Controlled path plan

Abstract

In one embodiment, a system is provided that includes one or more sensors of a vehicle and a processor of the vehicle. The one or more sensors are configured to at least facilitate obtaining sensor data representing an intent of a user of the vehicle for the vehicle to perform a maneuver during an autonomous driving mode. The processor is coupled to the one or more sensors and configured to at least facilitate operating the vehicle in an autonomous manner in the autonomous driving mode via instructions provided by the processor; and executing the maneuver according to the instructions provided by the processor while the vehicle otherwise remains in the autonomous driving mode.

Description

introduction

[0001] The technical field relates generally to platforms such as vehicles, and more particularly to methods and systems for controlling movements in accordance with inputs provided by a user during an automatic driving mode, such as in vehicles.

[0002] Certain vehicles now have autonomous driving features, where the vehicle is controlled entirely or partially by autonomous driving via an on-board computer system. In certain situations, such vehicles can return control to the vehicle's user if the user so desires. However, in certain situations, such technologies may not optimally implement the user's intent while maintaining autonomous control over the vehicle's movement.

[0003] Accordingly, it is desirable to provide improved methods and systems for providing autonomous control incorporating user intent, e.g., for vehicles. Furthermore, other desirable features and characteristics of the present disclosure will become apparent from the following detailed description and the appended claims, taken in conjunction with the accompanying drawings and the foregoing technical field and background. Description

[0004] In an exemplary embodiment, a method is provided that includes: operating a vehicle in an autonomous manner in an autonomous driving mode via instructions provided by a processor of the vehicle; obtaining sensor data via one or more sensors of the vehicle, the sensor data representing an intent of a user of the vehicle for the vehicle to perform a maneuver during the autonomous driving mode; and performing the maneuver according to the instructions provided by the processor while the vehicle otherwise remains in the autonomous driving mode.

[0005] In an exemplary embodiment, the method further comprises interpreting, by the processor, a navigation intent of the user to perform the maneuver based on the sensor data.

[0006] In an exemplary embodiment, the sensor data reflects activation of a steering wheel of the vehicle by the user.

[0007] Also in an exemplary embodiment, the maneuver represents an intended lane change from a current lane in which the vehicle is traveling to an intended lane for execution by the processor while the processor maintains autonomous control of the vehicle.

[0008] In an exemplary embodiment, the method further comprises determining, via the processor using the sensor data, whether the intended lane is a feasible lane for the vehicle; wherein performing the maneuver is performed based on whether the intended lane is a feasible lane for the vehicle.

[0009] In an exemplary embodiment, determining whether the intended lane is a viable lane is based at least in part on the dimensions of the intended lane.

[0010] In an exemplary embodiment, determining whether the intended lane is a viable lane is based at least in part on traffic in the intended lane.

[0011] In an exemplary embodiment, determining whether the intended lane is a viable lane is based at least in part on the relative traffic volume in the intended lane compared to the current lane.

[0012] In an exemplary embodiment, the method further comprises determining, by the processor using the sensor data, whether a driver has one or more hands on the steering wheel; wherein performing the maneuver is performed based on whether the driver has one or more hands on the steering wheel.

[0013] In an exemplary embodiment, the method further comprises determining, via the processor using the sensor data, further comprising one or more camera images of a driver monitoring system, whether a driver is paying attention to a roadway on which the vehicle is traveling; wherein performing the maneuver is performed based on whether the driver is paying attention to the roadway.

[0014] In another exemplary embodiment, a system is provided that includes one or more sensors of a vehicle and a processor of a vehicle. The one or more sensors are configured to at least enable obtaining sensor data representative of an intent of a user of the vehicle for the vehicle to perform a maneuver during an autonomous driving mode. The processor is coupled to the one or more sensors and configured to at least enable operating the vehicle in an autonomous manner in the autonomous driving mode via instructions provided by the processor; and enabling performing the maneuver according to the instructions provided by the processor while the vehicle otherwise remains in the autonomous driving mode.

[0015] In an exemplary embodiment, the processor is further configured to enable at least interpreting a navigation intent of the user to perform the maneuver based on the sensor data.

