Unfortunately, there are situations in which an autonomous vehicle moves outside its ODD, either intentionally or unintentionally. For example, an autonomous vehicle can move outside its ODD if environmental conditions change (e.g., it becomes foggy or it starts to snow), or if the traffic situation the autonomous vehicle faces is one in which the autonomous vehicle has not been trained to operate (e.g., a construction zone).

[0004] In some systems, the autonomous vehicle detects that it has left its ODD by analyzing the surrounding environment or receiving information about the autonomous vehicle's current position on a route. In one example, the autonomous vehicle can use image recognition techniques to detect roadblocks and temporary signs, and thereby determine that it has entered a construction zone. In another example, the vehicle can receive data associated with the current location, e.g., weather data. In some systems, the vehicle detects that it has left its ODD by evaluating a parameter associated with the vehicle's ability to perceive its environment. The parameter can be, for example, a calculated confidence value or an uncertainty value.

[0005] In existing systems, when an autonomous vehicle determines that it has left its ODD, the autonomous vehicle can either stop in an area where it is safe to stop, or adapt its behavior, e.g., by slowing down, until it re-enters its ODD. Whether the autonomous vehicle stops or slows down, the change in behavior of the autonomous vehicle can cause danger to surrounding vehicles, as the surrounding vehicles can not expect the change in behavior of the autonomous vehicle. For example, the surrounding vehicles cannot expect the behavior of the autonomous vehicle due to the fact that a human driver does not expect the behavior of the autonomous vehicle.

[0006] To mitigate the dangers caused by the changing behavior of an autonomous vehicle to surrounding vehicles, embodiments herein describe, among other things, systems that alert one or more vehicles surrounding an autonomous vehicle that the autonomous vehicle is traveling outside of its ODD. In some embodiments, the autonomous vehicle can alert surrounding vehicles that it is outside of its ODD and can be acting in an unusual manner. In some embodiments, the autonomous vehicle can send a message to one or more vehicles in its surrounding environment requesting that the surrounding vehicles lead the autonomous vehicle until the autonomous vehicle re-enters its ODD.

[0007] For example, one embodiment provides a system for controlling an autonomous vehicle when the autonomous vehicle is outside of its operational design domain. The system includes an environment detection system, a vehicle control system, and a first electronic processor. The first electronic processor is configured to detect that the autonomous vehicle is outside of its operational design domain and send a first electronic message. The first electronic message requests that surrounding vehicles lead the autonomous vehicle until the autonomous vehicle returns to its operational design domain or reaches a predetermined location. The electronic processor is further configured to determine a lead vehicle and control the autonomous vehicle to follow the lead vehicle until the autonomous vehicle returns to its operational design domain or reaches the predetermined location.

[0008] Another embodiment provides a method for controlling an autonomous vehicle when the autonomous vehicle is outside of its operational design domain. The method includes detecting, with an electronic processor, that the autonomous vehicle is outside of its operational design domain and sending a first electronic message. The first electronic message requests that surrounding vehicles lead the autonomous vehicle until the autonomous vehicle returns to its operational design domain or reaches a predetermined location. The method further includes determining a lead vehicle and controlling the autonomous vehicle to follow the lead vehicle until the autonomous vehicle returns to its operational design domain or reaches the predetermined location.

[0009] Yet another embodiment provides a method for controlling an autonomous vehicle when the autonomous vehicle is outside of its operational design domain. The method includes detecting, with an electronic processor, that the autonomous vehicle is outside of its operational design domain and sending a first electronic message. The first electronic message requests that surrounding vehicles lead the autonomous vehicle until the autonomous vehicle returns to its operational design domain or reaches a predetermined location. The method further includes receiving one or more control signals, a trajectory, or both, from the lead vehicle and controlling the autonomous vehicle based on the one or more received control signals, the received trajectory, or both until the autonomous vehicle returns to its operational design domain or reaches the predetermined location.

[0010] Other aspects, features, and embodiments will become apparent from consideration of the detailed description and accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 is a block diagram of a system for controlling an autonomous vehicle when the autonomous vehicle is outside of its operational design domain, according to one embodiment.

[0012] Figure 2 is a block diagram of a first electronic controller of the system of Figure 1

[0013] Figure 3 is a block diagram of a vehicle control system included in the system of Figure 1

[0014] Figure 4 is a block diagram of an environment detection system included in the system of Figure 1

[0015] Figure 5 is a block diagram of a second electronic controller of the system of Figure 1

[0016] Figure 6 is a flowchart of a method for controlling an autonomous vehicle when the autonomous vehicle is outside of its operational design domain using the system of Figure 1

[0017] Figure 7 is an illustration of an example scenario in which the method shown in Figure 6 DETAILED DESCRIPTION

[0018] Before any embodiments are explained in detail, it is to be understood that the disclosure is not intended to be limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the following drawings. Embodiments are capable of other configurations and of being practiced or being carried out in various ways.

