CONTROL OF AN AUTONOMOUS VEHICLE WHEN THE AUTONOMOUS VEHICLE IS OUTSIDE ITS DESIGNED OPERATING DOMAIN

Abstract

System for controlling an autonomous vehicle when the autonomous vehicle is outside its operational design domain, wherein the system comprises: an environmental detection system; a vehicle control system; and a first electronic processor, wherein the first electronic processor is configured to: Detect (605) that an autonomous vehicle is outside its Operational Design Domain; Sending (610) a first electronic message, wherein the first electronic message requests that a vehicle located in the vicinity guide the autonomous vehicle until the autonomous vehicle returns to its Operational Design Domain or reaches a predetermined location; Determining (615) a lead vehicle by determining a vehicle that performs an unusual maneuver when moving directly in front of the autonomous vehicle; and such control (620) of the autonomous vehicle to follow the lead vehicle until the autonomous vehicle returns to its Operational Design Domain or reaches the predetermined location.

Description

AREA

[0001] Implementations relate to improving the operation of autonomous vehicles, for example when such vehicles are operated in environments where human-driven vehicles are also operated. BACKGROUND

[0002] Modern vehicles incorporate various semi-autonomous driving functions, such as adaptive cruise control, collision avoidance systems, self-parking, and the like. Fully autonomous driving is the goal, but has not yet been achieved, at least not to a market-ready and economically viable extent.

[0003] DE 10 2019 209 619 A1 discloses a method for operating an autonomously driving vehicle. The method includes operating the vehicle in a first autonomous driving mode by means of a control device based on sensor data acquired by a sensor system of the vehicle, determining from environmental data, which includes at least the sensor data, the presence of a handover condition at a handover point within a planned trajectory of the vehicle, establishing data communication with a lead vehicle operating in an autonomous driving mode in order to drive along a lead trajectory which includes the handover point, and operating the vehicle in a second autonomous driving mode at least partially based on initial auxiliary data provided by the lead vehicle.

[0004] DE 10 2018 121 697 A1 discloses a computing device programmed to form a convoy with a second vehicle when a fault is detected in sensor data from a first vehicle. The computing device can further be programmed to clean a sensor associated with the fault while driving in convoy with the second vehicle, including receiving replacement sensor data from the second vehicle.

[0005] DE 10 2018 103 787 A1 discloses a method comprising: instructing a host vehicle to follow a lead vehicle; monitoring the driving behavior of the lead vehicle; and instructing the host vehicle to stop following the lead vehicle based on an abnormal driving action by the lead vehicle.

[0006] DE 10 2018 131 930 A1 discloses systems and methods for implementing an anti-collision mechanism. A system for which a lead vehicle provides a VLC message (VLC = visible light transmission) to a following vehicle behind the lead vehicle includes a vehicle control subsystem of the lead vehicle for: receiving, via a sensor array interface, sensor data from a forward-facing sensor incorporated into the lead vehicle; determining, using a processor, from the sensor data that a hazard exists; triggering the application of brakes with a braking force; and triggering, via a light control, a VLC message to the following vehicle, wherein the VLC message contains the braking force.

[0007] DE 10 2018 117 284 A1 discloses a system and a method for performing communication management in a vehicle. The method includes receiving one or more messages for transmission from the vehicle and receiving inputs in addition to one or more messages for transmission. A communication manager selects one or more radio access technology (RAT) channels from the vehicle's available RAT channels to transmit one or more messages at a time. The available RAT channels include a cellular RAT channel, a WiFi RAT channel, a DSRC (Deep Range Communications) RAT channel, or a WiGig RAT channel. SUMMARY

[0008] The invention is defined by the independent claims. The dependent claims define advantageous embodiments. Autonomous vehicles are limited to autonomous operation within a certain Operational Design Domain (ODD). The ODD is defined by one or more parameters within which a trained electronic processor can operate an autonomous vehicle with a certain degree of confidence. Outside the ODD, it cannot be guaranteed that the autonomous vehicle will function as intended. Unfortunately, there are situations in which the autonomous vehicle (intentionally or unintentionally) moves outside its ODD.For example, if environmental conditions change (such as fog rolling in or it starting to snow) or if the autonomous vehicle is exposed to a traffic situation for which it is not trained (such as a construction site), the autonomous vehicle may move outside its ODD.

[0009] In some systems, an autonomous vehicle detects that it has left its ODD by analyzing the surrounding environment or by receiving information about the vehicle's current position along a route. For example, the autonomous vehicle might use image recognition methods to detect barricades and temporary signs, thereby determining that it is entering a construction zone. In another example, the vehicle might receive data, such as weather information, related to its current location. In some systems, a vehicle detects that it has left its ODD by evaluating parameters related to its ability to perceive its environment. These parameters might include, for example, calculated confidence or uncertainty values.

