System and method for controlling vehicle

Abstract

Systems, methods, and other embodiments described herein relate to controlling a vehicle. In one embodiment, a method includes displaying, on a user interface, a guide line that identifies a potential trajectory of a vehicle. The guide wire is based on a steering angle input and a direction input. The method includes updating a shape of a guide line based on a user input along a length of the guide line on a user interface to generate an updated guide line; and transmitting a control signal to a vehicle control system, the control signal causing the vehicle to travel along the updated guide line.

Description

Technical Field

[0001] The subject matter described herein relates generally to controlling vehicles, and more particularly to controlling autonomous vehicles. Background Art

[0002] Modern vehicles include one or more cameras and displays that can provide rear-view camera assistance. Some vehicles also include cameras for front-view camera assistance. Vehicles can use visual overlays superimposed on camera images to provide driving assistance. However, visual overlays depicting potential driving paths are limited to displaying a driving path based on the steering angle. Summary of the Invention

[0003] This section generally summarizes the disclosure, and is not intended to be a comprehensive explanation of its full scope or all of its features.

[0004] In one embodiment, a method for controlling a vehicle is disclosed. The method includes displaying a guideline identifying a potential trajectory of the vehicle on a user interface. The guideline is based on a steering angle input and a direction input. The method includes updating a shape of the guideline based on a user input along a length of the guideline on the user interface to generate an updated guideline. The method also includes transmitting a control signal to a vehicle control system, the control signal causing the vehicle to travel along the updated guideline.

[0005] In another embodiment, a system for controlling a trailer is disclosed. The system includes a processor and a memory in communication with the processor. The memory stores machine-readable instructions that, when executed by the processor, cause the processor to display a guideline identifying a potential trajectory of a vehicle on a user interface. The guideline is based on a steering angle input and a direction input. The memory stores machine-readable instructions that, when executed by the processor, cause the processor to update the shape of the guideline based on a user input along the length of the guideline on the user interface to generate an updated guideline. The memory stores machine-readable instructions that, when executed by the processor, cause the processor to transmit a control signal to a vehicle control system, causing the vehicle to travel along the updated guideline.

[0006] In another embodiment, a non-transitory computer-readable medium for controlling a vehicle is disclosed. The non-transitory computer-readable medium includes instructions that, when executed by a processor, cause the processor to perform one or more functions. The instructions include instructions for displaying a guideline identifying a potential trajectory of the vehicle on a user interface. The guideline is based on a steering angle input and a direction input. The instructions include instructions for updating a shape of the guideline based on a user input along a length of the guideline on the user interface to generate an updated guideline. The instructions include instructions for transmitting a control signal to a vehicle control system, the control signal causing the vehicle to travel along the updated guideline. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The accompanying drawings that are incorporated into the specification and form a part of the specification illustrate various systems, methods and other embodiments of the present disclosure. It will be appreciated that the element boundaries (e.g., boxes, groups of boxes or other shapes) shown in the figures represent an embodiment of boundaries. In some embodiments, an element can be designed as multiple elements, or multiple elements can be designed as one element. In some embodiments, an element that is shown as an internal assembly of another element can be implemented as an external assembly, and vice versa. In addition, elements may not be drawn to scale.

[0008] Figure 1 A block diagram of a vehicle incorporating an automated trajectory guidance and execution system is illustrated.

[0009] Figure 2 yes Figure 1 A more detailed block diagram of the automatic trajectory guidance and execution system.

[0010] Figure 3 is an example of a method for controlling a vehicle.

[0011] Figures 4A-4E is an example of an automatic trajectory guidance and execution scenario. DETAILED DESCRIPTION

[0012] Systems, methods, and other embodiments are disclosed that relate to controlling one or more vehicles. More particularly, these systems, methods, and other embodiments relate to controlling a vehicle as it travels along a selected trajectory.

[0013] A vehicle may include a display located within the vehicle cabin and in the instrument panel. The display may be adapted to display guidance lines indicating the vehicle's travel path based on the steering wheel angle. However, the display is limited to outputting information, and the user cannot control the vehicle by inputting information through the display.

[0014] Thus, in one embodiment, the disclosed solution is a system that assists a user in controlling a vehicle's path via a user interface (such as a display screen and input components). The user interface may be located inside the vehicle. Alternatively, the user interface may be located on a mobile device or any other suitable device external to the vehicle. Thus, the system can be used to assist a user in remotely controlling a vehicle.

[0015] The system can be activated by a control signal. The control signal can be based on the user placing the vehicle in reverse mode, driving mode, rotating the steering wheel, or pressing a control button. In response to the control signal, the system uses the steering wheel and generates a first (also called original) guide line based on the steering angle. The curvature of the guide line is based on the steering angle. Thus, the greater the steering angle, the smaller the curvature of the guide line. The system displays the original guide line on a display screen. The display screen may include a representation of the vehicle and guide lines extending from the front or rear of the vehicle. The system can display the representation of the vehicle and (one or more) guide lines in any suitable view. As an example, the system can display the representation of the vehicle and (one or more) guide lines from a bird's-eye view. As another example, the system can display the representation of the vehicle and (one or more) guide lines from a panoramic view based on the perspective of a vehicle sensor (such as a vehicle camera).