[0019] ​​​​​​A number of hardware and software based devices, as well as a number of different structural components can be used to implement the various embodiments. In addition, embodiments can be implemented by hardware, software, and / or electronic components or modules that, for purposes of discussion, can be illustrated and described as if the various components were provided separately. However, some embodiments can include software and / or electronic components that work in conjunction or in conjunction with other components as part of an integrated system. For example, a mechanism as described herein can be implemented by software but can also be implemented by hardware or a combination of software and hardware. As such, it will be appreciated that, while any hardware and software based systems described herein can be a basis by which the embodiments can be implemented, such systems are provided as one or more examples only and not limitation of the scope of the application. It will also be appreciated that the embodiments can be implemented by a number of different platforms and devices, including, but not limited to, mobile devices, electronic devices, electronic devices with mobile devices, and other similar devices.

[0020] Figure 1 A system 100 for controlling an autonomous vehicle when the autonomous vehicle is outside of its operational design domain is shown. In the example provided, the system 100 includes an autonomous vehicle 105, a surrounding vehicle 110, and a server 112. While shown as four-wheeled vehicles, the autonomous vehicle 105 and the surrounding vehicle 110 can encompass vehicles of various types and designs. For example, the autonomous vehicle 105 and the surrounding vehicle 110 can be cars, motorcycles, trucks, buses, semi-trailers, combinations of the foregoing, and the like. It should be understood that the system 100 can include fewer or additional components than those shown herein. For example, in some embodiments, the system 100 does not include the server 112.

[0021] The autonomous vehicle 105 and the server 112 are communicatively coupled via a communication network 113. The communication network 113 can be implemented using a wide area network (e.g., the Internet), a local area network (e.g., an Ethernet or Wi-Fi™ network), a cellular data network (e.g., a Long Term Evolution (LTE™) network), and combinations or derivatives thereof. In some embodiments, the autonomous vehicle 105 and the server 112 communicate through one or more intermediary devices (e.g., routers, gateways, or the like) (not shown).

[0022] In the illustrated example, the autonomous vehicle 105 includes several hardware components, including a vehicle control system 115, a first electronic controller 120, an environment detection system 125, a first output device 130, and a global positioning system (GPS) 132. The first electronic controller 120 can be communicatively connected to the vehicle control system 115, the environment detection system 125, the first output device 130, the GPS 132 via various wired or wireless connections. For example, in some embodiments, the first electronic controller 120 is directly coupled to each of the above-listed components of the autonomous vehicle 105 via dedicated wires. In other embodiments, the first electronic controller 120 is communicatively coupled to one or more of the components via a shared communication link (e.g., a vehicle communication bus (e.g., a controller area network (CAN) bus)) or a wireless connection. It should be understood that each of the components of the autonomous vehicle 105 can communicate with the first electronic controller 120 using various communication protocols. Figure 1 The illustrated embodiments in FIG. 1 provide only one example of components and connections of the autonomous vehicle 105. Thus, the components and connections of the autonomous vehicle 105 can be structured in ways other than those illustrated and described herein. It should also be understood that the autonomous vehicle 105 can include fewer or additional components than those illustrated in FIG. 1. For example, the autonomous vehicle 105 can not include the first output device 130. Figure 1

[0023] In the illustrated example, the surrounding vehicle 110 also includes several hardware components, including a second electronic controller 135, an input device 137, and a second output device 140. The second output device 140 may, for example, be a speaker or a display device (e.g., a touchscreen, a liquid crystal display (“LCD”), a light-emitting diode (“LED”) display, an organic LED (“OLED”) display, an electroluminescent display (“ELD”), and the like). The input device 137 may, for example, be one or more buttons (e.g., buttons on the steering wheel of the autonomous vehicle 105), a touchscreen (e.g., as part of the display device), a microphone, a camera, and the like. The second electronic controller 135 can be communicatively connected to one or more of the components via various wired or wireless connections. For example, in some embodiments, the second electronic controller 135 is directly coupled to each of the above-listed components of the surrounding vehicle 110 via dedicated wires. In other embodiments, the second electronic controller 135 is communicatively coupled to each of the above-listed components of the surrounding vehicle 110 via a shared communication link (e.g., a vehicle communication bus (e.g., a controller area network (CAN) bus)) or a wireless connection. It should be understood that each of the above-listed components of the surrounding vehicle 110 can communicate with the second electronic controller 135 using various communication protocols. Figure 1 ​The embodiment shown in FIG. 1 provides only one example of components and connections of the surrounding vehicle 110. Thus, the components and connections of the surrounding vehicle 110 can be constructed in ways other than those shown and described herein. It should also be understood that the surrounding vehicle 110 can include fewer or additional components than those shown in FIG. 1. Figure 1