[0010] In existing systems, when an autonomous vehicle determines that it has left its ODD (Optical Designated Delivery), it can stop in a safe area or adjust its behavior, for example, by slowing down, until it returns to its ODD. Whether the autonomous vehicle stops or slows down, the change in its behavior can pose a hazard to nearby vehicles, as they may not be able to anticipate it. For example, a nearby vehicle's inability to anticipate the autonomous vehicle's behavior may stem from the fact that such behavior is not expected by a human driver.

[0011] To reduce the danger posed to nearby vehicles by changes in the behavior of an autonomous vehicle, embodiments described herein include a system for notifying one or more vehicles in the vicinity of the autonomous vehicle that the autonomous vehicle is moving outside its operational designation (ODD). In some embodiments, the autonomous vehicle can notify nearby vehicles that it is outside its ODD and may be behaving unusually. In some embodiments, the autonomous vehicle can send a message to one or more vehicles in its surroundings requesting that a nearby vehicle guide the autonomous vehicle until it re-enters its ODD.

[0012] For example, one embodiment provides a system for controlling an autonomous vehicle when the autonomous vehicle is outside its operational design domain. The system includes an environment detection system, a vehicle control system, and a first electronic processor. The first electronic processor is configured to detect that an autonomous vehicle is outside its operational design domain and to send a first electronic message. The first electronic message requests that a vehicle within the environment guide the autonomous vehicle until the autonomous vehicle returns to its operational design domain or reaches a predetermined location.The electronic processor is also configured to identify a lead vehicle and control the autonomous vehicle to follow the lead vehicle until the autonomous vehicle returns to its Operational Design Domain or reaches the predetermined location.

[0013] Another embodiment provides a method for controlling an autonomous vehicle when the autonomous vehicle is outside its operational design domain. The method includes detecting, using an electronic processor, that the autonomous vehicle is outside its operational design domain and sending an initial electronic message. This initial electronic message requests that a nearby vehicle guide the autonomous vehicle until it returns to its operational design domain or reaches a predetermined location. The method further includes identifying a guide vehicle and controlling the autonomous vehicle to follow the guide vehicle until it returns to its operational design domain or reaches the predetermined location.

[0014] Yet another embodiment provides a method for controlling an autonomous vehicle when the autonomous vehicle is outside its operational design domain. The method includes detecting, using an electronic processor, that the autonomous vehicle is outside its operational design domain and sending a first electronic message. The first electronic message requests that a nearby vehicle guide the autonomous vehicle until the autonomous vehicle returns to its operational design domain or reaches a predetermined location.The procedure further includes receiving one or more control signals, a trajectory, or both from a lead vehicle and controlling the autonomous vehicle based on the one or more received control signals, the received trajectory, or both, until the autonomous vehicle returns to its Operational Design Domain or reaches the predetermined location.

[0015] Further aspects, features and embodiments will become apparent upon consideration of the detailed description and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a block diagram of a system according to an embodiment for controlling an autonomous vehicle when the autonomous vehicle is outside its Operational Design Domain. Fig. 2 is a block diagram of a first electronic control system of Fig. 1 according to one embodiment. Fig. 3 is a block diagram of one in the system of Fig. 1 vehicle control system included according to one embodiment. Fig. 4 is a block diagram of one in the system of Fig. 1 environmental detection system included according to one embodiment. Fig. 5 is a block diagram of a second electronic control system of Fig. 1 according to one embodiment. Fig. 6 is a flowchart of a system of Fig. 1 using a method for controlling an autonomous vehicle when the autonomous vehicle is outside its Operational Design Domain, according to one embodiment. Fig. 7 is a representation of an exemplary situation in which the in Fig. The methods shown in section 6 can be carried out according to one embodiment. DETAILED DESCRIPTION

[0016] Before any embodiments are explained in more detail, it is understood that this disclosure is not intended to be limited in its application to the details of the design and arrangement of the components mentioned in the following description or illustrated in the following drawings. Embodiments may have other configurations and may be implemented or carried out in practice in various ways.

[0017] Several hardware- and software-based devices, as well as several different structural components, can be used to implement various embodiments. Furthermore, embodiments can include hardware, software, and electronic components or modules, which, for the purposes of discussion, may be presented and described as if the majority of the components were implemented solely in hardware. However, it is apparent to a person skilled in the art, based on reading this detailed description, that the electronics-based aspects of the invention, at least in one embodiment, can be implemented in software (for example, stored on non-volatile, computer-readable media) that is executable by one or more processors.For example, “control units” and “controls” described in the patent specification may include one or more electronic processors, one or more memory modules, including non-volatile computer-readable media, one or more input / output interfaces, one or more ASICs, and various connections (for example, a system bus) that connect the various components.