[0016] As an example, the system then receives user input in the form of a user touching a user interface (such as a touch screen) and pressing the length of the guide line to change the shape of the original guide line. The user can enter an additional guide line (also called a branch guide line) that starts from a point on the original guide line before or after the original guide line is changed and extends away from the original guide line. The system can update the curvature and destination point of the original guide line based on the user's changes. In addition, the system can update the display to include one or more additional guide lines. The system includes activating the vehicle to autonomously drive along a trajectory based on the updated (one or more) guide lines.

[0017] Current technology does not yet disclose the ability to control a vehicle using a user interface whereby a user can change the curvature of the vehicle's travel path by pushing along the length of a displayed guide line using a finger (or any suitable digit), a stylus, or other input component (such as a rotatable knob or slider).

[0018] The embodiments disclosed herein have numerous advantages over the prior art. First, these embodiments can be implemented without the use of complex maps or a global positioning system (GPS). The length of the guideline and the subsequent trajectory of the vehicle is limited to the range (or coverage area) of the vehicle's sensor system, for example, a 100-yard radius. Thus, the system generates a path in segments (e.g., 100-yard segments). Furthermore, these embodiments can be implemented using a relatively small number of vehicle sensors. These embodiments can also be implemented using limited computing and data storage resources.

[0019] Secondly, these embodiments assist the user in maintaining precise control of the vehicle through each turn. Thus, in the event that the vehicle deviates from the desired trajectory, the system provides the user with the ability to set the vehicle back on the desired trajectory. These embodiments allow the user to remotely control the vehicle using a touch screen or any other suitable input component (such as a knob, slider, switch, keyboard, button, joystick, mouse, trackball, or microphone).

[0020] As an example, these systems can be useful for assisting a user trying to move a vehicle that is difficult to access (e.g., parked in a tight parking space). A user outside the vehicle can utilize the system to move the vehicle from a difficult-to-access location to an open space where the door can be opened and the user can enter the vehicle.

[0021] Detailed embodiments are disclosed herein; however, it should be understood that the disclosed embodiments are intended to be illustrative only. Therefore, the specific structural and functional details disclosed herein should not be interpreted as limiting, but rather as a basis for the claims and a representative basis for teaching one skilled in the art to employ the aspects described herein in various ways in virtually any appropriately detailed configuration. Additionally, the terms and phrases used herein are not intended to be limiting, but rather to provide an easily understood description of possible implementations. Various embodiments are shown in the figures, but these embodiments are not limited to the structures or applications shown.

[0022] It will be appreciated that for simplicity and clarity of description, reference numerals have been repeated, where appropriate, in different figures to indicate corresponding or similar elements. In addition, numerous specific details are set forth to provide a thorough understanding of the embodiments described herein. However, those skilled in the art will appreciate that the embodiments described herein may be practiced without these specific details.

[0023] refer to Figure 1 , illustrates a block diagram of a vehicle 102 including an automated trajectory guidance and execution system 100. The vehicle 102 includes a sensor system, a user interface, the automated trajectory guidance and execution system 100, and various components.

[0024] Vehicle 102 may include a user interface 130. User interface 130 may receive input from a user (e.g., a person) or another entity and / or present output to it. User interface 130 includes any device, component, system, element, or arrangement, or group thereof, that enables information / data to be input into a machine. User interface 130 also includes any device, component, system, element, or arrangement, or group thereof, that enables information / data to be presented to a user or other entity. User interface 130 may be located in the instrument panel of vehicle 102 or any suitable location in vehicle 102. Additionally and / or alternatively, user interface 130 may be located on a mobile device. As an example, user interface 130 may be a device that a user can view, hear, touch, press, rotate, and / or speak to. In such an example, user interface 130 may include a touchscreen 135, a multi-touch screen, a display, knobs, sliders, switches, a keyboard, buttons, a joystick, a mouse, a trackball, a microphone, gesture recognition (radar, lidar, camera, or ultrasound-based), and / or combinations thereof. User interface 130 may serve as both an input device and an output device, such as touchscreen 135. The touch screen 135 can receive information via a stylus, a user's finger or thumb, or any other suitable device. As previously mentioned, the user interface 130 can be located in at least one of the vehicle 102 or the mobile device. Thus, the user interface 130 can be located on a device external to the vehicle 102.

[0025] It will be appreciated that in various embodiments, the vehicle 102 may not necessarily have Figure 1 All elements shown in the vehicle 102 may have Figure 1 In addition, the vehicle 102 may have any combination of the various elements shown in FIG. Figure 1 In some arrangements, the vehicle 102 may be operated without Figure 1 Although one or more of the components shown in Figure 1 Various components are shown as being located within vehicle 102, but it will be understood that one or more of these components may be located external to vehicle 102. Additionally, the components shown may be physically separated. For example, as discussed, one or more components of automated trajectory guidance and execution system 100 may be implemented within vehicle 102, while other components of automated trajectory guidance and execution system 100 may be implemented within a cloud computing environment.