[0024] In the embodiment shown in FIG. 1, the server 112 includes one or more databases, or has access to one or more remote databases via the communication network 113. The one or more databases include map data. For example, the map data can include current weather data for one or more locations and construction data for one or more roads. Figure 1

[0025] Figure 2 is a block diagram of one example embodiment of a first electronic controller 120 included in the autonomous vehicle 105 of FIG. 1. The first electronic controller 120 includes a number of electrical and electronic components that provide power, operational control, and protection to components and modules within the first electronic controller 120. The first electronic controller 120 includes, among other things, a first electronic processor 200 (e.g., a programmable electronic microprocessor, microcontroller, or similar device), a first memory 205 (e.g., a non-transitory machine-readable memory), and a first communication interface 210. The first electronic processor 200 is communicatively connected to the first memory 205 and the first communication interface 210. The first electronic processor 200, in coordination with the first memory 205 and the first communication interface 210, is configured to implement, among other things, the methods described herein. The first electronic controller 120 can be implemented in several separate controllers (e.g., programmable electronic controllers) each configured to perform a specific function or sub-function. Additionally, the first electronic controller 120 can contain sub-modules that include additional electronic processors, memories, or application specific integrated circuits (ASICs) for handling communication functions, processing signals, and application of the methods listed below. In other embodiments, the first electronic controller 120 includes additional, fewer, or different components. Figure 1 The first memory 205 of the first electronic controller 120 includes software that, when executed by the first electronic processor 200, causes the first electronic processor 200 to perform the example method 600 shown in FIG. 6. For example,

[0026] Figure 6 Figure 2 ​​​​The first memory 205 shown in FIG. 2 includes ODD detection software 215, lead vehicle detection software 220, and vehicle following software 225. In some embodiments, when the ODD detection software 215 is executed, the first electronic processor 200 determines whether the autonomous vehicle 105 is traveling within its ODD. For example, the ODD detection software 215 can include an indication of a plurality of types of surrounding environments that are outside of the ODD of the autonomous vehicle 105, one or more predetermined confidence thresholds, or both. The ODD detection software 215 can also include a visual recognition algorithm configured to detect a type of surrounding environment that is outside of the ODD of the autonomous vehicle 105. In some embodiments, when the lead vehicle detection software 220 is executed, the first electronic processor 200 determines which surrounding vehicle has agreed to lead the autonomous vehicle 105. The lead vehicle detection software 220 can also include a visual recognition algorithm configured to determine a surrounding vehicle that has agreed to lead the autonomous vehicle 105. In some embodiments, in addition to or instead of images from a camera, data from a sensor (e.g., a radar sensor, a lidar sensor, both, or the like) is used to determine a surrounding vehicle that has agreed to lead the autonomous vehicle 105, to determine whether the autonomous vehicle 105 is traveling within its ODD, or both. In some embodiments, when the vehicle following software 225 is executed, the first electronic processor 200 tracks the lead vehicle and determines actions to be performed by the autonomous vehicle 105 based on behavior of the lead vehicle.

[0027] Figure 3 An example of a vehicle control system 115 is shown. The vehicle control system 115 includes components involved in autonomous or manual control of the autonomous vehicle 105. For example, in some embodiments, the vehicle control system 115 includes a steering system 300, a brake 305, and an accelerator 310. Figure 3 The embodiment shown in FIG. 2 provides only one example of components of the vehicle control system 115. In other embodiments, the vehicle control system 115 includes additional, fewer, or different components.