[0018] Fig. Figure 1 represents a system 100 for controlling an autonomous vehicle when the autonomous vehicle is outside its operational design domain. In the provided example, the system 100 includes an autonomous vehicle 105, a vehicle 110 located in the environment, and a server 112. Although depicted as four-wheeled vehicles, the autonomous vehicle 105 and the vehicle 110 located in the environment can be of various types and designs. For example, the autonomous vehicle 105 and the vehicle 110 located in the environment can be cars, motorcycles, trucks, buses, a semi-trailer truck, a combination of the foregoing, or the like. It is understood that the system 100 may include fewer or additional components than shown here. For example, in some embodiments, the system 100 does not include the server 112.

[0019] The autonomous vehicle 105 and the server 112 are communicatively coupled via a communication network 113. The communication network 113 can be implemented using a wide area network (e.g., the internet), a local area network (e.g., an Ethernet or Wi-Fi™ network), a cellular data network (e.g., a Long Term Evolution (LTE™) network), and combinations or derivatives thereof. In some embodiments, the autonomous vehicle 105 and the server 112 communicate through one or more intermediary devices, such as routers, gateways, or the like (not shown).

[0020] In the illustrated example, the autonomous vehicle 105 comprises various hardware components, including a vehicle control system 115, a first electronic controller 120, an environment detection system 125, a first output device 130, and a GPS 132. The first electronic controller 120 can be communicatively connected to the vehicle control system 115, the environment detection system 125, the first output device 130, and the GPS 132 via various wired or wireless connections. For example, in some embodiments, the first electronic controller 120 is directly coupled to each of the components of the autonomous vehicle 105 listed above via a dedicated line. In other embodiments, the first electronic controller 120 is connected to one or more of the components via a shared communication link, such as...a vehicle communication bus (for example, a CAN bus) or a wireless connection is communicatively coupled. It is understood that each of the components of the autonomous vehicle 105 can communicate with the first electronic control 120 using various communication protocols. The in . Fig. Figure 1 merely provides an example of the components and connections of the autonomous vehicle 105. The components and connections of the autonomous vehicle 105 may therefore be constructed differently than shown and described here. Furthermore, it is understood that the autonomous vehicle 105 may have fewer or additional components than those shown in Figure 1. Fig. 1 can be represented, encompassing. For example, the autonomous vehicle 105 may not encompass the first output device 130.

[0021] In the illustrated example, the vehicle 110 located in the vicinity also includes various hardware components, among them a second electronic control unit 135, an input device 137, and a second output device 140. The second output device 140 can be, for example, a loudspeaker or a display device (such as a touchscreen, a liquid crystal display (LCD), a light-emitting diode (LED) display, an OLED (organic light-emitting diode) display, an ELD (luminescent) display, and the like). The input device 137 can be, for example, one or more buttons (such as buttons on a steering wheel of the autonomous vehicle 105), a touchscreen (such as part of the display device), a microphone, a camera, or the like. The second electronic control unit 135 can be communicatively connected to one or more of the components via various wired or wireless connections.For example, in some embodiments, the second electronic control unit 135 is directly coupled to each of the components of the vehicle 110 listed above via a dedicated line. In other embodiments, the second electronic control unit 135 is communicatively coupled to each of the components of the vehicle 110 listed above via a shared communication link, such as a vehicle communication bus (e.g., a CAN bus) or a wireless connection. It is understood that each of the components of the vehicle 110 listed above can communicate with the second electronic control unit 135 using various communication protocols. The [details of the communication protocols are missing from the original text]. Fig. Figure 1 merely provides an example of the components and connections of the vehicle 110 located in the surrounding area. The components and connections of the vehicle 110 located in the surrounding area may therefore be constructed differently than shown and described here. It is further understood that the vehicle 110 located in the surrounding area may have fewer or additional components than those shown in Figure 1. Fig. 1 can be represented, encompassing.

[0022] At the in Fig. In the embodiment shown in Figure 1, the server 112 comprises one or more databases or can access one or more remote databases via the communication network 113. The one or more databases contain characteristic map data. For example, the characteristic map data can include current weather data for one or more locations and construction site data for one or more lanes.

[0023] Fig. Figure 2 is a block diagram of an exemplary embodiment of the first electronic control unit 120, which is used in the autonomous vehicle 105 by Fig. The first electronic control 120 comprises several electrical and electronic components that provide power, operational control, and protection for the components and modules within the first electronic control 120. The first electronic control 120 includes, among other things, a first electronic processor 200 (such as a programmable electronic microprocessor, a programmable electronic microcontroller, or a similar device), a first memory 205 (for example, non-volatile machine-readable memory), and a first communication interface 210. The first electronic processor 200 is communicatively connected to the first memory 205 and the first communication interface 210. The first electronic processor 200 is configured, in coordination with the first memory 205 and the first communication interface 210, to implement, among other things, the procedures described herein.The first electronic control 120 can be implemented in various independent controllers (for example, programmable electronic controllers), each configured to perform specific functions or sub-functions. Furthermore, the first electronic control 120 can include submodules comprising additional electronic processors, memory, or ASICs for handling communication functions, signal processing, and applying the methods listed below. In other embodiments, the first electronic control 120 comprises additional, fewer, or different components.