[0026] Figure 1 Some possible components of the vehicle 102 are shown in FIG. Figure 1 However, for the sake of brevity in this description, Figure 2 - Figure 4 provides the following Figure 1In addition, it will be appreciated that for simplicity and clarity of description, reference numerals have been repeated in different figures to indicate corresponding or similar elements, where appropriate. In addition, this discussion outlines many specific details in order to provide a thorough understanding of the embodiments described herein. However, those skilled in the art will appreciate that the embodiments described herein can be practiced using various combinations of these elements. In any case, as Figure 1 As shown in the embodiment of FIG, a vehicle 102 includes an automated trajectory guidance and execution system 100 that is implemented to perform the methods and other functions related to controlling a vehicle as disclosed herein. By way of example, in various embodiments, the automated trajectory guidance and execution system 100 may be implemented partially within the vehicle 102 and may also communicate with additional aspects of the automated trajectory guidance and execution system 100 that are remote from the vehicle 102 to support the disclosed functions. Thus, while Figure 2 The automated trajectory guidance and execution system 100 is generally illustrated as standalone, but in various embodiments, the automated trajectory guidance and execution system 100 may be implemented within multiple separate devices, some of which may be remote from the vehicle 102 .

[0027] refer to Figure 2 , a more detailed block diagram of the automated trajectory guidance and execution system 100 is shown. The automated trajectory guidance and execution system 100 may include a processor(s) 110. Thus, the processor(s) 110 may be part of the automated trajectory guidance and execution system 100, or the automated trajectory guidance and execution system 100 may access the processor(s) 110 via a data bus or other communication pathway. In one or more embodiments, the processor(s) 110 are application specific integrated circuits that may be configured to implement functionality associated with the control module 220. More generally, in one or more aspects, the processor(s) 110 are electronic processors, such as microprocessors, that, when loaded with the control module 220 and executing coded functionality associated therewith, may perform various functions as described herein.

[0028] The automated trajectory guidance and execution system 100 may include a memory 210 that stores a control module 220. The memory 210 may be a random access memory (RAM), a read-only memory (ROM), a hard drive, a flash memory, or other suitable memory for storing the control module 220. The control module 220 is, for example, a set of computer-readable instructions that, when executed by the processor(s) 110, causes the processor(s) 110 to perform the various functions disclosed herein. While in one or more embodiments, the control module 220 is a set of instructions implemented in the memory 210, in other aspects, the control module 220 includes hardware for independently performing one or more of the described functions, such as a processing component (e.g., a controller), circuitry, etc.

[0029] The automated trajectory guidance and execution system 100 may include data repository(s) 115 for storing one or more types of data. Thus, the data repository(s) 115 may be part of the automated trajectory guidance and execution system 100, or the automated trajectory guidance and execution system 100 may access the data repository(s) 115 via a data bus or other communication pathway. In one embodiment, the data repository(s) 115 are electronically based data structures for storing information. In at least one embodiment, the data repository 115 is a database stored in the memory 210 or other suitable medium, and the database is configured with routines executable by the processor(s) 110 to analyze the stored data, provide the stored data, organize the stored data, and so on. In either case, in one embodiment, the data repository 115 stores data used by the control module 220 in performing various functions. In one embodiment, the data repository 115 may be capable of storing sensor data 119 and / or other information used by the control module 220.

[0030] The data repository(s) 115 may include volatile and / or non-volatile memory. Examples of suitable data storage 250 include RAM (random access memory), flash memory, ROM (read only memory), PROM (programmable read only memory), EPROM (erasable programmable read only memory), EEPROM (electrically erasable programmable read only memory), registers, magnetic disks, optical disks, hard drives, or any other suitable storage medium, or any combination thereof. The data repository(s) 115 may be components of the processor(s) 110, or the data repository(s) 115 may be operably connected to the processor(s) 110 for use thereof. As used throughout this specification, the term "operably connected" or "in communication with" may include direct or indirect connections, including connections without direct physical contact.

[0031] In one or more arrangements, the data repository(ies) 115 may include sensor data 119. The sensor data 119 may originate from a sensor system 120 of the vehicle 102. The sensor data 119 may include data from visual sensors, audio sensors, and / or any other suitable sensors in the vehicle 102. The sensor data 119 may include images from the front of the vehicle, the rear of the vehicle, and / or the sides of the vehicle. As an example, the sensor data 119 may include the geographic coordinates of the vehicle 102, and / or any vehicles or objects surrounding the vehicle 102. As another example, the sensor data 119 may include the relative position of the vehicle 102, and / or any vehicles or objects surrounding the vehicle 102.

[0032] In one embodiment, the control module 220 may include instructions that, when executed by the processor(s) 110, cause the processor(s) 110 to display guidance lines identifying potential trajectories of the vehicle 102 on the user interface 130. As an example, the control module 220 may display one or more guidance lines identifying potential trajectories of the vehicle 102 on the touch screen 135. The guidance lines are based on a steering angle input and a direction input. The steering angle input may be a clockwise or counterclockwise rotation of the steering wheel. The direction input may be a forward direction, as indicated when the vehicle 102 is in a driving mode, or a reverse direction, as indicated when the vehicle 102 is in a reverse mode.

[0033] In one embodiment, the control module 220 can receive data input in the form of a steering angle of the vehicle 102. In addition, the control module 220 can receive data input in the form of a potential travel path direction. The control module 220 can use various active or passive techniques to obtain the steering angle and / or potential travel path direction. For example, the control module 220 can passively sniff data input from the electronic information stream provided by various sensors to other components within the vehicle 102. As another example, the control module 220 can actively request and / or poll the steering system 143 and / or the transmission system 145 to obtain data input. In such an example, the control module 220 can receive a steering angle from the steering system 143 and / or a direction (e.g., forward or reverse) from the transmission system 145.