[0028] Figure 4is a block diagram of an environment detection system 125 of an autonomous vehicle 105. The environment detection system 125 includes, among other things, one or more electromagnetic radiation sensors. Examples of such sensors include a lidar sensor 400, a camera 405, and a radar sensor 410. In addition to electromagnetic radiation sensors, the environment detection system 125 can also include mechanical wave sensors, such as an ultrasonic sensor 415. In one embodiment, only one sensor (e.g., the camera 405) is used to detect the environment surrounding the autonomous vehicle 105. In other embodiments, the environment detection system 125 uses multiple sensors (e.g., the lidar sensor 400, the radar sensor 410, or the ultrasonic sensor 415) in conjunction with the camera 405. There can be more than one of each of the sensors, and they can be located at different locations on the interior or exterior of the autonomous vehicle 105. For example, the camera 405 or components thereof can be mounted externally to a portion of the autonomous vehicle 105 (e.g., a side mirror or a trunk door). Alternatively, the camera 405 or components thereof can be mounted internally within the autonomous vehicle 105 (e.g., positioned by a rearview mirror). The sensors of the environment detection system 125 are configured to receive signals indicative of the distance of the autonomous vehicle 105 from elements in the environment surrounding the autonomous vehicle as the vehicle moves from one point to another, and the location of the elements relative to the autonomous vehicle.

[0029] Figure 5 is a block diagram of one example embodiment of a second electronic controller 135 included in a surrounding vehicle 110 of Figure 1 The second electronic controller 135 includes a number of electrical and electronic components that provide power, operational control, and protection to components and modules within the second electronic controller 135. The second electronic controller 135 includes, among other things, a second electronic processor 500 (e.g., a programmable electronic microprocessor, microcontroller, or similar device), a second memory 505 (e.g., a non-transitory machine-readable memory), and a second communication interface 510. The second electronic processor 500 is communicatively connected to the second memory 505 and the second communication interface 510. The second electronic processor 500, in coordination with the second memory 505 and the second communication interface 510, is configured to implement, among other things, the methods described herein. The second electronic controller 135 can be implemented in several separate controllers (e.g., programmable electronic controllers) each configured to perform a specific function or sub-function. Additionally, the second electronic controller 135 can contain sub-modules that include additional electronic processors, memories, or application-specific integrated circuits (ASICs) for handling communication functions, processing signals, and application of the methods listed below. In other embodiments, the second electronic controller 135 includes additional, fewer, or different components.

[0030] Figure 6 An example of a method 600 for controlling an autonomous vehicle when it is outside its operational design domain is shown. At step 605, the first electronic processor 200 detects that the autonomous vehicle 105 is outside its ODD when the ODD detection software 215 is executed. In some embodiments, the first electronic processor 200 determines the type of surrounding environment that the autonomous vehicle 105 is in in order to determine whether the autonomous vehicle 105 is outside its ODD. For example, in Figure 7In the example case shown in FIG. 7, the camera 405 of the autonomous vehicle 105 can capture an image that includes one or more traffic cones 700 and a construction sign 705. Using the image captured by the camera 405, the first electronic processor 200 can determine that the autonomous vehicle 105 is entering a construction zone and, therefore, will leave its ODD. For example, the first electronic processor 200 can utilize a computer vision algorithm, such as a convolutional neural network (CNN), to recognize the one or more traffic cones 700 and the construction sign 705. Based on the one or more traffic cones 700 and the construction sign 705 being included in the surrounding environment, the first electronic processor 200 can determine that the autonomous vehicle 105 is entering a construction zone and that the construction zone can be defined as a type of surrounding environment that is beyond the ODD of the autonomous vehicle 105. In some embodiments, the first electronic processor 200 calculates a confidence level to determine whether the autonomous vehicle 105 is beyond its ODD. For example, the first electronic processor 200 can use data received from one or more of the sensors included in the environment detection system 125 to calculate a confidence level for the surrounding environment of the autonomous vehicle 105. For example, if the first electronic processor 200 cannot determine the location or existence of a road marking 710 with confidence (e.g., more than 75% certainty that the location of the road marking 710 determined by the first electronic processor 200 is the correct location of the road marking 710), the first electronic processor 200 can assign a low confidence level to the surrounding environment of the autonomous vehicle 105. If the calculated confidence level for the surrounding environment of the autonomous vehicle 105 is below a predetermined confidence level associated with the ODD of the autonomous vehicle 105, the first electronic processor 200 determines that the autonomous vehicle 105 is beyond its ODD. In other embodiments, the first electronic processor 200 is configured to determine whether the autonomous vehicle 105 is beyond its ODD using the geographic location of the autonomous vehicle 105 and map data associated with the geographic location. For example, the first electronic processor 200 can send a request for map data associated with the location of the autonomous vehicle 105 to the server 112 along with the current location of the autonomous vehicle 105 as captured by the GPS 132. The server 112 can retrieve the map data associated with the current location of the autonomous vehicle 105 by performing a lookup in one or more databases. The server 112 returns the retrieved map data (e.g., current weather associated with the current location of the autonomous vehicle 105 and an indication as to whether the autonomous vehicle 105 is in or near a construction zone, a traffic incident, or a similar situation) to the first electronic processor 200. In some embodiments, the server 112 (rather than the first electronic processor 200) determines whether the autonomous vehicle 105 is beyond its ODD.For example, the server 112 can receive a location associated with the autonomous vehicle 105 and based on data associated with the location (e.g., weather data, ambient light, presence of emergency vehicles, combination of the foregoing, or the like), the server 112 can determine whether the autonomous vehicle 105 is outside of its ODD. It should be understood that one or more methods of determining that the autonomous vehicle 105 is outside of its ODD can be used individually or in combination.