[0024] The first memory 205 of the first electronic control 120 comprises software which, when executed by the first electronic processor 200, causes the first electronic processor 200 to execute the exemplary method 600, which is described in Fig. 6 is shown, and is carried out. For example, the first memory comprises 205, which is shown in Fig. Figure 2 shows the ODD detection software 215, lead vehicle detection software 220, and vehicle follower software 225. In some embodiments, the first electronic processor 200, when executing the ODD detection software 215, determines whether the autonomous vehicle 105 is moving within its ODD. For example, the ODD detection software 215 may include a display of several types of surrounding environments located outside the ODD of the autonomous vehicle 105, one or more predetermined confidence thresholds, or both. The ODD detection software 215 may further include vision recognition algorithms configured to detect types of surrounding environments located outside the ODD of the autonomous vehicle 105.In some embodiments, the first electronic processor 200, when executing the lead vehicle detection software 220, determines which vehicle in the vicinity has consented to guide the autonomous vehicle 105. The lead vehicle detection software 220 may also include vision recognition algorithms configured to determine that the vehicle in the vicinity has consented to guide the autonomous vehicle 105. In some embodiments, data from sensors, such as radar sensors, lidar sensors, or the like, are used in addition to or instead of images from a camera to determine which vehicle in the vicinity has consented to guide the autonomous vehicle 105, to determine whether the autonomous vehicle 105 is moving within its ODD, or both.In some embodiments, the first electronic processor 200, when executing the vehicle following software 225, tracks the lead vehicle and determines actions to be performed by the autonomous vehicle 105 based on the behavior of the lead vehicle.

[0025] Fig. Figure 3 presents an example of the vehicle control system 115. The vehicle control system 115 comprises components involved in the autonomous or manual control of the autonomous vehicle 105. For example, in some embodiments, the vehicle control system 115 includes a steering system 300, brakes 305, and an accelerator pedal 310. The in Fig. The embodiment shown in Figure 3 merely provides an example of the components of the vehicle control system 115. In other embodiments, the vehicle control system 115 comprises additional, fewer, or different components.

[0026] Fig. Figure 4 is a block diagram of the environment detection system 125 of the autonomous vehicle 105. The environment detection system 125 includes, among other things, one or more electromagnetic radiation sensors. Examples of such sensors include a lidar sensor 400, a camera 405, and a radar sensor 410. The environment detection system 125 may also include a mechanical wave sensor, for example, an ultrasonic sensor 415, in addition to the electromagnetic radiation sensors. In one embodiment, the surrounding environment of the autonomous vehicle 105 is detected using only one sensor, for example, the camera 405. In other embodiments, the environment detection system 125 uses several sensors, such as the lidar sensor 400, the radar sensor 410, or the ultrasonic sensor 415, in combination with the camera 405.There can be more than one sensor for each of the sensors, and they can be positioned in different locations inside or on the exterior of the autonomous vehicle 105. For example, the camera 405, or components thereof, can be mounted externally on a part of the autonomous vehicle 105 (such as a side mirror or trunk lid). Alternatively, the camera 405, or components thereof, can be mounted internally within the autonomous vehicle 105 (for example, positioned on the rearview mirror). The sensors of the environment detection system 125 are configured to receive signals indicating the distance of the vehicle to elements in the surrounding environment of the autonomous vehicle and its position relative to these elements as the autonomous vehicle 105 moves from one point to another.

[0027] Fig. Figure 5 is a block diagram of an exemplary embodiment of the second electronic control unit 135, which is located in the vehicle 110 in the surrounding area. Fig. The second electronic controller 135 comprises several electrical and electronic components that provide power, operational control, and protection for the components and modules within the second electronic controller 135. The second electronic controller 135 includes, among other things, a second electronic processor 500 (such as a programmable electronic microprocessor, a programmable electronic microcontroller, or a similar device), a second memory 505 (for example, non-volatile machine-readable memory), and a second communication interface 510. The second electronic processor 500 is communicatively connected to the second memory 505 and the second communication interface 510. The second electronic processor 500 is configured, in coordination with the second memory 505 and the second communication interface 510, to implement, among other things, the procedures described herein.The second electronic controller 135 can be implemented in various independent controllers (for example, programmable logic controllers), each configured to perform specific functions or sub-functions. Furthermore, the second electronic controller 135 can include submodules comprising additional electronic processors, memory, or ASICs for handling communication functions, signal processing, and applying the methods listed below. In other embodiments, the second electronic controller 135 includes additional, fewer, or different components.