[0034] Based on the steering angle input and the direction input, the control module 220 generates (one or more) guide lines including length, curvature, and / or direction. As an example, if the steering wheel is rotated counterclockwise, the (one or more) guide lines extending from the position of the vehicle 102 may extend to the left. As another example, if the steering wheel is rotated clockwise, the (one or more) guide lines extending from the position of the vehicle 102 may extend to the right. If the direction is forward, the (one or more) guide lines may extend from the front of the vehicle 102; and if the direction is reverse, the (one or more) guide lines may extend from the rear of the vehicle 102. The control module 220 may use any suitable method or algorithm to determine and generate the (one or more) guide lines. The control module 220 then displays the (one or more) guide lines on the user interface 130, or more specifically, on the touch screen 135. As previously described, the control module 220 displays the guide lines on the touch screen 135 that identify the potential trajectory of the vehicle 102. The control module 220 can display a representation of the vehicle 102 and (one or more) guide lines that start from the front or rear of the representation of the vehicle 102 and reach a destination point. The destination point of the guide line is based on the range of the sensors located on the vehicle 102. In other words, the (one or more) guide lines can have two endpoints - a starting point and a destination point. The starting point of the guide line is located at the vehicle 102. Depending on the direction input, the starting point of the guide line can start from the front or rear of the vehicle 102. The destination point is the other end of the guide line. The destination point is within the range of the sensors in the sensor system 120. In other words, the destination point can extend as far as possible without exceeding the area that can be observed by any sensor on the sensor system 120 of the vehicle 102.

[0035] In one embodiment, the control module 220 may include instructions that, when executed by the processor(s) 110, cause the processor(s) 110 to update the shape of a guide line (also referred to as an original guide line) based on user input along the length of the original guide line on the user interface 130 and / or touch screen 135, thereby generating an updated guide line. The user input may change the curvature of the length of the original guide line and / or the destination point of the original guide line to generate an updated guide line. The user input may generate another guide line (also referred to as a branch guide line). The branch guide line may include a starting point and a destination point. The starting point of the branch guide line may be along the length of the original guide line or the length of the updated guide line. In other words, the branch guide line may start from a point along the length of the original guide line or the length of the updated guide line. The destination point of the branch guide line is also within the range of the sensor system 120 of the vehicle 102.

[0036] The control module 220 may receive user input from the user via a stylus or a user's finger. For example, the control module 220 may modify the curvature of the original guide line in response to the user pushing the stylus along the length of the original guide line. For another example, the control module 220 may extend the length of the original guide line and / or the position of the destination point in response to the user extending the length of the original guide line using a stylus or a finger.

[0037] As an example, the control module 220 can receive user input from a user via the user interface 130, which includes a knob, a slider, a switch, a keyboard, a button, a joystick, a mouse, a trackball, a microphone, gesture recognition (radar, lidar, camera, or ultrasonic-based), and / or a combination thereof.

[0038] As an example, the control module 220 can generate a branch guide line in response to the user touching a point along the length of the original guide line or the length of the updated guide line and drawing a branch guide line, so that the branch guide line starts from the point along the original guide line, extends along the direction drawn by the user, and finally reaches the destination point. In one example, a portion of the original guide line and the branch guide line become the updated guide line. In such an example, the updated guide line includes the original guide line from the starting point to the point where the branch guide line starts on the original guide line and the length of the branch guide line. Alternatively, the control module 220 changes the original guide line to the first updated guide line and generates a branch guide line starting from a point on the first updated guide line. In this case, the first updated guide line from the starting point (on the vehicle 102) to the point where the branch guide line starts on the first updated guide line and the length of the branch guide line form the second updated guide line.

[0039] In one embodiment, the control module 220 may include instructions that, when executed by the processor(s) 110, cause the processor(s) 110 to transmit a control signal to the vehicle control system that causes the vehicle 102 to travel along the updated guideline. Thus, in response to the vehicle control system receiving the control signal, the vehicle control system may cause the vehicle 102 to travel along the updated guideline or the second updated guideline. The vehicle 102 may employ any suitable vehicle control system to identify and travel along the updated guideline. As an example, the vehicle 102 may be an autonomous vehicle and may include an autonomous driving system 160 that may control the vehicle 102 to travel along the updated guideline or the second updated guideline.

[0040] The control module 220 can detect an obstacle on the updated guide line or the second updated guide line, and can control the vehicle 102 to slow down or stop traveling along the updated guide line or the second updated guide line in response to the vehicle sensor detecting the obstacle on the updated guide line or the second updated guide line. When the control module 220 detects a branch (or fork in the road) in the guide line, the control module 220 can control the vehicle 102 to switch from traveling along the original guide line or the first updated guide line to traveling along the branch guide line.

[0041] Figure 3 A method 300 for controlling a vehicle is shown. The method 300 will start from Figure 1 Vehicle 102 and Figure 2 However, the method 300 may be adapted for execution in any of several different situations and need not necessarily be performed by Figure 1 Vehicles and / or Figure 2 The automatic trajectory guidance and execution system 100 is executed.

[0042] At step 310, the control module 220 may cause the processor(s) 110 to display a guideline (also referred to as a raw guideline) identifying the potential trajectory of the vehicle on a user interface. The guideline is based on the steering angle input and the direction input. As previously described, and as an example, the control module 220 may generate a guideline based on the steering angle input and the direction input. The control module 220 may then display the guideline on the user interface.