[0031] At step 610, the first electronic processor 200 sends a first electronic message to one or more vehicles surrounding the autonomous vehicle 105 via the first communication interface 210. In some embodiments, the one or more surrounding vehicles are determined by the first electronic processor 200 to be vehicles that are within a field of view of one or more cameras mounted on or within the autonomous vehicle 105, within a transmission range of a communication network (e.g., a vehicle-to-vehicle communication network having a 300 meter range from the autonomous vehicle 105, a Bluetooth™ network having a 100 meter range from the autonomous vehicle 105, or the like), a combination of the foregoing, or the like. In some embodiments, the server 112 determines the one or more vehicles surrounding the autonomous vehicle 105. For example, the server 112 can receive locations of a plurality of vehicles, including the autonomous vehicle 105, and determine the surrounding vehicles to be vehicles having a received location that is within 1,000 feet of a received location of the autonomous vehicle 105. The first electronic message can be sent via a short-range wireless network (e.g., a Bluetooth™ network, a vehicle-to-vehicle communication network, or the like). The first electronic message requests a surrounding vehicle of the one or more surrounding vehicles to lead the autonomous vehicle 105 until the autonomous vehicle 105 returns to its ODD or reaches a predetermined location. The predetermined location can be included in the first electronic message and can be an address, an exit ramp, an entrance ramp, an intersection, geographic coordinates, or the like. In some embodiments, the first electronic message requests the surrounding vehicle to lead the autonomous vehicle 105 to the predetermined location. Figure 7 In the example shown in FIG. 7, the first electronic message can be received by the surrounding vehicle 110 and the surrounding vehicle 715. The first electronic message can be presented to a driver of the surrounding vehicle 110 via the second output device 140. For example, the first electronic message can be output via a speaker as "Would you like to lead the red mini-van with the XYZ-123 license plate number to the intersection of First Street and Main Street?" In some embodiments, the driver of the surrounding vehicle 110 can accept or decline to lead the autonomous vehicle 105 via the input device 137. In some embodiments, an economic incentive can be provided for leading the autonomous vehicle 105. When the driver of the surrounding vehicle 110 agrees to lead the autonomous vehicle 105, then the first electronic processor 200 receives a second electronic message from the surrounding vehicle 110 accepting the role of leading vehicle.

[0032] In some embodiments, the lead vehicle positions itself in front of the autonomous vehicle 105 and travels in front of the autonomous vehicle 105 in order to lead the autonomous vehicle 105. The autonomous vehicle 105 can identify and follow a surrounding vehicle in many ways. In one example, at step 615, the first electronic processor 200 determines or identifies the lead vehicle. In other words, the first electronic processor 200 determines which vehicle in the field of view of the autonomous vehicle 105 has agreed to lead the autonomous vehicle 105. In some embodiments, the first electronic processor 200 uses a computer vision algorithm to detect a visual signal from a vehicle directly in front of the autonomous vehicle 105. For example, the first electronic processor 200 can detect a hand gesture made by a driver of a vehicle directly in front of the autonomous vehicle 105, a signal (e.g., a flashing hazard warning light) produced by a light (e.g., a taillight) of a vehicle directly in front of the autonomous vehicle 105, or the like. In some embodiments, the first electronic processor 200 determines the lead vehicle by detecting a license plate number on a vehicle that matches a license plate number included in the second electronic message. In some embodiments, the first electronic processor 200 can determine the lead vehicle to be a vehicle that performs an unusual maneuver (e.g., crosses multiple lanes) to position itself directly in front of the autonomous vehicle 105. It should be understood that one or more methods of determining the lead vehicle can be used, alone or in combination.