[0016] Also in an exemplary embodiment, the sensor data reflects activation of a steering wheel of the vehicle by the user; and the maneuver represents an intended lane change from a current lane in which the vehicle is traveling to an intended lane for execution by the processor while the processor maintains autonomous control of the vehicle.

[0017] In an exemplary embodiment, the processor is further configured to enable, using the sensor data, at least determining whether the intended lane is a viable lane for the vehicle and performing the maneuver based on whether the intended lane is a viable lane for the vehicle.

[0018] In an exemplary embodiment, the processor is further configured to at least enable determining whether the intended lane is a viable lane based at least in part on the dimensions of the intended lane.

[0019] In an exemplary embodiment, the processor is further configured to at least enable determining whether the intended lane is a viable lane based at least in part on traffic in the intended lane.

[0020] In an exemplary embodiment, the processor is further configured to at least enable determining whether the intended lane is a viable lane based at least in part on a relative amount of traffic in the intended lane compared to the current lane.

[0021] In an exemplary embodiment, the processor is further configured to enable, using the sensor data, at least determining whether a driver has one or more hands on the steering wheel; and enabling performing the maneuver based on whether the driver has one or more hands on the steering wheel.

[0022] In an exemplary embodiment, the processor is further configured to enable, using the sensor data, further comprising one or more camera images of a driver monitoring system, at least determining whether a driver is paying attention to a roadway on which the vehicle is traveling; and performing the maneuver based on whether the driver is paying attention to the roadway.

[0023] In another exemplary embodiment, a vehicle is provided that includes a steering wheel, one or more sensors, and a processor. The one or more sensors are configured to enable at least obtaining sensor data representing an intent of a user of the vehicle for the vehicle to perform a maneuver during an autonomous driving mode based on the user activating the steering wheel.The processor is coupled to the one or more sensors and is configured to at least enable operating the vehicle in an autonomous manner in the autonomous driving mode via instructions provided by the processor; enable interpreting a user's navigation intent to perform the maneuver based on the sensor data; and enable performing the maneuver according to instructions provided by the processor while the vehicle otherwise remains in the autonomous driving mode. Brief description of the drawings

[0024] The present specification will now be described in conjunction with the following drawings, in which like numerals refer to like elements: Fig. 1 is a functional block diagram of a vehicle having a control system for controlling autonomous operation of the vehicle while taking into account subtle inputs from a user of the vehicle, according to exemplary embodiments; and Fig. 2 is a flowchart of a method for controlling autonomous operation of the vehicle incorporating subtle inputs from a user of the vehicle, which method is used in conjunction with the vehicle of Fig. 1 in accordance with exemplary embodiments. Detailed description

[0025] The following detailed description is merely exemplary and is not intended to limit the disclosure or its application and uses. Furthermore, there is no intention to be bound by any of the theories presented in the foregoing background or the following detailed description.

[0026] Fig. 1 illustrates a vehicle 100 according to an exemplary embodiment. As described in more detail below, the vehicle 100 includes, among other components, a control system 102 for controlling autonomous operation of the vehicle, incorporating subtle inputs from a user of the vehicle 100, according to exemplary embodiments.

[0027] In various embodiments, vehicle 100 comprises an automobile, such as any number of different types of automobiles, such as a sedan, a wagon, a truck, a sport utility vehicle (SUV), or the like. In certain embodiments, vehicle 100 may also comprise a motorcycle or other vehicle, such as an aircraft, a spacecraft, a watercraft, etc., and / or one or more other types of mobile platforms (e.g., a robot and / or other mobile platform).

[0028] In the illustrated embodiment, the vehicle 100 includes a body 104 disposed upon a chassis 116. The body 104 substantially encloses other components of the vehicle 100. The body 104 and the chassis 116 may together form a frame. The vehicle 100 also includes a plurality of wheels 112. The wheels 112 are each pivotally connected to the chassis 116 near a corner of the body 104 to facilitate movement of the vehicle 100. In one embodiment, the vehicle 100 includes four wheels 112, although this may vary in other embodiments (e.g., for trucks, motorcycles, and certain other vehicles).

[0029] A drive system 110 is mounted on the chassis 116 and drives the wheels 112, for example via the axles 114. In certain embodiments, the drive system 110 comprises a drive system with a motor 113.

