Dynamic automatic steering disconnection

Abstract

The present invention is entitled "Dynamic Automatic Steering Cut Off." Disclosed embodiments include systems, vehicles, and computer-implemented methods for adjusting a threshold force level to be applied to a steering wheel to cut off an automatic steering system. In an illustrative embodiment, a system includes a computing device operably coupled with a vehicle, the computing device including a processor and a computer-readable medium configured to store computer-executable instructions configured to cause the processor to: detect that an automatic steering system of the vehicle is engaged; detect a force level applied to a steering wheel of the vehicle by an operator; and cut off the automatic steering system when the force level exceeds a threshold, the threshold selected from a default threshold and an adjusted threshold, wherein the adjusted threshold is applied upon detection of a predetermined condition.

Description

Technical Field

[0001] This disclosure relates to vehicles and systems and methods for using vehicles. Background Technology

[0002] Automatic steering systems can provide convenience to drivers by autonomously steering the vehicle or providing lane-keeping assistance. In many automatic steering systems, the operator can regain manual steering control by providing a signal to disengage the automatic steering system. However, in some automatic steering systems, the operator can unintentionally or accidentally send a signal to disengage the automatic steering system. Summary of the Invention

[0003] The disclosed implementation includes systems, vehicles, and computer-implemented methods for adjusting the threshold force level to be applied to the steering wheel to disengage the automatic steering system.

[0004] In an exemplary embodiment, a system includes a computing device operatively coupled to a vehicle, the computing device including a processor and a computer-readable medium configured to store computer-executable instructions configured to cause the processor to: detect that an automatic steering system of the vehicle is enabled; detect a force level applied by an operator to the steering wheel of the vehicle; and disengage the automatic steering system when the force level exceeds a threshold selected from a default threshold and an adjusted threshold, wherein the adjusted threshold is applied when a predetermined condition is detected.

[0005] In another exemplary embodiment, a vehicle includes a cabin, a drive system, and a computing device operatively coupled to the vehicle, the computing device including a processor and a computer-readable medium configured to store computer-executable instructions configured to cause the processor to: detect that an automatic steering system of the vehicle is enabled; detect a force level applied by an operator to the steering wheel of the vehicle; and disengage the automatic steering system when the force level exceeds a threshold selected from a default threshold and an adjusted threshold, wherein the adjusted threshold is applied when a predetermined condition is detected.

[0006] In another exemplary embodiment, a computer-implemented method includes: detecting that an automatic steering system of a vehicle is enabled; detecting a force level applied by an operator to the steering wheel of the vehicle; and disabling the automatic steering system when the force level exceeds a threshold selected from a default threshold and an adjusted threshold, wherein the adjusted threshold is applied when a predetermined condition is detected.

[0007] Other applicable features, advantages, and areas will become apparent from the description provided herein. It should be understood that this specification and specific examples are intended for illustrative purposes only and are not intended to limit the scope of this disclosure. Attached Figure Description

[0008] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of this disclosure in any way. Components in the drawings are not necessarily drawn to scale, but rather the emphasis is on illustrating the principles of the disclosed embodiments. In the drawings: Figure 1 This is a block diagram of an exemplary automatic steering and cutting-off system; Figure 2A and Figure 2B , Figure 3A and Figure 3B , Figure 5A and Figure 5B , Figure 6A and Figure 6B ,as well as Figure 7A and Figure 7B yes Figure 1 A schematic diagram illustrating the response of the automatic steering and cutting system to the operator's actions; Figure 4 It indicates that it is used by Figure 1 A diagram illustrating the different vehicle handling caused by the automatic steering cut-off system; Figure 8A and Figure 8B , Figure 9A and Figure 9B , Figure 10A and Figure 10B ,as well as Figure 11A and Figure 11B yes Figure 1 A schematic diagram illustrating the automatic steering and cutting-off system's response to external conditions; Figure 12 It is equipped with Figure 1 A perspective view of the vehicle's cabin with an automatic steering cut-off system; Figure 13 It enables the operator to set Figure 1 A screen diagram showing the threshold levels used by the automatic steering and cutting-off system; Figure 14 This is a diagram illustrating different threshold setting groups associated with different operators; Figure 15-17 It is equipped with Figure 1 A partial schematic block diagram of a vehicle with an automatic steering cut-off system; Figure 18 It is used for execution Figure 1 A block diagram of an illustrative computational device illustrating the functions of an automatic steering and cutting-off system; and Figure 19This is a flowchart illustrating an exemplary method for disabling the automatic steering system. Detailed Implementation

[0009] The following descriptions illustrate various implementation schemes by way of example only and not limitation.

[0010] By way of non-limiting introduction and overview, various embodiments include systems (which can be incorporated into a vehicle) and computer-implemented methods for adjusting a threshold force level to be applied to the steering wheel to disengage the automatic steering system. In an exemplary embodiment, one system includes a computing device operatively coupled to the vehicle, the computing device including a processor and a computer-readable medium configured to store computer-executable instructions configured to cause the processor to detect that the automatic steering system is enabled. The system is also configured to detect a force level applied by an operator to the steering wheel of the vehicle. The system is configured to disengage the automatic steering system when the force level exceeds a threshold selected from a default threshold and an adjusted threshold, wherein the adjusted threshold is applied when a predetermined condition is detected.

[0011] As further described below, the adjusted threshold can specify the application of a lower force level in response to the operator activating the release input to signal the operator's intention to turn the vehicle. On the other hand, the adjusted threshold can specify the application of a higher force level when an external condition is detected, such as the presence of an obstacle, an unsafe condition, or another vehicle on at least one side of the vehicle, to make it even more certain that the operator intends to turn the vehicle in the event of such an external condition. Having given a general overview, the details of the various embodiments will be explained through non-limiting examples given only by way of illustration and not limitation.

[0012] refer to Figure 1 The exemplary system 100 includes an automatic steering disconnect system 110 configured to selectively disconnect an automatic steering system 120 from the vehicle's steering mechanism 130. The automatic steering system 120 may, for example, autonomously steer the vehicle or provide lane-keeping assistance to prevent the operator from unintentionally deviating from their lane. The automatic steering disconnect system 110 communicates with a manual steering device, such as a steering wheel 140. The automatic steering disconnect system 110 communicates with a turn signal 150 or other release input used by the automatic steering disconnect system 110 to verify the operator's intention to disconnect the automatic steering system 120, as further described below.