[0033] At step 620, the first electronic processor 200 controls the autonomous vehicle 105 to follow the lead vehicle until the autonomous vehicle 105 returns to its operational design domain or reaches a predetermined location. For example, the first electronic processor 200 uses the environment detection system 125 to track the movements and actions of the lead vehicle and uses the vehicle control system 115 to control the autonomous vehicle 105 based on the movements of the lead vehicle. For example, if the lead vehicle slows down to 55 miles per hour, the first electronic processor 200 will activate the brakes 305 to slow the autonomous vehicle 105 to 55 miles per hour. In another example, if the lead vehicle turns on its right turn signal and merges into a right lane, the first electronic processor 200 activates the right turn signal of the autonomous vehicle 105 and causes the autonomous vehicle 105 to merge into the right lane. Once the autonomous vehicle 105 reaches the predetermined location or returns to its ODD, the autonomous vehicle 105 stops following the lead vehicle. In some embodiments, the autonomous vehicle 105 can send an electronic message to the lead vehicle indicating that it will no longer follow the lead vehicle.

[0034] In some embodiments, a surrounding vehicle can lead the autonomous vehicle 105 without positioning itself in front of the autonomous vehicle 105. For example, the leading vehicle can send a trajectory, one or more control signals, or both to the first electronic processor 200 of the autonomous vehicle 105. The trajectory, one or more control signals, or both can be sent via a short-range wireless network (e.g., a Bluetooth™ network, a vehicle-to-vehicle communication network, or the like). In some embodiments, the leading vehicle can periodically send updated trajectories, one or more control signals, or both to the autonomous vehicle 105. The first electronic processor 200 controls the autonomous vehicle 105 based on the trajectory, one or more control signals, or both received from the leading vehicle until the autonomous vehicle 105 returns to its operational design domain or reaches a predetermined location. The trajectory, control signals, or both can be determined by an electronic processor of the leading vehicle (e.g., the second electronic processor 500 of the surrounding vehicle 110) based on the movement and location of the autonomous vehicle 105.

[0035] The second electronic processor 500 can determine the movement and location of the autonomous vehicle 105 using data received from the environmental detection system 125 of the autonomous vehicle 105, data received from an environmental detection system (not shown) of the surrounding vehicle 110, or both. Similar to the environmental detection system 125, the environmental detection system of the surrounding vehicle 110 can include a camera, a lidar sensor, a radar sensor, an ultrasonic sensor, a combination of the foregoing, or the like.

[0036] In some embodiments, the second electronic processor 500 determines or identifies the autonomous vehicle 105. In other words, the second electronic processor 500 determines which vehicle in the field of view of the leading vehicle is the autonomous vehicle 105. In some embodiments, the second electronic processor 500 uses a computer vision algorithm to detect a visual signal from a vehicle and determine the vehicle as the autonomous vehicle 105. For example, the second electronic processor 500 can detect a hand gesture made by a driver of the vehicle, a signal generated by a light of the vehicle (e.g., a flashing hazard warning light), or the like. In some embodiments, the first electronic processor 200 determines the autonomous vehicle 105 by detecting a license plate number on the vehicle that matches the license plate number included in the first electronic message. In some embodiments, the first electronic processor 200 can determine the autonomous vehicle 105 as a vehicle performing an abnormal maneuver (e.g., a sudden deceleration or stop). It should be understood that one or more methods of determining the autonomous vehicle 105 can be used individually or in combination.

[0037] In some embodiments, the first electronic processor 200 can be configured to cause the autonomous vehicle 105 to slow down or stop when the autonomous vehicle 105 is traveling beyond its ODD. For example, the first electronic processor 200 can be configured to slow down or stop until a surrounding vehicle positions itself directly in front of the autonomous vehicle 105, and the autonomous vehicle 105 detects that the surrounding vehicle 110 consents to lead the autonomous vehicle 105. When the autonomous vehicle 105 is beyond its ODD, the first electronic processor 200 can be configured to perform one or more actions to alert vehicles surrounding the autonomous vehicle 105 that the autonomous vehicle 105 can act in an unexpected manner (e.g., unexpectedly slow down or stop). In one example, the first electronic processor 200 can send an electronic message to vehicles surrounding the autonomous vehicle 105, and the surrounding vehicles can output the electronic message to their drivers via an output device (e.g., the second output device 140). The electronic message can state, for example, "Sorry, autonomous vehicle nearby must slow down for driving," "Please pass," "Student driver, please be patient," or a similar message. In another example, the first electronic processor 200 can utilize the first output device 130 to send a signal to vehicles surrounding the autonomous vehicle 105 to be cautious around the autonomous vehicle 105. For example, the first output device 130 can be one or more lights. A red light can indicate that the autonomous vehicle 105 is beyond its ODD, and a green light can indicate that the autonomous vehicle 105 is within its ODD. The first output device 130 can also be one or more lights with a function in addition to alerting surrounding vehicles that the autonomous vehicle 105 is beyond its ODD. For example, the first output device 130 can be a taillight, a headlight, a turn signal, a combination of the foregoing, or the like. In one example, the first electronic processor 200 can be configured to cause the taillights and headlight of the autonomous vehicle 105 to flash every five seconds when the autonomous vehicle 105 is beyond its ODD. It should be understood that one or more methods of alerting vehicles surrounding the autonomous vehicle 105 that the autonomous vehicle 105 is beyond its ODD and can act in an unexpected manner can be used individually or in combination.