[0030] As in Fig. 1, in various embodiments, the vehicle also includes a braking system 106 and a steering system 108. In example embodiments, the braking system 106 controls braking of the vehicle 100 using braking components provided via inputs from a driver (e.g., via a brake pedal 107) and / or automatically via a control system (such as the control system 102 and / or one or more other control systems).

[0031] In exemplary embodiments, the steering system 108 controls the steering of the vehicle 100 via steering components provided via inputs from a driver (e.g., via a steering wheel 109) and / or automatically via a control system (such as the control system 102 and / or one or more other control systems). In various embodiments, the steering wheel 109 is also used by a user of the vehicle 100 to provide subtle inputs regarding navigation intent, which are implemented via the control system 102 while maintaining autonomous control of the vehicle 100, for example, as in Fig. 2 and described in more detail below.

[0032] In the Fig. In the embodiment illustrated in Figure 1, the control system 102 is connected to the braking system 106, the steering system 108, and the drive system 110 and controls their operation and functionality. In various embodiments, the control system 102 also provides for autonomous control of the vehicle 100, including incorporating subtle user inputs, according to the Fig. 2 and described below in connection therewith.

[0033] As also in Fig. 1, the control system 102, in various embodiments, includes a sensor assembly 120 and a control unit 140, as described in more detail below.

[0034] In various embodiments, sensor assembly 120 includes various sensors that collect sensor data about vehicle 100, one or more users of the vehicle, and the roadway in which vehicle 100 is traveling (including the current lane and adjacent lanes that may serve as the intended lane based on user input). In the illustrated embodiment, sensor assembly 120 includes one or more steering sensors 122, sensing sensors 124, and user monitoring sensors 126. In certain embodiments, sensor assembly 120 may also include one or more other sensors 128.

[0035] In various embodiments, the steering sensors 122 receive sensor data about the steering of the vehicle 100, including a user's inputs for steering the vehicle 100 and / or the user's intent thereto. In certain embodiments, the steering sensors 122 detect a user's contact with the steering wheel 109 and / or activation of the steering wheel 109. Also in certain embodiments, the steering sensors 122 detect a direction of movement and / or activation of the steering wheel 109, an angular position and / or movement of the steering wheel 109, one or more other components of the steering system 108 and / or the wheels 112, torque, a deviation between the steering command and the actual steering, and / or one or more other measurements of the steering and / or steering intent.

[0036] In various embodiments, the sensing sensors 124 receive sensor data about a roadway on which the vehicle 100 is traveling. In various embodiments, this sensor data includes information about the lanes of the roadway, other vehicles and traffic in the lanes, and so on. In certain embodiments, the sensing sensors 124 include one or more radar, lidar sensors, cameras, and / or other perception and / or other sensing sensors 12 for determining information about the roadway.

[0037] In various embodiments, the monitoring sensors 126 receive sensor data about a driver and / or other user of the vehicle 100, including whether the user is awake, paying attention to the road, etc. In certain embodiments, the monitoring sensors 126 include one or more cameras inside the vehicle 100, e.g., as part of a driver monitoring system and / or a user monitoring system, or the like.

[0038] In certain embodiments, one or more other sensors 128 may include, for example, input sensors for user-selected activation and deactivation of an autonomous driving mode for the vehicle 100, among various other possible sensors in various embodiments.

[0039] In various embodiments, control unit 140 is connected to and receives sensor data from sensor assembly 120. In various embodiments, control unit 140 is also coupled to and controls the operation of braking system 106, steering system 108, and drive system 110.

[0040] In various embodiments, the control unit 140 controls the operation of the autonomous driving functionality for the vehicle 100, including via the control unit of the braking system 106, the steering system 108, and the propulsion system 110, and incorporating subtle inputs from a user of the vehicle 100 regarding navigation intent, among other sensor data. In various embodiments, the control unit 140 provides these functions in accordance with the steps of the process 200 described in Fig. 2 and is described in more detail below in connection with it.

[0041] As in Fig. 1, in various embodiments, the control unit 140 comprises a computer system (also referred to herein as computer system 140) that includes a processor 142, a memory 144, an interface 146, a storage device 148, and a computer bus 150.