[0028] Fig. Figure 6 presents an example of a method 600 for controlling an autonomous vehicle when the autonomous vehicle is outside its Operational Design Domain. In step 605, the first electronic processor 200, while executing the ODD detection software 215, detects that the autonomous vehicle 105 is outside its ODD. In some embodiments, the first electronic processor 200 determines a type of surrounding environment in which the autonomous vehicle 105 is located to determine whether the autonomous vehicle 105 is outside its ODD. For example, in the Fig. In the exemplary situation shown in Figure 7, the camera 405 of the autonomous vehicle 105 captures an image that includes one or more traffic cones 700 and a construction site sign 705. Using the image captured by the camera 405, the first electronic processor 200 can determine that the autonomous vehicle 105 is entering a construction site and is therefore about to leave its ODD. For example, the first electronic processor 200 can use a computer vision algorithm, such as a convolutional neural network (CNN), to detect the one or more traffic cones 700 and the construction site sign 705.Based on the one or more traffic cones 700 and the construction site sign 705 located in the surrounding environment, the first electronic processor 200 can determine that the autonomous vehicle 105 is entering a construction site, and a construction site can be defined as a type of surrounding environment located outside the ODD of the autonomous vehicle 105. In some embodiments, the first electronic processor 200 calculates a confidence level to determine whether the autonomous vehicle 105 is outside its ODD. For example, the first electronic processor 200 can use the data received from one or more of the sensors included in the environment detection system 125 to calculate a confidence level for the surrounding environment of the autonomous vehicle 105.For example, if the first electronic processor 200 cannot determine the position or presence of road markings 710 with confidence (e.g., greater than 75 percent certainty that the position of the road markings 710 determined by the first electronic processor 200 is the correct position of the road markings 710), the first electronic processor 200 can assign a low confidence level to the surrounding environment of the autonomous vehicle 105. If the calculated confidence level for the surrounding environment of the autonomous vehicle 105 is below the predetermined confidence level assigned to the ODD of the autonomous vehicle 105, the first electronic processor 200 determines that the autonomous vehicle 105 is outside its ODD.In other embodiments, the first electronic processor 200 is configured to determine, using the geographic position of the autonomous vehicle 105 and map data associated with that geographic position, whether the autonomous vehicle 105 is outside its ODD. For example, the first electronic processor 200, together with the current position of the autonomous vehicle 105, which is acquired by the GPS 132, can send a request to the server 112 for map data associated with the position of the autonomous vehicle 105. The server 112 can retrieve map data associated with the current position of the autonomous vehicle 105 by performing a lookup step in one or more databases.Server 112 forwards the retrieved map data (for example, the current weather associated with the present position of the autonomous vehicle 105, and an indication of whether the vehicle 105 is in or approaching a construction site, traffic accident, or the like) to the first electronic processor 200. In some embodiments, Server 112, instead of the first electronic processor 200, determines whether the autonomous vehicle 105 is outside its ODD. For example, Server 112 can receive a position associated with the autonomous vehicle 105, and based on data associated with that position (for example, weather data, ambient light, presence of emergency vehicles, a combination of the above, or the like), Server 112 can determine whether the autonomous vehicle 105 is outside its ODD.It is understood that one or more methods for determining that the autonomous vehicle 105 is outside its ODD can be used alone or in combination.

[0029] In step 610, the first electronic processor 200 sends a first electronic message via the first communication interface 210 to one or more vehicles located in the vicinity of the autonomous vehicle 105. In some embodiments, the first electronic processor 200 determines that the one or more vehicles located in the vicinity are within the field of view of one or more cameras attached to or in the autonomous vehicle 105, vehicles within the transmission range of a communication network (for example, a vehicle-to-vehicle communication network with a transmission range of 300 meters from the autonomous vehicle 105, a Bluetooth™ network with a transmission range of 100 meters from the autonomous vehicle 105, or the like), a combination of the foregoing, or the like.In some embodiments, the server 112 identifies one or more vehicles located in the vicinity of the autonomous vehicle 105. For example, the server 112 can receive the positions of several vehicles, including the autonomous vehicle 105, and identify the vehicles in the vicinity as having received positions within 1000 feet of the received position of the autonomous vehicle 105. The first electronic message can be transmitted over short-range wireless networks, such as a Bluetooth™ network, vehicle-to-vehicle communication network, or the like. The first electronic message requests that one or more vehicles in the vicinity guide the autonomous vehicle 105 until the autonomous vehicle 105 returns to its ODD or reaches a predetermined location.The predetermined location can be included in the initial electronic message and can be an address, an exit, an entrance, an intersection, geographical coordinates, or the like. In the [unclear text] Fig. In the example shown in Figure 7, the first electronic message can be received by vehicle 110 and vehicle 715, both located nearby. The first electronic message can be presented to the driver of vehicle 110 via the second output device 140. For example, the first electronic message can be broadcast over a loudspeaker as, “Would you allow the red van with license plate XYZ-123 to proceed to the intersection of 1 st"Street and Main Street?" will be displayed. In some embodiments, the driver of the nearby vehicle 110 can agree or decline to drive the autonomous vehicle 105 via the input device 137. In some embodiments, financial compensation can be offered for driving the autonomous vehicle 105. If a driver of the nearby vehicle 110 agrees to drive the autonomous vehicle 105, the first electronic processor 200 receives a second electronic message from the nearby vehicle 110 that it is assuming the role of the lead vehicle.