[0013] The automatic steering cutoff system 110 can also communicate with external sensors 113, which are configured to enable the automatic steering cutoff system 110 and one or more associated processors to detect predetermined conditions in the form of one or more vehicle external conditions, as described below. External sensors 113 may include a Global Positioning System (“GPS”) / geolocation system that determines the vehicle’s position and compares that position with map data that may indicate potential hazardous conditions along the road being traveled, such as blind turns, steep drops, or lane closures. Some of these systems also receive real-time data on traffic, construction, and vehicle malfunctions, which can reconstruct hazardous conditions along the road being traveled. Other external sensors 113 may include proximity sensors, such as optical sensors, sonar, radar, lidar, ultrasonic sensors, or other devices, that can detect objects within a predetermined range of the vehicle, such as the presence of other vehicles in the operator’s “blind spot” or near other vehicles.

[0014] The automatic steering and cutting system 110 may include a computing device having a processor, memory, storage device and other equipment, as described below. Figure 18 Further described. The memory and / or storage device of the automatic steering cutoff system 110 maintains threshold data 114 related to the force level to be applied to the steering wheel 112 to cut off the automatic steering system 120 and computer-executable instructions 116 so that the automatic steering cutoff system 110 performs the functions described herein. The automatic steering cutoff system 110 may also include a release interface 112 operatively coupled to the turn signal 150 and / or one or more other or additional release inputs used by the automatic steering cutoff system 110 to determine the operator's intention to cut off the automatic steering cutoff system 110.

[0015] As described above, in various embodiments, the automatic steering system 120 enables an operator to take manual control of the steering mechanism 130 by applying a specified force level to the steering wheel 140. A default threshold can determine the specified force level that the automatic steering disconnect system 110 identifies to disconnect the automatic steering system 120. In various embodiments, the automatic steering system 120 can apply a counterforce to the steering wheel 140 until the force applied by the operator exceeds the threshold force level for disconnecting the automatic steering system 120. Therefore, the automatic steering system 120 may include an engine or other actuator to apply a counterforce to the steering wheel 140 until the force applied by the operator exceeds the threshold force level for disconnecting the automatic steering system 120. However, according to various embodiments, the threshold force level for disconnecting the automatic steering system 120 can be reduced from the default threshold to an adjusted threshold by activating the turn signal 150 and / or another release input as described below (e.g., a predetermined condition for activating the turn signal 150 and / or other release input is detected by the processor of the automatic steering disconnect system 110, as described below). Therefore, activating the turn signal 150 and / or another release input (which, in combination with a force level applied to the steering wheel 140 exceeding another specified threshold) verifies the operator's intention to disengage the automatic steering system 120, while simultaneously reducing speed or avoiding sudden steering maneuvers, as described below. Figure 2A-7B Further described. Additionally, or according to other embodiments, when external sensor 113 detects a hazard on at least one side of the vehicle, automatic steering cut-off system 110 may increase the threshold force level used to cut off automatic steering system 120 from a default threshold to a higher, adjusted threshold (e.g., the processor of automatic steering cut-off system 110 detects a predetermined condition indicating a hazard). In such cases of hazard, automatic steering cut-off system 110 may specify a higher threshold force level to further ensure that the operator intends to take manual control as required by the hazard, as referenced below. Figure 8A-11B Further description.

[0016] refer to Figure 2A and Figure 2B , Figure 3A and Figure 3B , Figure 5A and Figure 5B , Figure 6A and Figure 6B , Figure 7A and Figure 7B , Figure 8A and Figure 8B , Figure 9A and Figure 9B , Figure 10A and Figure 10B ,as well as Figure 11A and Figure 11B The force applied to the steering wheel at 140 degrees is indicated by an arrow (e.g., Figure 2A (201 in the text). It should be understood that the arrow represents a force applied to a portion of the steering wheel 140, which acts as a torque arm, such that the force represented by the arrow results in a rotational force applied to the steering wheel 140. The length of the corresponding arrow represents the relative force level applied to the steering wheel 140 by the operator. The threshold force level required to shut off the automatic steering system 120 is indicated by a dashed line (e.g., Figure 2A (205) indicates this. Therefore, when the arrow representing the applied force extends across a specific threshold to cut off the automatic steering system 120, the applied force exceeds the corresponding threshold. In contrast, when the arrow does not extend beyond the corresponding threshold, the automatic steering system 120 is not cut off. Without first activating the turn signal 150 or other release input, the threshold force level used to cut off the automatic steering system 120 is specified as a default threshold. When a release input is activated, the automatic steering cut-off system 110 can reduce the threshold force level specified by the default threshold to a lower, adjusted threshold.

[0017] Both the automatic steering system 120 and the manual steering (e.g., indicated by the steering wheel) control the steering mechanism 130 via an "X" indicating the disengagement of another steering system (e.g., Figure 2A (215) indicates. Furthermore, in Figure 2A and Figure 2B , Figure 3A and Figure 3B , Figure 5A and Figure 5B , Figure 6A and Figure 6B ,as well as Figure 7A and Figure 7B In the example, turn signal 150 represents a release input that lowers the threshold force level used to disengage the automatic steering system 120. However, as further described below, in various embodiments, turn signal 150 is not the only release input that can be used with the implementation of the automatic steering disengagement system 110. Finally, although the operator is not depicted, it should be understood that the force indicated by the arrow means the force applied to the steering wheel 140 by the vehicle's operator.

[0018] For further reference Figure 2AForce 201 is applied to steering wheel 140. Turn signal 150 remains at its starting position 255, therefore, release input is not yet enabled. Because turn signal 150 is not enabled, no adjusted threshold is applied, which may be provided to disengage automatic steering system 120 by applying a smaller force level than that imposed by default threshold 205. The applied force 201 is shorter than the default threshold 205 used to disengage automatic steering system 120. Therefore, automatic steering system 120 remains enabled because the force 201 applied to steering wheel 140 is insufficient to enable manual steering system, as indicated by X 215 indicating that steering wheel 140 does not control steering mechanism 130.