[0043] At step 320, the control module 220 may cause the processor(s) 110 to update the shape of the guideline based on user input along the length of the guideline on the user interface to generate an updated guideline. As previously disclosed, the control module 220 may modify the shape of the guideline based on the user touching the guideline, swiping left or right on the guideline. The control module 220 may generate the updated guideline based on the modified shape of the original guideline.

[0044] At step 330, the control module 220 may cause the processor(s) 110 to transmit a control signal to the vehicle control system, which causes the vehicle 102 to travel along the updated guideline. As previously described, the control module 220 may activate the vehicle control system (such as the autonomous driving system 160) to cause the vehicle 102 to travel along the updated guideline. As an example, the control module 220 may determine the driving speed of the vehicle 102 and, in the case of multiple guidelines (such as multiple branching guidelines), may further select a guideline for the vehicle 102 to follow.

[0045] Method 300 may end. Alternatively, method 300 may return to step 310 or some other step.

[0046] Now combine Figures 4A-4E Non-limiting examples of the operation of the automated trajectory guidance and execution system 100 and / or one or more methods are described. Figure 4A An example of a driving scenario is shown in which a user 420 rotates a steering wheel 404 counterclockwise and a vehicle 402 is in reverse mode 406. Vehicle 402 includes a touch screen 408. In response to the user placing vehicle 402 in reverse mode 406, control module 220 displays a representation 410 of vehicle 402 and guide lines 412 on touch screen 408.

[0047] like Figure 4B As shown in FIG, user 420 changes guide line 412 by touching two points 414A and 414B along the length of guide line 412 on touch screen 408. Control module 220 receives the input changes from user 420.

[0048] like Figure 4C , control module 220 updates guideline 412 to updated guideline 412B based on the changes received from user 420. As an example, user 420 activates vehicle 402 to cause vehicle 402 to travel along updated guideline 412B, and in response, control module 220 may activate the autonomous vehicle system to cause vehicle 402 to travel along updated guideline 412B.

[0049] As another example, and as Figure 4D As shown in , user 420 can touch touch screen 408 at point 414C along the length of updated guide line 412B and draw another guide line (also referred to as a branching guide line) 412C.

[0050] like Figure 4E As shown in , the control module 220 transmits a control signal to the vehicle control system, which causes the vehicle 402 to travel along the updated guide line 412B until the vehicle 402 reaches the point 414C where the updated guide line 412B intersects the branch guide line 412C, and the control module 220 can choose to cause the vehicle 402 to travel along the branch guide line 412C based on the input from the user 420.

[0051] We will now discuss in detail Figure 1, as an example environment in which the systems and methods disclosed herein may operate. In some cases, the vehicle 102 is configured to selectively switch between an autonomous mode, one or more semi-autonomous operating modes, and / or a manual mode. Such switching may be accomplished using any suitable means known in the art or developed later. "Manual mode" means that all or most of the navigation and / or steering of the vehicle is performed based on input received from a user (e.g., a human driver). In one or more arrangements, the vehicle 102 may be a conventional vehicle configured to operate only in manual mode.

[0052] In one or more embodiments, the vehicle 102 can be an autonomous vehicle. As used herein, an "autonomous vehicle" refers to a vehicle that operates in an autonomous mode. "Autonomous mode" refers to the use of one or more computing systems to control the vehicle 102, navigate and / or maneuver the vehicle 102 along the route of travel, with little or no input from a human driver. In one or more embodiments, the vehicle 102 is highly automated or fully automated. In one embodiment, the vehicle 102 is configured with one or more semi-autonomous operating modes in which one or more computing systems perform a portion of the navigation and / or maneuvering of the vehicle along the route of travel, and the vehicle operator (i.e., the driver) provides input to the vehicle to perform a portion of the navigation and / or maneuvering of the vehicle 102 along the route of travel.

[0053] The vehicle 102 may include one or more processors 110. In one or more arrangements, the processor(s) 110 may be the main processor of the vehicle 102. For example, the processor(s) 110 may be an electronic control unit (ECU). The vehicle 102 may include one or more data repositories 115 for storing one or more types of data. The data repositories 115 may include volatile memory and / or non-volatile memory. Examples of suitable data repositories 115 include RAM (random access memory), flash memory, ROM (read-only memory), PROM (programmable read-only memory), EPROM (erasable programmable read-only memory), EEPROM (electrically erasable programmable read-only memory), registers, a magnetic disk, an optical disk, a hard drive, or any other suitable storage medium, or any combination thereof. The data repositories 115 may be a component of the processor(s) 110, or the data repositories 115 may be operably connected to the processor(s) 110 for use thereby. As used throughout this specification, the term "operably connected" may include a direct connection or an indirect connection, including a connection without direct physical contact.

[0054] One or more data repositories 115 may include sensor data 119. In this context, "sensor data" refers to any information about sensors equipped by vehicle 102, including the capabilities and other information about those sensors. As explained below, vehicle 102 may include a sensor system 120. Sensor data 119 may relate to one or more sensors in sensor system 120. By way of example, in one or more arrangements, sensor data 119 may include information about one or more vehicle sensors 121 and / or environmental sensors 122 of sensor system 120.

[0055] In some cases, at least a portion of the sensor data 119 may be located in one or more data repositories 115 onboard the vehicle 102 . Alternatively or additionally, at least a portion of the sensor data 119 may be located in one or more data repositories 115 remote from the vehicle 102 .