[0042] The processor 142 performs the computation and control functions of the control unit 140 and may comprise any type of processor or multiple processors, individual integrated circuits such as a microprocessor, or any number of integrated devices and / or circuit boards that cooperate to perform the functions of a processing unit. During operation, the processor 142 executes one or more programs 152 contained in the memory 144 and, as such, controls the general operation of the control unit 140 and the computer system of the control unit 140, generally in the execution of the processes described herein, such as the process 200 of Fig. 2, which is described in connection with it below.

[0043] Memory 144 may be any suitable storage, including various types of non-transferable computer-readable storage media. In certain examples, memory 144 is located on and / or disposed on the same computer chip as processor 142. In the illustrated embodiment, memory 144 stores the aforementioned program 152 along with a map database 154 (e.g., of roads on which vehicle 100 can travel) and other stored values ​​157 (e.g., lookup tables, thresholds, and / or other values ​​related to autonomous control of vehicle 100).

[0044] The interface 146 enables communication with the computer system of the control unit 140, e.g., from a system driver and / or another computer system, and can be implemented using any suitable method and apparatus. In one embodiment, the interface 146 receives the various data from the sensor assembly 120, among other possible data sources. The interface 146 can include one or more network interfaces for communicating with other systems or components. The interface 146 can also include one or more network interfaces for communicating with technicians and / or one or more storage interfaces for connecting to storage devices, such as the device 148.

[0045] The storage device 148 may be any suitable type of storage device, including various types of random access memory and / or other storage devices. In an exemplary embodiment, the device 148 includes a program product from which the memory 144 can receive a program 152 that performs one or more embodiments of one or more processes of the present description, such as the steps of process 200 of Fig. 2, which are described below in connection therewith. In another exemplary embodiment, the program product may be stored and / or otherwise accessed directly in memory 144 and / or a disk (e.g., disk 156), as described below.

[0046] Bus 150 is used to transfer programs, data, status, and other information or signals between the various components of the computer system of control unit 140. Bus 150 may be any suitable physical or logical means for connecting computer systems and components. These include, but are not limited to, direct, hard-wired connections, fiber optic, infrared, and wireless bus technologies. During operation, program 152 is stored in memory 144 and executed by processor 142.

[0047] While this exemplary embodiment is described in the context of a fully functional computer system, those skilled in the art will recognize that the mechanisms of the present description may be distributed as a program product having one or more types of non-transitory, computer-readable, signal-bearing media used to store the program and its instructions and to effect its distribution, such as a non-transitory, computer-readable medium carrying the program and having computer instructions stored therein for causing a computer processor (such as processor 142) to execute and perform the program.

[0048] Fig. 2 is a flowchart of a process 200 for controlling autonomous operation of a vehicle by incorporating subtle inputs from a user of the vehicle, according to exemplary embodiments. In various embodiments, the method 200 may be used in connection with the vehicle 100 of Fig. 1, comprising the control system 102 and other components thereof.

[0049] As in Fig. 2, in various embodiments, the process 200 begins when an autonomous driving function is active (step 202). In various embodiments, this may comprise a standard function of the vehicle 100 and / or may be initiated by user inputs via one or more user input sensors (e.g., as one of the other sensors 128 of Fig. 1) or similar.

[0050] In various embodiments, sensor data is obtained (step 204). In particular, in certain embodiments, sensor data from the sensor array 120 is Fig. 1, including with respect to the vehicle 100, the users of the vehicle 100 and the roadway on which the vehicle 100 is traveling (e.g., also via the steering sensors 122, detection sensors 124 and monitoring sensors 126 of the sensor arrangement 120 of Fig. 1).

[0051] In various embodiments, it is determined whether multiple viable lanes are available (step 206). In particular, in various embodiments, it is determined whether, at a current position of the vehicle 100 on the roadway, the vehicle 100 has more than one viable lane in which the vehicle 100 can travel safely, smoothly, and continuously. In certain embodiments, this determination is made by the processor 142 of Fig. 1 based on sensor data from one or more detection sensors 124 (e.g., radar, lidar sensors, external cameras, or the like) of the sensor array 120 of Fig. 1 and / or via map data (e.g. from the map database 154 stored in the memory 144 of Fig. 1 is stored). For example, in various embodiments, if the driver provides steering inputs that indicate a desire for the vehicle 100 to turn into an area that is not a travel lane (e.g., a shoulder of the roadway, or the like) or that would not be a practical travel lane (e.g., if the intended travel lane is too small or has traffic flow opposite the direction of travel of the vehicle 100, or the like), then in such cases the driver's steering inputs would be ignored.