[0019] For further reference Figure 2B , will be greater than force 201 ( Figure 2A Force 202 is applied to steering wheel 140. Again, turn signal 150 remains at its starting position 255, therefore, release input is not yet enabled, and no adjusted threshold is applied, which may be intended to cut off automatic steering system 120 by applying a smaller force level than imposed by default threshold 205. Figure 2A In contrast, force 202 exceeds the default threshold 205. Therefore, the automatic steering system 120 is disengaged, as indicated by X 225, which indicates that the automatic steering system 120 is disengaged from the steering mechanism 130. When it overcomes the default threshold 205, the force 202 applied to the steering wheel 140 can cause the steering wheel 140 to turn by an angle α. Therefore, in various embodiments, the automatic steering disengagement system 110 enables the automatic steering system 120 to disengage without using a release input such as a turn signal 150.

[0020] For further reference Figure 3A and Figure 3B ,like Figure 3A As shown, the turning signal 150 moves from the starting position 255 to the active position 355. Figure 3A and Figure 3B In the example, the active position includes a left-turn position. An adjusted threshold 305 (e.g., a threshold below the default threshold 205) is applied because the operator activates a release input in the form of a turn signal 150 (e.g., because the processor detects a predetermined condition where the operator has activated a release input). Force 301 is applied to the steering wheel 140. However, since force 301 does not meet the adjusted threshold 305 or the default threshold 205, the automatic steering system 120 remains active.

[0021] like Figure 3B As shown, the force will be greater than 301 ( Figure 3AForce 302 is applied to steering wheel 140. Because turn signal 150 moves from its starting position 255 to its active position 355, release input is enabled, adjusted threshold 305 is applied, and force 302 exceeds adjusted threshold 305. Therefore, automatic steering system 120 is disengaged, as indicated by X 225, which indicates that automatic steering system 120 is disengaged from steering mechanism 130. When it overcomes adjusted threshold 305, force 302 applied to steering wheel 140 can cause steering wheel 140 to turn by angle β.

[0022] It should be understood that when people apply force to overcome resistance and when the resistance is released, momentum and / or inertia can cause the force to persist for a moment until the person applying the force realizes the resistance has been released and reacts by reducing or stopping the force. The greater the applied force, the longer or greater it can persist until the person applying the force realizes the resistance has been released and is able to react by reducing or stopping the force. By comparison... Figure 2B and Figure 3B Because the release input is activated in the form of a turn signal 150, the force 302 required to disconnect the automatic steering system 120 from the steering mechanism 130 is less than the force 202 required to disconnect the automatic steering system 120 from the steering mechanism 130. Therefore, for example, when the operator applies the default force 202 required to overcome the default threshold 205 and the automatic steering system 120 is disconnected, the steering wheel 140 can suddenly turn or "jump" through an angle α ( Figure 2B By comparison, when the operator applies the adjusted force 302 required to overcome the adjusted threshold 305 and the automatic steering system 120 is disengaged, the steering wheel 140 can move through a smaller angle β, resulting in less abrupt maneuvering. Because the force 302 required to overcome the adjusted threshold 305 is smaller, the automatic steering disengagement system 110 allows the operator to initiate manual steering maneuvers without sudden turns or sharp steering wheel movements.

[0023] For example, see also Figure 4 A vehicle 400, including the automatic steering cut-off system 110, is traveling on road 410, and the operator selects to cut off the automatic steering system 120 to pass another vehicle 420. As previously described, in Figure 2B In the example, the force 202 required to disengage the automatic steering system 120 causes the steering wheel 140 to turn by an angle α. The resulting movement of the vehicle 400 to the new position 290 (indicated by dashed lines) includes a clockwise turn by an angle θ. Also as previously described, in Figure 3BIn the example, the smaller force 302 required to cut off the automatic steering system 120 (compared to force 202) causes the steering wheel to turn by an angle β. As a result of applying a smaller force 302 to the steering wheel 140, angle β is smaller than angle α (which is a result of force 202), and the resulting movement of the vehicle 400 to a new position 390 (indicated by the dashed line) is at a smaller angle. Therefore, by using the turn signal 150 or other release input, the automatic steering cut-off system 110 enables the operator to take intentional action to intentionally cut off the automatic steering system 120 and to activate manual steering control by utilizing less extreme steering changes.

[0024] In various embodiments, additional safety features can be imposed to ensure that the operator intends to disengage the automatic steering system 120 while still imposing a smaller threshold force applied to the steering wheel 140. In various embodiments, in addition to enabling the release input, the automatic steering disengagement system 110 can also impose a secondary condition (i.e., a predetermined secondary condition) before reducing the threshold force level from a default threshold 205 to an adjusted threshold 305. As described below, the secondary condition can impose requirements such as enabling the release input before applying force to the steering wheel, and / or enabling the release input to indicate the direction of a manual steering operation that aligns with the direction of the force applied to the steering wheel, as referenced. Figure 5A-7B Further description.

[0025] For further reference Figure 5A The operator moves the turn signal 150 from the starting position 255 to the right turn position 555. Since the operator activates the release input in the form of the turn signal 150, the adjusted threshold 505 is applied. However, since the turn signal 150 has moved to the right turn position 555, only the adjusted threshold 505 is applied to right-turn operation, and the default threshold 205 remains applied to left-turn operation.

[0026] For further reference Figure 5B This is sufficient to exceed the adjusted threshold of 305. Figure 3A and Figure 3BThe force 302 applied to disengage the automatic steering system 120 will not cause the automatic steering system 120 to be disengaged. Because the turn signal 150 is moved to the right turn position 555, the adjusted threshold 305 is not applied to left-hand steering. The force 302 is also insufficient to exceed the default threshold 205 used to disengage the automatic steering system. Therefore, in various embodiments, the automatic steering disengagement system 110 can be configured to prevent accidental contact with both the turn signal 150 and the steering wheel 140, which serve as the release input, if the enable release input and the steering wheel 140 are inconsistent with each other (i.e., a predetermined consistency between the enable release input and the steering wheel), so as to clearly indicate the operator's intention to disengage the automatic steering system 120.