[0056] As described above, the vehicle 102 may include a sensor system 120. The sensor system 120 may include one or more sensors. A "sensor" refers to any device, component, and / or system capable of detecting and / or sensing something. One or more sensors may be configured to detect and / or sense in real time. As used herein, the term "real time" refers to a level of processing responsiveness that allows a processor to keep up with an external process or process, such as a user or system's sensing that is sufficiently immediate for a particular process or determination to be performed.

[0057] In an arrangement where the sensor system 120 includes multiple sensors, these sensors may operate independently of one another. Alternatively, two or more sensors may operate in combination with one another. In this case, the two or more sensors may form a sensor network. The sensor system 120 and / or one or more sensors may be operatively connected to the processor(s) 110, the data repository(s) 115, and / or another element of the vehicle 102 (including Figure 1 ). The sensor system 120 may acquire data of at least a portion of the interior environment of the vehicle 102 and the exterior environment (eg, nearby vehicles).

[0058] The sensor system 120 may include any suitable type of sensor. Various examples of different types of sensors will be described herein. However, it will be understood that the embodiments are not limited to the specific sensors described. The sensor system 120 may include one or more vehicle sensors 121. The vehicle sensor(s) 121 may detect, determine, and / or sense information about the vehicle 102 itself. In one or more arrangements, the vehicle sensor(s) 121 may be configured to detect and / or sense changes in the position and orientation of the vehicle 102, such as based on inertial acceleration. In one or more arrangements, the vehicle sensor(s) 121 may include one or more accelerometers, one or more gyroscopes, an inertial measurement unit (IMU), a dead reckoning system, a global navigation satellite system (GNSS), a global positioning system (GPS), a navigation system 147, and / or other suitable sensors. The vehicle sensor(s) 121 may be configured to detect and / or sense one or more characteristics of the vehicle 102. In one or more arrangements, the vehicle sensor(s) 121 may include a speedometer to determine the current speed of the vehicle 102.

[0059] Alternatively or additionally, the sensor system 120 may include one or more environmental sensors 122 configured to acquire and / or sense data about the vehicle's surroundings. The sensor data about the vehicle's surroundings may include information about the external environment in which the vehicle is located, or one or more portions thereof.

[0060] As an example, the one or more environmental sensors 122 may be configured to detect, quantify, and / or sense vehicles or other objects, and / or information / data regarding such vehicles or objects, in at least a portion of the external environment of the vehicle 102. In the external environment, the one or more environmental sensors 122 may be configured to detect, measure, quantify, and / or sense vehicles and objects in the external environment of the vehicle 102, such as, for example, lane markings, signs, traffic lights, traffic signs, lane lines, crosswalks, curbs near the vehicle 102, off-road objects, roadside electronic devices, and the like.

[0061] Various examples of sensors of sensor system 120 will be described herein. These example sensors may be part of one or more environmental sensors 122 and / or one or more vehicle sensors 121. However, it will be understood that embodiments are not limited to the specific sensors described.

[0062] As an example, in one or more arrangements, the sensor system 120 may include one or more radar sensors 123, one or more lidar sensors 124, one or more sonar sensors 125, and / or one or more cameras 126. In one or more arrangements, the one or more cameras 126 may be a high dynamic range (HDR) camera or an infrared (IR) camera.

[0063] Vehicle 102 may include one or more communication modules 132. A "communication module" refers to a component designed to transmit and / or receive information from one source to another. One or more communication modules 132 transmit and / or receive information via one or more communication networks. The communication networks may include an internal vehicle communication network and an external communication network.

[0064] The vehicle internal communication network may include a bus in the vehicle 102, such as a controller area network (CAN), and / or other wired and / or wireless mechanisms. Components of the vehicle 102, such as the data repository 115, the sensor system 120, and the processor 110, may be communicatively linked to each other via the vehicle internal communication network. As used herein, the term "communicatively linked" may include a direct or indirect connection through a communication channel or pathway or another component or system. Each component of the vehicle 102 may include and / or execute suitable communication software that enables the various components to communicate with each other via the communication network and perform the functions disclosed herein.

[0065] The external communication network represents one or more mechanisms by which the vehicle 102 can communicate with other vehicles and / or objects (e.g., trailers, other vehicles, external servers, edge devices, and / or roadside units). The external communication network can be implemented as or include, but is not limited to, a wide area network (WAN), a local area network (LAN), a public switched telephone network (PSTN), a wireless network, a mobile network, a virtual private network (VPN), the Internet, one or more intranets, vehicle-to-vehicle (V2V) communication, vehicle-to-cloud (V2C) communication, vehicle-to-infrastructure (V2I) communication, and / or some other form of vehicle-to-everything (V2X) wireless communication. The external communication network may also be implemented as or include one or more wireless networks, whether short-range networks (e.g., local wireless networks built using Bluetooth or one of the IEEE 802 wireless communication protocols (e.g., 802.11a / b / g / i, 802.15, 802.16, 802.20, Wi-Fi Protected Access (WPA) or WPA2)) or long-range networks (e.g., mobile, cellular and / or satellite-based wireless networks; GSM, TDMA, CDMA, WCDMA networks, etc.). The communication module(s) 132 may include wired communication links and / or wireless communication links. The communication module(s) 132 may include any combination of the above networks and / or other types of networks.