[0052] If it is determined in step 206 that there are not multiple viable lanes, in various embodiments, the process 200 returns to step 204 as additional sensor data is collected. However, if it is determined in step 206 that there are multiple viable lanes, in various embodiments, the process proceeds to step 208, which is described further below.

[0053] In various embodiments, it is determined whether the user's hands are on the steering wheel (step 208). In particular, in various embodiments, it is determined whether one or more of the driver's hands are currently on the steering wheel 109 of Fig. 1. In certain embodiments, this determination is made by the processor 142 of Fig. 1 based on sensor data from one or more steering sensors 122 (e.g., a steering wheel sensor) and / or monitoring sensors 126 (e.g., an interior camera for the vehicle 100) of the sensor arrangement 120 of Fig. 1.

[0054] In various embodiments, if it is determined in step 208 that the user's hands are not on the steering wheel 109, the process 200 returns to step 204 because additional sensor data is being collected. However, in various embodiments, if it is determined in step 206 that the user's hands are on the steering wheel 109, the process proceeds to step 210, which is described further below.

[0055] In various embodiments, it is determined in step 210 whether the driver's attention is confirmed. In particular, in various embodiments, it is determined whether the driver is paying sufficient attention to the roadway, e.g., by looking at the roadway, having their eyes open, etc. In certain embodiments, this determination is made by the processor 142 of Fig. 1 based on sensor data from one or more monitoring sensors 126 (e.g., one or more cameras as part of a driver monitoring system) of the sensor array 120 of Fig. 1.

[0056] If it is determined in step 210 that the driver's attention is not confirmed, the process 200 returns to step 204 as additional sensor data is collected. However, if it is determined in step 210 that the driver's attention has been confirmed, in various embodiments the process proceeds to step 212, which is described further below.

[0057] In various embodiments, in step 212, it is determined whether there is a deliberate torque input from the driver. Specifically, in various embodiments, it is determined whether the driver is applying torque to the steering wheel 109 that both (A) exceeds a minimum threshold, below which minimum threshold would indicate noise or random fluctuations, and (B) is below a maximum threshold, which would indicate that the driver desires complete control over vehicle operation. In certain embodiments, this determination is made by the processor 142 of Fig. 1 based on sensor data from one or more steering sensors 122 (e.g., one or more steering wheel sensors) of the sensor arrangement 120 of Fig. 1 was made.

[0058] In various embodiments, if it is determined in step 212 that the intentional torque input is detected by the driver, the process continues with step 220 described below.

[0059] Conversely, if it is determined at step 212 that the intentional torque input by the driver is not detected, the process 200 instead proceeds to step 214 according to an exemplary embodiment. In various embodiments, during step 214, it is determined whether an amount of detected torque at the steering wheel 109 is greater than the aforementioned minimum threshold (i.e., is associated with a noise level or random variation).

[0060] In various embodiments, if it is determined in step 214 that the torque at the steering wheel 109 is below the aforementioned minimum threshold (i.e., associated with a noise level or random fluctuation), the process 200 returns to step 204 because additional sensor data is being collected. In various embodiments, if it is instead determined in step 214 that the torque at the steering wheel 109 is greater than the minimum threshold, the process proceeds to step 216, described below.

[0061] In various embodiments, in step 216 it is determined whether the detected torque at the steering wheel 109 is greater than the maximum threshold value specified above (ie, is associated with the driver taking over driving operation).

[0062] In various embodiments, the process 200 returns to step 204 if it is determined in step 216 that the amount of torque at the steering wheel 109 is not greater than the maximum threshold (and provided that the criteria of steps 214 and 216 are not met) because additional sensor data is being collected. If, instead, it is determined in step 216 that the torque at the steering wheel 109 is greater than the maximum threshold, the processor 142 outputs Fig. 1, in various embodiments, returns driving control back to the driver of vehicle 100 (thus deactivating the autonomous driving function or mode of step 202). In certain embodiments, process 200 then terminates.