[0027] Similarly, see also Figure 6A The operator applies a force 302 sufficient to reach the adjusted threshold 305. Figure 3A and Figure 3B Therefore, the automatic steering system 120 is disconnected. However, because the turning signal 150 used as the release input is not enabled before the force 302 is applied (i.e., because of a predetermined condition that the release input is enabled before the force 302 is applied), the adjusted threshold 305 is not applied. Because the adjusted threshold 305 is not applied and the force 302 is insufficient to reach the default threshold 205, the automatic steering system 120 remains enabled.

[0028] For further reference Figure 6B Force 302 has been applied, and the operator then moves turn signal 150 to left turn position 355. In various embodiments, the force 302 applied while moving turn signal 150 to left turn position 355 is insufficient to apply the adjusted threshold 305. In various embodiments, automatic steering cutoff system 110 can be configured to require a predetermined condition to be met, which is that turn signal 150 or other release input is activated before a force sufficient to overcome the adjusted threshold is applied. Thus, by requiring the release input to be activated before the required force is applied to the steering wheel, automatic steering cutoff system 110 can also be configured to prevent accidental contact with the release input and steering wheel 140 from unintentionally cutting off automatic steering system 120.

[0029] Similarly, see also Figure 7A The operator moves the turn signal 150 to the left turn position to apply the adjusted threshold 305, but the applied force 301 is insufficient to reach the adjusted threshold 305 used to disengage the automatic steering system 120. See also... Figure 7B The operator increases the applied force to a force 302 that is sufficient to reach the adjusted threshold 305. Figure 7AHowever, before applying a force 302 sufficient to exceed the adjusted threshold 305, the operator has moved the turn signal 150 back to the starting position 255, thereby withdrawing the adjusted threshold 305. Therefore, the force 302 is insufficient to disengage the automatic steering system 120. Thus, in various embodiments, the automatic steering disengagement system 110 can be configured to require a predetermined condition to be met, which is that the turn signal 150 or other release input is activated and its activation is maintained before a force sufficient to overcome the adjusted threshold 305 is applied. Therefore, by requiring the release input to be activated and maintained before the desired force is applied to the steering wheel, the automatic steering disengagement system 110 can also be configured to prevent unintentional disengagement of the automatic steering system 120 due to accidental contact with both the release input and the steering wheel 140.

[0030] As previously described, in addition to the automatic steering disconnect system 110 reducing the threshold force level in response to an operator-activated release input, in various embodiments, the automatic steering disconnect system 110 may be configured to apply a higher threshold force level to disconnect the automatic steering system 120. When external sensors 113 detect external conditions, such as a hazard on one side of the road or the approach of another vehicle, the default threshold may be increased to an adjusted threshold. Therefore, when a hazardous external condition is detected, the automatic steering disconnect system 110 may be configured to apply a higher threshold force level to ensure that the operator intends to regain manual control before disconnecting the automatic steering system 120.

[0031] exist Figure 8A-11B In the example, the automatic steering disconnect system 110 is used in an automatically steered vehicle 860, which travels on road 850 under the control of the automatic steering system 120. As further described below, the automatic steering disconnect system 110 responds to external conditions detected by external sensor 113 to change the threshold force level required to disconnect the automatic steering system 120. When the automatic steering disconnect system 110 disconnects the automatic steering system 120, the vehicle 862, which is now manually steered, responds to the operator controlling the steering mechanism 130.

[0032] For further reference Figure 8A Force 201 is applied to the steering wheel 140. The applied force 801 is shorter than the default threshold 205 used to disengage the automatic steering system 120, such as... Figure 2A and Figure 3A In the example, the automatic steering system 120 remains enabled because the force 201 applied to the steering wheel 140 is insufficient to enable the manual steering system, as indicated by X 215, which indicates that the steering wheel 140 does not enable the steering mechanism 130.

[0033] For further reference Figure 8B The force 802 is greater than the force 201. Figure 2A , Figure 3A and Figure 8A Apply to the steering wheel at 140 degrees. Figure 8A In contrast, force 802 exceeds the default threshold 205. Therefore, the automatic steering system 120 is disconnected, as indicated by X 225, which indicates that the automatic steering system 120 is disconnected from the steering mechanism 130. Thus, in various embodiments, as referenced... Figure 2A and Figure 2B As described, the automatic steering disconnect system 110 enables the automatic steering system 120 to be disconnected due to the application of a force 802 exceeding a default threshold 205. The vehicle 862, now manually steering, responds to operator control of the steering mechanism 130. As described below, in Figure 8A and Figure 8B In the example, there is no external condition on or near road 850 that causes the automatic steering cut-off system 110 to apply an adjusted threshold, as further described below.

[0034] For further reference Figure 9A Vehicle 860 follows second vehicle 970, and the operator applies a force 901 exceeding a default threshold 205 to attempt to take manual steering control of vehicle 860 to overtake second vehicle 970. However, as previously described, if the operator takes manual steering control of vehicle 860, external sensor 113 detects an obstacle 990 in adjacent lane 950 in the path of vehicle 860. In response to the detection of an external condition presented by obstacle 990 (i.e., in response to the detection of a predetermined condition that satisfies the detected external condition), automatic steering cut-off system 110 applies an adjusted threshold 905 that specifies a higher force level for cutting off automatic steering system 120. Force 901 does not satisfy adjusted threshold 905, therefore, automatic steering system 120 remains active, and steering wheel 140 does not engage steering mechanism 130, as indicated by X 215.

[0035] For further reference Figure 9B The operator applies a higher force 902 to the steering wheel 140, exceeding the adjusted threshold 905. Consequently, the automatic steering system 120 is disengaged, as indicated by X 225, which indicates that the automatic steering system 120 is disengaged from the steering mechanism 130. The manually steered vehicle 862 then moves to the adjacent lane 950. By applying an increased adjusted threshold 905 when an external condition 990 is detected, the automatic steering disengagement system 110 provides a measure of the driver's intent, achieved by requiring the operator to apply a greater level of force to the steering wheel 140 to disengage the automatic steering system 120.