[0030] In some embodiments, the lead vehicle positions itself in front of the autonomous vehicle 105 and moves ahead of it to guide the autonomous vehicle 105. The autonomous vehicle 105 can identify and follow vehicles in its vicinity in various ways. In one example, at step 615, the first electronic processor 200 determines or identifies the lead vehicle. In other words, the first electronic processor 200 determines which vehicle within the autonomous vehicle 105's field of view has consented to guide the autonomous vehicle 105. In some embodiments, the first electronic processor 200 uses computer vision algorithms to detect a visual signal from a vehicle located directly in front of the autonomous vehicle 105.For example, the first electronic processor 200 can detect a hand movement made by the driver of the vehicle directly in front of the autonomous vehicle 105, a signal (e.g., flashing warning lights) generated by the lights (e.g., taillights) of the vehicle directly in front of the autonomous vehicle 105, or the like. In some embodiments, the first electronic processor 200 identifies the lead vehicle by detecting the license plate of a vehicle that matches a license plate contained in the second electronic message. In some embodiments, the first electronic processor 200 can identify the lead vehicle as a vehicle performing an unusual maneuver (e.g., crossing multiple lanes) to position itself directly in front of the autonomous vehicle 105.It is understood that one or more of the methods for determining the lead vehicle can be used alone or in combination.

[0031] In step 620, the first electronic processor 200 controls the autonomous vehicle 105 to follow the lead vehicle until the autonomous vehicle 105 returns to its operational design domain or reaches a predetermined location. For example, the first electronic processor 200 uses the environment detection system 125 to track the movement and actions of the lead vehicle and uses the vehicle control system 115 to control the autonomous vehicle 105 based on the lead vehicle's movement. For example, if the lead vehicle slows down to 55 mph, the first electronic processor 200 activates the brakes 305 to slow the autonomous vehicle 105 to 55 mph.In another example, when the lead vehicle activates its right turn signal and moves into the right lane, the first electronic processor 200 activates the right turn signal of the autonomous vehicle 105 and moves the autonomous vehicle 105 into the right lane. Once the autonomous vehicle 105 reaches its predetermined location or returns to its ODD, it stops following the lead vehicle. In some embodiments, the autonomous vehicle 105 can send an electronic message to the lead vehicle indicating that it will no longer follow it.

[0032] In some embodiments, a vehicle located in the vicinity can guide the autonomous vehicle 105 without positioning itself in front of it. For example, the lead vehicle can send a trajectory, one or more control signals, or both, to the first electronic processor 200 of the autonomous vehicle 105. The trajectory, the one or more control signals, or both can be transmitted via short-range wireless networks, such as a Bluetooth™ network, a vehicle-to-vehicle communication network, or the like. In some embodiments, the lead vehicle can periodically send an updated trajectory, one or more updated control signals, or both, to the autonomous vehicle 105.The first electronic processor 200 controls the autonomous vehicle 105 based on the trajectory, one or more control signals, or both, received from the lead vehicle, until the autonomous vehicle 105 returns to its operational design domain or reaches a predetermined location. The trajectory, the control signals, or both can be determined by an electronic processor of the lead vehicle (for example, the second electronic processor 500 of the nearby vehicle 110) based on the movement and position of the autonomous vehicle 105.

[0033] The second electronic processor 500 can determine the movement and position of the autonomous vehicle 105 using data received from the autonomous vehicle 105's environmental detection system 125, data from an environmental detection system (not shown) of the vehicle 110 located in the vicinity, or both. The environmental detection system of the vehicle 110 located in the vicinity, like the environmental detection system 125, can include a camera, a lidar sensor, a radar sensor, an ultrasonic sensor, a combination of the foregoing, or the like.

[0034] In some embodiments, the second electronic processor 500 determines or identifies the autonomous vehicle 105. In other words, the second electronic processor 500 determines which vehicle in the lead vehicle's field of vision is the autonomous vehicle 105. In some embodiments, the second electronic processor 500 uses computer vision algorithms to detect a visual signal from a vehicle and determines that the vehicle is the autonomous vehicle 105. For example, the second electronic processor 500 may detect a hand movement made by the vehicle's driver, a signal generated by the vehicle's lights (such as flashing warning lights), or the like. In some embodiments, the first electronic processor 200 determines the autonomous vehicle 105 by detecting the license plate on a vehicle that matches a license plate contained in the first electronic message.In some embodiments, the first electronic processor 200 can identify the autonomous vehicle 105 as performing an unusual maneuver, such as abruptly slowing down or stopping. It is understood that one or more methods for identifying the autonomous vehicle 105 can be used alone or in combination.