[0066] Vehicle 102 may include one or more vehicle systems 140 . Figure 1 140 . However, the vehicle 102 may include more, fewer, or different vehicle systems 140. It should be appreciated that while specific vehicle systems are defined individually, each or any system or portion thereof may be combined or isolated in other ways via hardware and / or software within the vehicle 102. The vehicle 102 may include a propulsion system 141, a braking system 142, a steering system 143, a throttle system 144, a transmission system 145, a signaling system 146, and / or a navigation system 147. Each of these systems may include one or more devices, components, and / or combinations thereof now known or later developed.

[0067] The navigation system 147 may include one or more devices, applications, and / or combinations thereof, now known or later developed, configured to determine the geographic location of the vehicle 102 and / or determine the route of the vehicle 102. The navigation system 147 may include one or more mapping applications for determining the route of the vehicle 102. The navigation system 147 may include a global positioning system, a local positioning system, or a geographic positioning system.

[0068] The vehicle 102 may include one or more autonomous driving systems 160. The autonomous driving system 160 may include one or more devices, applications, and / or combinations thereof, now known or later developed, configured to control the movement, speed, handling, heading, direction, etc., of the vehicle 102. The autonomous driving system 160 may include one or more driver assistance systems, such as a lane keeping system, a lane centering system, a collision avoidance system, and / or a driver monitoring system.

[0069] The autonomous driving system(s) 160 can be configured to receive data from the sensor system 120 and / or any other type of system capable of capturing information related to the vehicle 102 and / or the environment outside of the vehicle 102. In one or more arrangements, the autonomous driving system(s) 160 can use such data to generate one or more driving scene models. The autonomous driving system(s) 160 can determine the location and speed of the vehicle 102. The autonomous driving system(s) 160 can determine the location of obstacles, obstructions, or other environmental features (including traffic signs, trees, shrubs, neighboring vehicles, pedestrians, etc.).

[0070] The vehicle 102 may include one or more actuators 150. The actuator 150 may be any element or combination of elements operable to modify, adjust, and / or alter one or more of the vehicle systems 140 or their components in response to receiving a signal or other input from the processor(s) 110 and / or the autonomous driving system(s) 160. Any suitable actuator may be used. For example, the one or more actuators 150 may include a motor, a pneumatic actuator, a hydraulic piston, a relay, a solenoid, and / or a piezoelectric actuator, to name a few possibilities.

[0071] The vehicle 102 may include one or more modules, at least some of which are described herein. These modules may be implemented as computer-readable program code that, when executed by the processor 110, implements one or more of the various processes described herein. One or more of these modules may be components of the processor(s) 110, or one or more of these modules may be executed on and / or distributed among other processing systems to which the processor(s) 110 are operatively connected. These modules may include instructions (e.g., program logic) that may be executed by the processor(s) 110. Alternatively or additionally, one or more data repositories 115 may contain such instructions.

[0072] In one or more arrangements, one or more of the modules described herein may include artificial intelligence or computational intelligence elements, such as neural networks, fuzzy logic, or other machine learning algorithms. Additionally, in one or more arrangements, one or more of these modules may be distributed among multiple modules described herein. In one or more arrangements, two or more of the modules described herein may be combined into a single module.

[0073] Detailed embodiments are disclosed herein. However, it should be understood that the disclosed embodiments are intended to be illustrative only. Therefore, the specific structural and functional details disclosed herein should not be construed as limiting, but rather as a basis for the claims and a representative basis for teaching those skilled in the art to employ the aspects described herein in various ways in virtually any appropriately detailed configuration. Additionally, the terms and phrases used herein are not intended to be limiting, but rather to provide an easily understood description of possible implementations. Figure 1 - Various embodiments are shown in FIG. 4 , but these embodiments are not limited to the structures or applications shown.

[0074] The flow chart and block diagram in the figure illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments.In this respect, each box in the flow chart or block diagram can represent a part for a module, fragment or code, which includes one or more executable instructions for realizing (one or more) specified logical functions.It should also be noted that, in some alternative embodiments, the function pointed out in the box may not occur in the order pointed out in the figure.For example, two boxes shown in succession can actually be performed substantially simultaneously, or sometimes can be performed in the opposite order, depending on the function involved.

[0075] The above-mentioned systems, components and / or processes can be implemented with hardware or a combination of hardware and software, and can be implemented in a centralized manner in one processing system, or in a distributed manner in which different elements are distributed among several interconnected processing systems. Any kind of processing system or another device suitable for performing the methods described herein is suitable. A typical combination of hardware and software can be a processing system with a computer-usable program code that, when loaded and executed, controls the processing system so that it performs the methods described herein. The systems, components and / or processes can also be embedded in a computer-readable storage device, such as a computer program product or other data program storage device, which is machine-readable and tangibly implements a machine-executable instruction program to perform the methods and processes described herein. These elements can also be embedded in an application product that includes all the features of the embodiments that implement the methods described herein and is capable of performing these methods when loaded into a processing system.

[0076] In addition, the arrangements described herein can take the form of a computer program product implemented in one or more computer-readable media, which has (e.g., stored thereon) a computer-readable program code. Any combination of one or more computer-readable media can be utilized. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The phrase "computer-readable storage medium" refers to a non-transitory storage medium. The computer-readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared or semiconductor system, device or apparatus, or any suitable combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media would include the following: a portable computer floppy disk, a hard disk drive (HDD), a solid-state drive (SSD), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), a digital versatile disc (DVD), an optical storage device, a magnetic storage device, or any suitable combination of the above devices. In the context of this document, a computer-readable storage medium can be any tangible medium that can contain or store a program for use by an instruction execution system, device or device or for use in conjunction with an instruction execution system, device or device.