[0036] For further reference Figure 10AExternal sensor 113 detects an unsafe condition 1090 adjacent to road 850. Unsafe condition 1090 may be a collapsed shoulder, ditch, cliff, water, gravel, one or more parked vehicles, or another condition adjacent to or encroaching on road 850. As previously described, external sensor 113 may include GPS or other devices that receive information about unsafe condition 1090 or directly detect unsafe condition 1090. The operator applies a force 901 exceeding a default threshold 205 to attempt to disengage the automatic steering system 120. However, in response to external sensor 113 detecting unsafe condition 1090 (i.e., in response to detecting a predetermined condition that satisfies the detection of an unsafe condition), automatic steering disengagement system 110 applies a higher, adjusted threshold 905, which specifies a higher level of force to be applied to disengage automatic steering system 120. Force 901 does not meet the adjusted threshold 905, therefore, automatic steering system 120 remains active, and steering wheel 140 does not activate steering mechanism 130, as indicated by X 215.

[0037] For further reference Figure 10B The operator applies a higher force 902 to the steering wheel 140, exceeding the adjusted threshold 905. Consequently, the automatic steering system 120 is disengaged, as indicated by X 225, which indicates that the automatic steering system 120 is disengaged from the steering mechanism 130. Thus, the vehicle 862, now manually steered, responds to the operator's control of the steering mechanism 130. By applying an increased adjusted threshold 905 when an unsafe condition 1090 is detected, the automatic steering disengagement system 110 provides a measure of the driver's intent, achieved by requiring the operator to apply a greater level of force to the steering wheel 140 to disengage the automatic steering system 120.

[0038] For further reference Figure 11A External sensor 113 detects external conditions in the form of a second vehicle 1170 approaching vehicle 860. External sensor 113 may include a blind spot detection system or other proximity detection system. The operator applies a force 901 exceeding a default threshold 205 to attempt to disengage the automatic steering system 120. However, in response to external sensor 113 detecting the second vehicle 1170 (i.e., in response to detecting a predetermined condition satisfying the proximity of a vehicle), the automatic steering disengagement system 110 applies a higher, adjusted threshold 905, which specifies a higher level of force to be applied to disengage the automatic steering system 120. Force 901 does not meet the adjusted threshold 905, therefore, the automatic steering system 120 remains active, and steering wheel 140 does not activate steering mechanism 130, as indicated by X 215.

[0039] For further reference Figure 11BThe operator applies a higher force 902 to the steering wheel 140, exceeding the adjusted threshold 905. Consequently, the automatic steering system 120 is disengaged, as indicated by X 225, which indicates that the automatic steering system 120 is disengaged from the steering mechanism 130. Thus, the now manually steered vehicle 862 responds to the operator's control of the steering mechanism 130. By applying the increased adjusted threshold 905 upon detection of a second vehicle 1170, the automatic steering disengagement system 110 provides a measure of added driver intent, achieved by requiring the operator to apply a greater level of force to the steering wheel 140 to disengage the automatic steering system 120.

[0040] For further reference Figure 12 In various embodiments, the steering wheel 140 or instrument panel or console 1210 in the vehicle cabin may include different and / or additional release inputs. As previously described, the turn signal 150 may be used as a release input. Additionally, in various embodiments, the steering wheel 140 may include one or more release buttons 1221 and 1222 as release inputs, which can be pressed to apply a lower threshold to release the automatic steering system 120. Figure 5A and Figure 5B As shown, release buttons 1221 and 1222 may be located on opposite sides of the steering wheel 140. In such embodiments where release buttons 1221 and 1222 are located on opposite sides of the steering wheel 140, the automatic steering cut-off system 110 may require a predetermined condition to be met, which is that release buttons 1221 and 1222 are activated on the side where force is applied, in order to apply an adjusted threshold. It should be understood that in such embodiments, release buttons 1221 and 1222 (located on the steering wheel 140) can be activated by the operator without the operator removing his or her hands from the steering wheel. Additionally, in various embodiments, an audio input interface 1230 (e.g., a microphone) may be used to receive verbal commands from the operator as release input. In various embodiments, other inputs, including other buttons or keys 1240 on the dashboard or console 1210, may also be used as release inputs.

[0041] For further reference Figure 13 In various implementations, operator 1300 can change threshold setting 1302. Operator 1300 can communicate with automatic steering cutoff system 110 using interface 1305, such as vehicle interface 850 (Figure 8). The threshold can also be calculated using another computing device 1280 (…). Figure 12The system can be configured using a device such as a smartphone or computer, which can interface directly with the automatic steering disconnect system 110 via a wired or wireless interface 1290 or via a network. The operator 1300 can set a reduced, adjusted threshold level 1310, which can be applied, for example, when releasing an input to confirm the operator 1300's intention to take manual steering control of the vehicle, as referenced. Figure 2A-7B As described. Alternatively or additionally, operator 1300 may set an increased, adjusted threshold level 1315, such as when external sensor 113 detects an external condition, as described in reference. Figure 8A-11B As described, threshold levels 1310 and 1315 can be set between a minimum level 1330 and a maximum level 1340 to adjust thresholds 1310 and 1315 from the current level 1350 to a new level 1360, thereby setting the difference between thresholds 1310 and 1315 and the default threshold 1305.

[0042] For further reference Figure 14 In various implementations, different operators may prefer different threshold settings 1402 and 1403 (each set by operator A 1412 and operator B 1413), as described with reference to Figure 9. For convenience, threshold settings 1402 and 1403 may be associated with operation credentials 1422 and 1423 (represented by key cards associated with operator A 1412 and operator B 1413, respectively). In various implementations, operation credentials may be verified at the vehicle or via a remote system (e.g., via a web-based or cloud-based system) using image recognition, voice recognition, or another form of authentication. Therefore, when each of operators 1412 and 1413 presents their operation credentials to operate the vehicle, appropriate threshold settings 1402 and 1403 may be applied.