[0038] In some embodiments, in addition to, or instead of, communicating directly with the autonomous vehicle, as described above, the first electronic processor 200 can send an electronic message to infrastructure in the surrounding environment of the autonomous vehicle 105. For example, the first electronic processor 200 can send a first electronic message to an electronic sign, and the electronic sign can display a request for a lead vehicle and an indication of the autonomous vehicle 105. When the electronic sign receives an electronic message from the lead vehicle or the autonomous vehicle 105 that the autonomous vehicle 105 is being led, or after a predetermined amount of time has passed, the request for a lead vehicle can be removed from the display on the electronic sign. In some embodiments, the first electronic processor 200 sends an electronic message to an electronic sign requesting the sign to display an electronic message warning surrounding vehicles that the autonomous vehicle 105 is operating outside of its ODD and can be acting in an unusual manner. In some embodiments, the warning is removed from the sign after a predetermined amount of time has passed.

[0039] In the foregoing specification, specific embodiments have been described. However, one of ordinary skill in the art appreciates that various modifications and changes can be made without departing from the scope of the disclosure as set forth in the claims below. Accordingly, the specification and figures are to be regarded in an illustrative rather than a restrictive sense, and all such modifications are intended to be included within the scope of present teachings.

[0040] In this document, relational terms such as first and second, top and bottom, and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," "has," "having," "includes," "including," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises, has, includes, or contains a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a," "has... a," "includes... a," or "contains... a," does not, without more constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus. The terms "a" and "an" are defined as one or more unless explicitly stated otherwise herein. The terms "substantially," "essentially," "approximately," "about," or any other version thereof, are defined as being close to as understood by one of ordinary skill in the art, and in one non-limiting embodiment the term is defined to be within 10% of the stated value, in another embodiment within 5%, in another embodiment within 1%, and in another embodiment within 0.5%. As used herein, the term "coupled" is defined as connected, although not necessarily directly, and not necessarily mechanically. A device or structure that is "configured" in a certain way is configured at least to that degree, but can also be configured in additional ways not listed.

[0041] Various features, advantages, and embodiments are set forth in the following claims.

Claims

1. A system for controlling an autonomous vehicle when the autonomous vehicle is outside its operational design domain, the system comprising: Environmental monitoring system; vehicle control systems; as well as a first electronic processor configured to detecting that the autonomous vehicle is outside its operational design domain when at least one of the following conditions is determined to be present: a construction zone with roadblocks and / or temporary signage, foggy conditions, and snowy conditions; sending a first electronic message requesting surrounding vehicles to lead the autonomous vehicle until the autonomous vehicle returns to its operational design domain or reaches a predetermined location; Determine the leading means of transport; as well as controlling the autonomous vehicle to follow the lead vehicle until the autonomous vehicle returns to its operational design domain or reaches a predetermined location; When the autonomous vehicle exceeds its operational design domain, the first electronic processor may be configured to perform one or more actions to alert vehicles surrounding the autonomous vehicle that the autonomous vehicle is behaving in an unusual manner.

2. The system according to claim 1, wherein: The first electronic processor is configured to detect that the autonomous vehicle has left its operational design domain using a geographic location of the autonomous vehicle and map data associated with the geographic location.

3. The system according to claim 1, wherein: The first electronic processor is configured to detect that the autonomous vehicle has left its design domain of operation by: calculating a confidence level associated with the surroundings of the autonomous vehicle using the environment detection system; and When the confidence level is lower than a predetermined confidence level, the autonomous vehicle is determined to be outside its operational design domain.

4. The system according to claim 1, wherein: The first electronic processor is configured to detect that the autonomous vehicle has left its design domain of operation by: determining the type of surrounding environment in which the autonomous vehicle is situated using the environment detection system; and Based on the type of surrounding environment, a determination is made as to whether the autonomous vehicle is outside its operational design domain.