[0077] In general, as used herein, module includes routines, programs, objects, parts, data structures etc. that perform specific tasks or realize specific data types. In other respects, memory generally stores the module. The memory associated with the module can be a buffer or cache memory embedded in a processor, RAM, ROM, flash memory or another suitable electronic storage medium. In other respects, the module envisioned by the present disclosure is implemented as a hardware component of an application specific integrated circuit (ASIC), a system on chip (SoC), a programmable logic array (PLA) or another suitable hardware component having embedded a configuration set (e.g., instruction) for performing the definition of the disclosed function.

[0078] Program code embodied on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical fiber, cable, RF, etc., or any suitable combination thereof. Computer program code for performing operations of various aspects of the present arrangement may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java. TM, Smalltalk, C++, etc.), as well as conventional procedural programming languages ​​(such as the "C" programming language or similar programming languages). The program code may execute entirely on the user's computer, partly on the user's computer as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or a connection may be established to an external computer (e.g., via the Internet using an Internet service provider).

[0079] As used herein, the terms "a" and "an" are defined as one or more than one. The term "plurality" as used herein is defined as two or more than two. The term "another" as used herein is defined as at least another one or more. The terms "include" and / or "have" as used herein are defined as including (i.e., open language). As used herein, the phrase "at least one of ... and ... " refers to and encompasses any and all possible combinations of one or more associated listed items. As an example, the phrase "at least one of A, B, and C" includes only A, only B, only C, or any combination thereof (e.g., AB, AC, BC, or ABC).

[0080] The various aspects herein may be embodied in other forms without departing from its spirit or essential attributes. Accordingly, reference should be made to the following claims, rather than to the foregoing specification, to indicate the scope thereof.

Claims

1. A method comprising: displaying, on a user interface, a guideline identifying a potential trajectory of the vehicle, the guideline based on the steering angle input and the direction input; updating a shape of the guide line based on user input along a length of the guide line on the user interface to generate an updated guide line; as well as A control signal is transmitted to a vehicle control system, wherein the control signal causes the vehicle to travel along the updated guide line. 2 . The method of claim 1 , wherein the destination point of the guideline is based on a range of a sensor located on the vehicle.

3. The method of claim 1 , wherein the direction input is one of the following: the direction of travel; or Backward direction.

4. The method of claim 1 , wherein the user interface is located in at least one of: vehicle; or mobile device.

5. The method of claim 1 , wherein the user input changes at least one of: the curvature of the length of the guide wire; or The destination point of the guide line.

6. The method of claim 1 , further comprising: A second control signal is transmitted to the vehicle control system, the second control signal causing the vehicle to decelerate in response to detecting an obstacle along the updated guide line.

7. The method of claim 1, wherein the user input generates another guide line, the another guide line including a starting point, and the starting point is along the length of the guide line.

8. A system comprising: processor; as well as a memory storing machine-readable instructions that, when executed by the processor, cause the processor to: displaying, on a user interface, a guideline identifying a potential trajectory of the vehicle, the guideline based on the steering angle input and the direction input; updating a shape of the guide line based on user input along a length of the guide line on the user interface to generate an updated guide line; as well as A control signal is transmitted to a vehicle control system, wherein the control signal causes the vehicle to travel along the updated guide line.

9. The system of claim 8, wherein the destination point of the guideline is based on a range of a sensor located on the vehicle.

10. The system of claim 8, wherein the directional input is one of the following: the direction of travel; or Backward direction.

11. The system of claim 8, wherein the user interface is located in at least one of: vehicle; or mobile device.

12. The system of claim 8, wherein the user input modifies at least one of: the curvature of the length of the guide wire; or The destination point of the guide line.

13. The system of claim 8, wherein the memory further stores machine-readable instructions that, when executed by the processor, cause the processor to: A second control signal is transmitted to the vehicle control system, the second control signal causing the vehicle to decelerate in response to detecting an obstacle along the updated guide line.

14. The system of claim 8, wherein the user input generates another guide line, the another guide line including a starting point, and the starting point is along a length of the guide line.

15. A non-transitory computer-readable medium comprising machine-readable instructions that, when executed by a processor, cause the processor to: displaying, on a user interface, a guideline identifying a potential trajectory of the vehicle, the guideline based on the steering angle input and the direction input; updating a shape of the guide line based on user input along a length of the guide line on the user interface to generate an updated guide line; as well as A control signal is transmitted to a vehicle control system, wherein the control signal causes the vehicle to travel along the updated guide line.

16. The non-transitory computer readable medium of claim 15, wherein the destination point of the guideline is based on a range of a sensor located on a vehicle.

17. The non-transitory computer-readable medium of claim 15, wherein the directional input is one of: the direction of travel; or Backward direction.

18. The non-transitory computer-readable medium of claim 15, wherein the user interface is located in at least one of: vehicle; or mobile device.

19. The non-transitory computer-readable medium of claim 15, wherein the user input modifies at least one of: the curvature of the length of the guide wire; or The destination point of the guide line.

20. The non-transitory computer-readable medium of claim 15, further comprising machine-readable instructions that, when executed by the processor, cause the processor to: A second control signal is transmitted to the vehicle control system, the second control signal causing the vehicle to decelerate in response to detecting an obstacle along the updated guide line.

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