[0043] For further reference Figure 15 In various embodiments, vehicle 1500 includes an integrated vehicle control system 1510 that controls the operation of vehicle 1500. In various embodiments, vehicle control system 1510 may be combined with or interact with automatic steering disconnect system 110. In various embodiments, vehicle control system 1510 may be integrated with automatic steering system 120 (… Figure 15(Not shown separately) Combined or interactive operation. In various embodiments, vehicle 1500 includes a body 1502, which may include a compartment 1504 capable of accommodating an operator, one or more passengers and / or cargo, and a cargo area 1506 separate from the compartment 1504, such as a trunk or cargo box, capable of transporting cargo. Vehicle 1500 includes a drive system 1520, as further described below, which may selectively engage with one or more front wheels 1522 and / or one or more rear wheels 1524 to actuate, accelerate, decelerate, stop, and steer vehicle 1500.

[0044] For further reference Figure 16 In various embodiments, the automatic steering cutoff system 110 can be used with an electric vehicle 1600. In such embodiments, wheels 1612 and / or 1614 can be actuated by one or more electric drive systems 1620 and / or 1630, such as motors operatively coupled to wheels 1612 and / or 1614. Drive systems 1620 and 1630 draw power from a battery system 1610, which can also be used to power the automatic steering cutoff system 110 and other vehicle systems.

[0045] For further reference Figure 17 In various embodiments, the automatic steering cut-off system 110 can be used with an internal combustion engine-powered vehicle 1700. Wheels 1712 and / or 1714 can be actuated by an internal combustion or hybrid engine 1720 connected to a fuel tank 1710 via fuel lines 1712. Engine 1720 can be connected to wheels 1712 and / or 1714 respectively via mechanical linkages 1730 and 1740 to provide rotational force to drive wheels 1712 and / or 1714, these mechanical linkages including shafts, crossbars, or other drive chain systems. It should be understood that... Figure 15-17 A four-wheeled land vehicle is shown. However, as previously mentioned, it should be understood that the automatic steering cutoff system 110 can be integrated with other vehicles that include an automatic steering system.

[0046] For further reference Figure 18And given by way of example only and not limitation, the automatic steering disconnect system 110 may include a general-purpose computing device 1800 configured to operate according to computer-executable instructions for controlling the disconnection of the automatic steering system, as described herein. The computing device 1800 typically includes at least one processing unit 1820 and system memory 1830. Depending on the configuration and type of the computing device, the system memory 1830 may include volatile memory such as random access memory (“RAM”), non-volatile memory such as read-only memory (“ROM”), flash memory, etc., or a combination of volatile and non-volatile memory. The system memory 1830 typically holds an operating system 1831, one or more application programs 1832, and program data 1834. The operating system 1831 may include any number of operating systems capable of executing on a desktop or portable device, including but not limited to Linux, Microsoft Windows, etc. ® Apple iOS ® or Android ® Or a proprietary operating system. Application 1832 may include instructions for implementing the functions of the automatic steering cutoff system 110, as previously described. Program data 1834 may include threshold data 114 used by the automatic steering cutoff system 110. Figure 1 (as previously described).

[0047] The computing device 1800 may also have additional features or functions. For example, the computing device 1800 may also include additional data storage devices (removable and / or non-removable), such as, for example, disks, optical discs, magnetic tapes, or flash memory. Such additional storage devices... Figure 18 The image shows removable storage device 1840 and non-removable storage device 1850. Computer storage media may include volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information such as computer-readable instructions, data structures, program modules or other data. System memory 1830, removable storage device 1840 and non-removable storage device 1850 are all examples of computer storage media. Available types of computer storage media include, but are not limited to (both removable and non-removable forms) RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage devices, magnetic tape cartridges, disk storage devices or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible by computing device 1800. Any such computer storage medium may be part of computing device 1800.

[0048] The computing device 1800 may also include input devices 1860, such as a keyboard, stylus, voice input device, touchscreen input device, etc. It may also include output devices 1870, such as a display, speakers, short-range transceivers (such as Bluetooth transceivers), etc. The computing device 1800 may also include one or more communication systems 1880, which allow the computing device 1800 to communicate with other computing systems 1890, such as those previously referenced. Figure 13 The aforementioned. As previously mentioned, communication system 1880 may include systems for wired or wireless communication. Communication media in various forms typically transmit computer-readable instructions, data structures, program modules, or other data in the form of modulated data signals (such as carrier waves or other transmission mechanisms) and include any information transmission medium. The term "modulated data signal" may include a signal having one or more characteristics set or altered in a manner such as encoding information in the signal. By way of illustrative example only and not limitation, communication media may include wired media such as wired networks or direct wiring connections, and wireless media such as acoustic media, radio frequency (RF) media, infrared media, and other wireless media. As used herein, the term computer-readable medium includes both storage media and communication media.

[0049] For further reference Figure 19 An exemplary method 1900 for selectively disengaging an automatic steering system of a vehicle is provided. Method 1900 begins at block 1905. At block 1910, it is identified that the vehicle is operating in automatic steering mode, wherein the vehicle control system guides the steering of the vehicle. At block 1920, the force level applied to the steering wheel of the vehicle by the operator is detected. At block 1930, when the force level exceeds a threshold, the vehicle is switched from automatic steering mode to manual steering mode, the threshold being selected from a default threshold and an adjusted threshold, the adjusted threshold being applied when a predetermined condition for applying the adjusted threshold is detected, as previously referenced. Figure 2A-12 As described. Method 1900 ends at box 1935.

[0050] Those skilled in the art will recognize that at least a portion of the devices and / or processes described herein can be integrated into a data processing system. Those skilled in the art will recognize that a data processing system typically includes one or more of the following: a system unit housing, a video display device, memory (such as volatile or non-volatile memory), a processor (such as a microprocessor or digital signal processor), a computing entity (such as an operating system), drivers, a graphical user interface and applications, one or more interactive devices (e.g., a touchpad, a touchscreen, an antenna, etc.), and / or a control system including feedback loops and control motors (e.g., feedback for sensing position and / or speed; control motors for moving and / or adjusting components and / or quantities). The data processing system can be implemented using suitable commercially available components, such as those typically found in data computing / communication and / or network computing / communication systems.