[0035] In some embodiments, the first electronic processor 200 can be configured to slow down or stop the autonomous vehicle 105 if the autonomous vehicle 105 moves outside its ODD. For example, the first electronic processor 200 can be configured to slow down or stop until a nearby vehicle positions itself directly in front of the autonomous vehicle 105 and the autonomous vehicle 105 detects that the nearby vehicle 110 consents to the autonomous vehicle 105 taking control. The first electronic processor 200 can also be configured, when the autonomous vehicle 105 is outside its ODD, to perform one or more actions to warn vehicles in the vicinity of the autonomous vehicle 105 that the autonomous vehicle 105 may behave unusually (for example, unexpectedly slow down or stop).In one example, the first electronic processor 200 can send an electronic message to vehicles in the vicinity of the autonomous vehicle 105, and the vehicles in the vicinity can output the electronic message to their drivers via output devices, such as the second output device 140. The electronic message might state, for example, "Unfortunately, the nearby autonomous vehicle must slow down," "Please overtake," "Novice driver, please be patient," or the like. In another example, the first electronic processor 200 can use the first output device 130 to indicate to vehicles in the vicinity of the autonomous vehicle 105 that they should be careful around the autonomous vehicle 105. For example, the first output device 130 could be one or more lights.A red light can indicate that the autonomous vehicle 105 is outside its ODD, and a green light can indicate that the autonomous vehicle 105 is inside its ODD. The first output device 130 can also include one or more lights with an additional function to alert nearby vehicles that the autonomous vehicle 105 is outside its ODD. For example, the first output device 130 can be the taillights, headlights, turn signals, a combination of the foregoing, or the like. In one example, the first electronic processor 200 can be configured to illuminate the taillights and headlights of the autonomous vehicle 105 every 5 seconds while the autonomous vehicle 105 is outside its ODD.It is understood that one or more of the methods for warning vehicles in the vicinity of the autonomous vehicle 105 that the autonomous vehicle 105 is outside its ODD and may be behaving unusually can be used alone or in combination.

[0036] In some embodiments, the first electronic processor 200 can, instead of or in addition to direct communication with autonomous vehicles as described above, send electronic messages to an infrastructure in the surrounding environment of the autonomous vehicle 105. For example, the first electronic processor 200 can send the first electronic message to an electronic traffic sign, and the electronic traffic sign can display a request for a lead vehicle and an indication of the autonomous vehicle 105. The request for a lead vehicle can be removed from the display on the electronic traffic sign when the electronic traffic sign receives an electronic message from the lead vehicle or the autonomous vehicle 105 indicating that the autonomous vehicle 105 is being led, or after a predetermined period of time.In some embodiments, the first electronic processor 200 sends an electronic message to an electronic traffic sign, requesting that the traffic sign display an electronic message warning nearby vehicles that the autonomous vehicle 105 is outside its ODD and may behave unusually. In some embodiments, the warning is removed from the traffic sign after a predetermined period of time.

[0037] Specific embodiments have been described in the preceding patent specification. However, a person skilled in the art will recognize that various modifications and alterations can be made without deviating from the scope of protection of the invention as set forth in the following claims. Accordingly, the patent specification and figures should be regarded as illustrative rather than limiting, and all such modifications should be included within the scope of protection of the present teachings.

[0038] In this document, relational terms, such as first and second, upper and lower, and the like, may be used merely to distinguish one entity or action from another, without necessarily requiring or implying any actual relationship or order of such an entity or action between such entities or actions. The terms "includes," "comprising," "indicates," "indicating," "contains," "including," "contains," "containing," or any other variation thereof are intended to cover non-exclusive inclusion, so that a process, procedure, article, or facility that includes, exhibits, includes, or contains a list of items may include not only those items but may also include other items not expressly listed or inherent in such process, procedure, article, or facility. An item that "includes..." or "contains..."The phrase "or contains a..." preceding the phrase does not, without further limitations, exclude the presence of additional identical elements in the process, method, article, or equipment that includes, features, incorporates, or contains the element. The terms "a" and "an" are defined as one or more unless expressly stated otherwise herein. The terms "essentially," "substantially," "approximately," "about," or any other version thereof are defined as being close to what a person skilled in the art would understand, and in one non-limiting embodiment, the term is defined as being within 10%, in another embodiment within 5%, in another embodiment within 1%, and in another embodiment within 0.5%. The term "coupled," as used herein, is defined as connected, although not necessarily directly and not necessarily mechanically.A device or structure that is “configured” in a certain way is configured in at least that way, but may also be configured in ways that are not listed.

[0039] Various features, advantages and embodiments are listed in the following claims.