5. The system according to claim 1, wherein The operational design domain is one or more parameters within which the first electronic processor is trained to operate the autonomous vehicle with a predetermined confidence level.

6. The system according to claim 1, wherein: The first electronic processor is configured to determine the lead vehicle by identifying a vehicle that performs an unusual maneuver as it moves directly in front of the autonomous vehicle.

7. The system according to claim 1, wherein: The first electronic processor is configured to: receiving a second electronic message from a surrounding vehicle that accepts the role of the lead vehicle, wherein the second electronic message includes a license plate number of the lead vehicle; and The lead vehicle is determined by determining a vehicle having a license plate number that matches the license plate number included in the second electronic message.

8. The system according to claim 1, wherein: The first electronic processor is configured to determine the lead vehicle by: detecting a visual signal generated by a vehicle ahead of the autonomous vehicle or a driver of the vehicle; as well as The leading vehicle is determined to be the vehicle that generates the visual signal or the vehicle having the driver that generates the visual signal.

9. The system according to claim 1, wherein: A predetermined location is included in the first electronic message.

10. The system according to claim 1, wherein: The first electronic processor is further configured to slow down or stop the autonomous vehicle until the lead vehicle is determined.

11. The system according to claim 10, wherein: The first electronic processor is further configured to warn vehicles surrounding the autonomous vehicle that the autonomous vehicle is stopping or slowing down.

12. The system according to claim 11, wherein The first electronic processor is further configured to warn vehicles surrounding the autonomous vehicle by sending a message to be output by an output device of each of the one or more surrounding vehicles.

13. A method for controlling an autonomous vehicle when the autonomous vehicle is outside its operational design domain, the method comprising: detecting, using an electronic processor, that the autonomous vehicle is outside its operational design domain when at least one of the following conditions is determined to be present: a construction zone with roadblocks and / or temporary signage, foggy conditions, and snowy conditions; sending a first electronic message requesting surrounding vehicles to lead the autonomous vehicle until the autonomous vehicle returns to its operational design domain or reaches a predetermined location; Determine the leading means of transport; as well as controlling the autonomous vehicle to follow the lead vehicle until the autonomous vehicle returns to its operational design domain or reaches a predetermined location; When the autonomous vehicle exceeds its operational design domain, the electronic processor may be configured to perform one or more actions to alert vehicles surrounding the autonomous vehicle that the autonomous vehicle is behaving in an unusual manner.

14. The method according to claim 13, wherein The operational design domain is one or more parameters within which the electronic processor is trained to operate the autonomous vehicle with a predetermined confidence level.

15. The method according to claim 13, wherein: Identifying a lead vehicle includes identifying a vehicle that performs an unusual maneuver as it moves directly in front of the autonomous vehicle.

16. The method according to claim 13, further comprising: receiving a second electronic message from a surrounding vehicle that accepts the role of the lead vehicle, wherein the second electronic message includes a license plate number of the lead vehicle; and The lead vehicle is determined by determining a vehicle having a license plate number that matches the license plate number included in the second electronic message.

17. The method according to claim 13, wherein: The following means of transport are identified: detecting visual signals generated by a vehicle ahead of the autonomous vehicle or by a driver of the vehicle; and The leading vehicle is determined to be the vehicle that generates the visual signal or the vehicle having the driver that generates the visual signal.

18. The method according to claim 13, further comprising: The autonomous vehicle is slowed down or stopped until the lead vehicle is identified.

19. The method according to claim 18, further comprising: Vehicles surrounding the autonomous vehicle are warned to stop or slow down the autonomous vehicle.

20. A method for controlling an autonomous vehicle when the autonomous vehicle is outside its operational design domain, the method comprising: detecting, using an electronic processor, that the autonomous vehicle is outside its operational design domain when at least one of the following conditions is determined to be present: a construction zone with roadblocks and / or temporary signage, foggy conditions, and snowy conditions; sending a first electronic message requesting surrounding vehicles to lead the autonomous vehicle until the autonomous vehicle returns to its operational design domain or reaches a predetermined location; receiving one or more control signals, trajectories, or both from a lead vehicle; as well as controlling the autonomous vehicle based on one or more received control signals, the received trajectory, or both, until the autonomous vehicle returns to its operational design domain or reaches a predetermined location; When the autonomous vehicle exceeds its operational design domain, the electronic processor may be configured to perform one or more actions to alert vehicles surrounding the autonomous vehicle that the autonomous vehicle is behaving in an unusual manner.

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