[0051] As used in the preceding / following disclosures, the term "module" can refer to a collection of one or more components arranged in a particular manner, or a collection of one or more general components that can be configured to operate in a particular manner at one or more specific points in time and / or also configured to operate in one or more other manners at one or more additional times. For example, identical hardware or identical portions of hardware can be configured / reconfigured sequentially / in parallel to a first type of module (e.g., at a first time), a second type of module (e.g., at a second time, which in some cases may coincide with, overlap with, or follow the first time), and / or a third type of module (e.g., at a third time, which in some cases may coincide with, overlap with, or follow the first and / or second times). Reconfigurable and / or controllable components (e.g., general-purpose processors, digital signal processors, field-programmable gate arrays, etc.) can be configured as a first module with a first purpose, then as a second module with a second purpose, then as a third module with a third purpose, and so on. The transformation of reconfigurable and / or controllable components can occur in as little as a few nanoseconds, or over a period of time, such as minutes, hours, or days.

[0052] In some such examples, when a component is configured to perform a secondary purpose, it may no longer be able to perform that primary purpose until it is reconfigured. Components can switch between configurations as different modules in as few nanoseconds. Components can be reconfigured dynamically; for example, a component reconfiguring from a first module to a second module may occur precisely when the second module is needed. Components can be reconfigured in stages; for example, portions of a first module that are no longer needed may be reconfigured into a second module, even before the first module has completed its operation. Such reconfiguration may occur automatically or through prompting from an external source, whether that source is another component, instruction, signal, condition, external stimulus, or similar.

[0053] For example, the central processing unit of a personal computer can operate at various times as a module for displaying graphics on a screen, for writing data to a storage medium, for receiving user input, and for multiplying by two large prime numbers by configuring its logic gates according to its instructions. Such reconfiguration may be invisible to the naked eye and in some implementations may include activation, deactivation, and / or rerouting of various parts of the components (e.g., switches, logic gates, inputs, and / or outputs). Therefore, in examples present in the preceding / following disclosures, if an example includes or describes multiple modules, that example includes the possibility that the same hardware can implement more than one of the described modules simultaneously or in discrete times or timing sequences. Whether more components, fewer components, or the same number of components as the number of modules are used, the implementation of multiple modules is merely an implementation choice and generally does not affect the operation of the modules themselves. Therefore, it should be understood that any description of multiple discrete modules in this disclosure includes implementing these modules as any number of underlying components, including but not limited to a single component that reconfigures itself over time to perform the functions of multiple modules and / or multiple components that are similarly reconfigured, and / or dedicated reconfigurable components.

[0054] In some cases, one or more components may be referred to herein as “configured to,” “configured by,” “configurable to,” “operable / operating as,” “suitable / adaptable to,” “capable of,” “adaptable to,” etc. Those skilled in the art will recognize that, unless the context otherwise requires, such terms (e.g., “configured to”) generally cover active state components and / or passive state components and / or standby state components.

[0055] While specific aspects of the subject matter described herein have been shown and described, it will be apparent to those skilled in the art that changes and modifications may be made based on the teachings herein without departing from the subject matter and its broader aspects, and therefore the appended claims cover all such changes and modifications within their scope, as is the true spirit and scope of the subject matter described herein. Those skilled in the art will understand that, in general, the terminology used herein, particularly in the appended claims (e.g., the body of the appended claims), is intended to denote “open-ended” terms (e.g., the term “comprising” should be interpreted as “including but not limited to,” the term “having” should be interpreted as “at least having,” the term “including” should be interpreted as “comprising but not limited to,” etc.). Those skilled in the art will further understand that if a class intent is a specific number of introduced claim statements, such intent will be explicitly stated in the claims, and if no such statement is present, such intent does not exist. For example, to aid understanding, the following appended claims may contain the use of the introductory phrases “at least one” and “one or more” to introduce claim statements. However, the use of such phrases should not be construed as implying that introducing a claim statement with the indefinite article "a" or "an" limits any particular claim containing such an introduced claim statement to a claim containing only one such statement, even when the same claim includes the introductory phrase "one or more" or "at least one" and indefinite articles such as "a" or "an" (e.g., "a" and / or "an" should generally be interpreted as meaning "at least one" or "one or more"); the same applies to the use of definite articles used to introduce a claim statement. Furthermore, even when a specific number of introduced claim statements are explicitly stated, those skilled in the art will recognize that such a statement should generally be interpreted as meaning at least the number stated (e.g., simply stating "two statements" without further modification generally means at least two statements, or two or more statements). Furthermore, in cases where conventions such as "at least one of A, B, and C" are used, generally speaking, such a construction is intended to mean that a person skilled in the art will understand that the convention (e.g., "a system having at least one of A, B, and C" will include, but is not limited to, systems having only A, having only B, having only C, having A and B, having A and C, having B and C, and / or A, B, and C, etc.). A person skilled in the art will further understand that, unless the context otherwise requires, extractive terms and / or phrases that typically present two or more alternative terms (whether in the specification, claims, or drawings) should be understood to contemplate the possibility of including one, any, or both of the terms. For example, the phrase "A or B" will generally be understood to include the possibility of "A" or "B" or "A and B".

[0056] The specific embodiments described above have illustrated various implementations of the apparatus and / or process using block diagrams, flowcharts, and / or examples. Where such block diagrams, flowcharts, and / or examples contain one or more functions and / or operations, those skilled in the art will understand that each function and / or operation within such block diagrams, flowcharts, or examples can be implemented individually and / or collectively by a wide range of hardware, software (e.g., high-level computer programs used as hardware specifications), firmware, or virtually any combination thereof, limited to the patentable subject matter under 35 USC101. In embodiments, certain portions of the subject matter described herein may be implemented via application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), or other integration formats. However, those skilled in the art will recognize that some aspects of the embodiments disclosed herein can be implemented, in whole or in part, equivalently in an integrated circuit as one or more computer programs (e.g., one or more programs running on one or more computer systems), one or more programs (e.g., one or more programs running on one or more microprocessors), firmware, or virtually any combination thereof, running on one or more computers, limited to the subject matter patentable under 35 USC101, and that designing circuits and / or writing code for software (e.g., high-level computer programs used as hardware specifications) and / or firmware according to this disclosure will be entirely within the skill of those skilled in the art. Furthermore, those skilled in the art will understand that the mechanisms of the subject matter described herein are capable of being distributed as program products in a variety of forms, and that the exemplary embodiments of the subject matter described herein apply regardless of the specific type of signal-bearing medium used for actual distribution. Examples of signal-carrying media include, but are not limited to, the following: recordable media, such as floppy disks, hard disks, optical discs (CDs), digital video discs (DVDs), digital tapes, computer memory, etc.; and transmission media, such as digital and / or analog communication media (e.g., fiber optic cables, waveguides, wired communication links, wireless communication links (e.g., transmitters, receivers, transmission logic, receiving logic, etc.) etc.).