Claims

[1] System for controlling an autonomous vehicle when the autonomous vehicle is outside its Operational Design Domain, wherein the system comprises: an environmental detection system; a vehicle control system; and a first electronic processor, wherein the first electronic processor is configured to: Detect (605) that an autonomous vehicle is outside its Operational Design Domain; Sending (610) a first electronic message, wherein the first electronic message requests that a vehicle located in the vicinity guide the autonomous vehicle until the autonomous vehicle returns to its Operational Design Domain or reaches a predetermined location; Determining (615) a lead vehicle by determining a vehicle that performs an unusual maneuver when moving directly in front of the autonomous vehicle; and such control (620) of the autonomous vehicle to follow the lead vehicle until the autonomous vehicle returns to its Operational Design Domain or reaches the predetermined location. [2] System according to claim 1, wherein the first electronic processor is configured to detect (605), using a geographic position of the autonomous vehicle and map data associated with the geographic position, that an autonomous vehicle has left its Operational Design Domain. [3] System according to claim 1, wherein the first electronic processor is configured to detect (605) that an autonomous vehicle has left its operational design domain by: Calculate using the environment detection system of a confidence level assigned to the surrounding environment of the autonomous vehicle; and If the confidence level is below a predetermined confidence level, determine that the autonomous vehicle is outside its operational design domain. [4] System according to claim 1, wherein the first electronic processor is configured to detect (605) that an autonomous vehicle has left its operational design domain by: Determine, using the environmental detection system, a type of surrounding environment in which the autonomous vehicle is located; and Determine whether the autonomous vehicle is outside its Operational Design Domain, based on the nature of the surrounding environment. [5] System according to claim 1, wherein the Operational Design Domain is one or more parameters within which the first electronic processor trained for this purpose can operate the autonomous vehicle with a certain level of confidence. [6] System according to claim 1, wherein the first electronic processor is configured to: Receiving a second electronic message from a nearby vehicle acting as the lead vehicle, the second electronic message including the lead vehicle's license plate number; and Determining the lead vehicle by identifying a vehicle with a license plate that matches the license plate contained in the second electronic message. [7] System according to claim 1, wherein the first electronic processor is configured to determine (615) the lead vehicle by: Detecting a visual signal generated by a vehicle or the driver of the vehicle located in front of the autonomous vehicle; and Determine that the lead vehicle is the vehicle generating the visual signal, or the vehicle with the driver generating the visual signal. [8] System according to claim 1, wherein the predetermined position is contained in the first electronic message. [9] System according to claim 1, wherein the first electronic processor is further configured to slow down or stop the autonomous vehicle until the lead vehicle is determined. [10] System according to claim 9, wherein the first electronic processor is further configured to warn vehicles in the vicinity of the autonomous vehicle that the autonomous vehicle is stopping or slowing down. [11] System according to claim 10, wherein the first electronic processor is further configured to warn vehicles that are in the vicinity of the autonomous vehicle by sending a message to be issued by an output device of each of the one or more vehicles that are in the vicinity. [12] Method for controlling an autonomous vehicle when the autonomous vehicle is outside its operational design domain, the method comprising: Detect (605) using an electronic processor that an autonomous vehicle is outside its Operational Design Domain; Sending (610) a first electronic message, wherein the first electronic message requests that a vehicle located in the vicinity guide the autonomous vehicle until the autonomous vehicle returns to its Operational Design Domain or reaches a predetermined location; Determining (615) a lead vehicle by determining a vehicle that performs an unusual maneuver when moving directly in front of the autonomous vehicle; and such control (620) of the autonomous vehicle to follow the lead vehicle until the autonomous vehicle returns to its Operational Design Domain or reaches the predetermined location. [13] Method according to claim 12, wherein the Operational Design Domain is one or more parameters within which the first electronic processor trained for this purpose can operate the autonomous vehicle with a certain level of confidence. [14] The method of claim 12, wherein the method further comprises Receiving a second electronic message from a nearby vehicle acting as the lead vehicle, the second electronic message including the lead vehicle's license plate number; and Determine (615) the lead vessel by identifying a vessel with a registration number that matches the registration number contained in the second electronic message. [15] Method according to claim 12, wherein determining (615) the guide vehicle Detecting a visual signal generated by a vehicle or the driver of the vehicle located in front of the autonomous vehicle; and Determine that the lead vehicle is the vehicle generating the visual signal, or the vehicle with the driver generating the visual signal. [16] Method according to claim 12, wherein the method further comprises slowing down or stopping the autonomous vehicle until the lead vehicle is determined. [17] Method according to claim 16, wherein the method further comprises warning vehicles that are in the vicinity of the autonomous vehicle that the autonomous vehicle is stopping or slowing down. [18] Method for controlling an autonomous vehicle when the autonomous vehicle is outside its operational design domain, the method comprising: Detect (605) using an electronic processor that an autonomous vehicle is outside its Operational Design Domain; Sending (610) a first electronic message, wherein the first electronic message requests that a vehicle located in the vicinity guide the autonomous vehicle until the autonomous vehicle returns to its Operational Design Domain or reaches a predetermined location; Determining (615) a lead vehicle by determining a vehicle that performs an unusual maneuver when moving directly in front of the autonomous vehicle; Receiving one or more control signals, a trajectory, or both from the lead vessel; and Controlling the autonomous vehicle based on one or more received control signals, the received trajectory, or both, until the autonomous vehicle returns to its Operational Design Domain or reaches the predetermined location.

Images