[0057] With respect to the appended claims, those skilled in the art will understand that the operations enumerated herein can generally be performed in any order. Furthermore, although the various operational flows are presented sequentially, it should be understood that the various operations can be performed in any order other than that shown, or can be performed simultaneously. Unless the context otherwise requires, examples of such alternative orderings may include overlapping, interleaving, interruption, reordering, ascending, preparatory, supplementary, simultaneous, reverse, or other variations of ordering. Moreover, unless the context otherwise requires, terms such as “in response to,” “related to,” or other past tense adjectives are generally not intended to exclude such variations.

[0058] Although the subject matter disclosed herein has been described with reference to exemplary embodiments, those skilled in the art will understand that various modifications may be made to the subject matter without departing from the scope of the claimed subject matter set forth in the claims.

[0059] It should be understood that the detailed description set forth above is merely illustrative in nature, and variations thereof that do not depart from the spirit and / or essence of the claimed subject matter are intended to fall within the scope of the claims. Such variations should not be considered as departing from the spirit and scope of the claimed subject matter.

Claims

1. A system for a vehicle, comprising: A computing device operatively connected to the vehicle, the computing device comprising: processor; and A computer-readable medium configured to store computer-executable instructions configured to cause the processor to: The vehicle's automatic steering system has been activated. Detect the level of force applied by the operator to the steering wheel of the vehicle; and The automatic steering system is disengaged when the force level exceeds a threshold selected from a default threshold and an adjusted threshold, wherein the adjusted threshold is applied when a predetermined condition is detected. The predetermined condition includes enabling a release input in combination with a secondary condition indicating the operator's intention to make a manual steering change, wherein the secondary condition is that the release input is enabled to indicate the operator's intention to make a manual steering change in the same direction as the steering direction indicated by the force applied to the steering wheel.

2. The system of claim 1, wherein the adjusted threshold corresponds to a force level lower than the default threshold.

3. The system of claim 1, wherein the release input includes inputs selected from: a turn signal, a release button, and a verbal release command.

4. The system of claim 1, wherein the secondary condition further requires that the release input be enabled before the force is applied to the steering wheel.

5. The system of claim 1, wherein the predetermined condition further includes detecting the presence of an external condition on at least one side of the vehicle, and wherein the adjusted threshold corresponds to a force level higher than the default threshold.

6. The system of claim 5, wherein the external condition includes a hazard selected from: an obstacle in at least one adjacent lane of the road on which the vehicle is traveling, an unsafe condition on the at least one side of the road, and the presence of another vehicle on the at least one side of the vehicle.

7. The system of claim 1, wherein the computer-executable instructions are further configured to cause the processor to: This enables the operator to set a threshold preference for at least one threshold, the at least one threshold being selected from the default threshold and the adjusted threshold; Associate the threshold preference with the operator who sets the threshold preference; and The threshold preference is applied when it is detected that the operator is operating the vehicle.

8. A vehicle comprising: Drive system; and A computing device operatively connected to the vehicle, the computing device comprising: processor; and A computer-readable medium configured to store computer-executable instructions configured to cause the processor to: The vehicle's automatic steering system has been activated. Detect the level of force applied by the operator to the steering wheel of the vehicle; and The automatic steering system is disengaged when the force level exceeds a threshold selected from a default threshold and an adjusted threshold, wherein the adjusted threshold is applied when a predetermined condition is detected. The predetermined condition includes enabling a release input in combination with a secondary condition indicating the operator's intention to make a manual steering change, wherein the secondary condition is that the release input is enabled to indicate the operator's intention to make a manual steering change in the same direction as the steering direction indicated by the force applied to the steering wheel.

9. The vehicle of claim 8, wherein the adjusted threshold corresponds to a force level lower than the default threshold.

10. The vehicle of claim 8, wherein the release input includes an input selected from: a turn signal, a release button, and a verbal release command.

11. The vehicle of claim 8, wherein the secondary condition further requires that the release input be enabled before the force is applied to the steering wheel.

12. The vehicle of claim 8, wherein the predetermined condition further includes detecting the presence of an external condition on at least one side of the vehicle, and wherein the adjusted threshold corresponds to a force level higher than the default threshold.

13. The vehicle of claim 12, wherein the external condition includes a hazard selected from: an obstacle in at least one adjacent lane of the road on which the vehicle is traveling, an unsafe condition on the at least one side of the road, and the presence of another vehicle on the at least one side of the vehicle.

14. The vehicle of claim 8, wherein the computer-executable instructions are further configured to cause the processor to: This enables the operator to set a threshold preference for at least one threshold, the at least one threshold being selected from the default threshold and the adjusted threshold; Associate the threshold preference with the operator who sets the threshold preference; and The threshold preference is applied when it is detected that the operator is operating the vehicle.

15. A computer-implemented method for a vehicle, comprising: The vehicle's automatic steering system has been activated. Detect the level of force applied by the operator to the steering wheel of the vehicle; as well as The automatic steering system is disengaged when the force level exceeds a threshold selected from a default threshold and an adjusted threshold, wherein the adjusted threshold is applied when a predetermined condition is detected. The predetermined condition includes enabling a release input in combination with a secondary condition indicating the operator's intention to make a manual steering change, wherein the secondary condition is that the release input is enabled to indicate the operator's intention to make a manual steering change in the same direction as the steering direction indicated by the force applied to the steering wheel.

16. The computer-implemented method of claim 15, wherein the adjusted threshold specifies the application of a lower force level than the default threshold.

17. The computer-implemented method of claim 15, wherein the secondary condition further requires that the release input be activated before the force is applied to the steering wheel.

18. The computer-implemented method of claim 15, wherein the predetermined condition further includes detecting the presence of an external condition on at least one side of the vehicle, and the adjusted threshold specifies the application of a higher force level than the default threshold.

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