[0063] Returning to step 212, as noted above, if it is determined that an intentional torque input is detected (i.e., greater than the minimum value but also less than the maximum value), then in various embodiments, the process proceeds to step 220. In various embodiments, in step 220, the control system 102 allows for an input torque "error." Specifically, in various embodiments, the control system 102 allows the torque "error" related to lane boundary compliance to accumulate so that the driver's intent can be better interpreted with respect to the multiple viable lanes in which the vehicle 100 can travel forward.

[0064] In various embodiments, the control system 102 also "re-plans" a new possible route relative to a new viable lane that the vehicle 100 may take (step 222). In various embodiments, the control system 102 effectively re-adjusts the trip planning relative to the new viable lane for the vehicle 100. Furthermore, in certain embodiments, the vehicle 100 disables other automated driving features that would have otherwise interfered with the error accumulation of step 220 and / or the re-planning of step 222 (e.g., lane keeping systems, lane departure warning systems, etc.). In various embodiments, as part of this process (e.g., as part of step 222), the control system 102 also activates a turn signal for the vehicle 100 in accordance with inputs provided by the driver via the steering wheel 109 (e.g.,for a right lane change or a left lane change) to inform other nearby vehicles and / or their drivers that a turn or lane change for the vehicle 100 may be imminent.

[0065] In various embodiments, the control system 102 also performs lane feasibility checks with respect to the desired lane (step 224). Specifically, in various embodiments, the control system 102 analyzes the roadway, including the lane in which the driver input is interpreted as the lane in which the driver intends the vehicle 100 to travel.In various embodiments, the control system 102 checks the lane feasibility for that lane as determined by the driver's intent, including the dimensions of the desired lane for the compatibility of the vehicle 100 and a smooth transition thereto, and further including the position, dimensions, direction, speed, and acceleration of other vehicles or other objects that may be in or approaching the desired lane and that could also affect the transition of the vehicle 100 into the desired lane. Furthermore, in certain embodiments, the control system 102 may also compare the feasibility of the intended lane versus the current lane of the vehicle 100.If the desired lane is not a viable lane due to dimensions, traffic, or the like, and / or is a lane that is significantly less viable than the current lane, the intended lane may be determined to be impractical. Conversely, in various embodiments, if dimensions, traffic, or the like make the desired lane a viable lane and / or a lane that is approximately equally viable or more viable than the current lane, then the intended lane may be determined to be viable, and so on.

[0066] In various embodiments, the maneuver is completed (step 226). Specifically, in various embodiments, the control system 102 provides instructions for transitioning and moving the vehicle 100 into the desired lane, which is represented by and consistent with the driver's intent as interpreted by the control system 102 based on the driver inputs to the steering wheel 109. In various embodiments, the maneuver is executed and completed by the braking system 106, the steering system 108, and / or the propulsion system 110 by executing the instructions provided to them by the processor 142 of the control system 102.

[0067] In various embodiments, the maneuver is completed only under the condition that the intended lane is determined to be practical in step 224. For example, in various embodiments, if the intended lane is determined to be impractical in step 224, the control system 102 either (A) waits for the lane to become practical before executing the maneuver and / or (B) aborts the lane change maneuver and instead allows the vehicle 100 to move and maintain it in the intended lane.

[0068] In various embodiments, a learning process is also performed with respect to the maneuver (step 228). In particular, in various embodiments, information about the lane change maneuver is stored in the memory 144 of Fig. 1 as one or more values ​​157 stored therein according to the processor 142 of Fig. 1. In various embodiments, the information includes both the driver's steering inputs and geographical information about the location, roadway, and lane in which the vehicle 100 is traveling (along with the selected lane) so that the control system 102 can more easily implement the driver's navigation intent in future iterations of the process 200. For example, in certain embodiments, the driver's intended lane may be stored in memory 144 for retrieval the next time the vehicle 100 and / or driver encounter the same or a similar road situation in the future, and in certain embodiments, the intended lane may serve as the default lane for the automated driving function in such future iterations, etc.In certain embodiments, this learning is performed by machine learning performed by processor 142 of . Fig. 1 is used.

[0069] In certain embodiments, full control is also returned to the control system 102, and automatic driving is maintained. In various embodiments, the process 200 returns to step 204 for newly updated sensor data when the process 200 continues in a new iteration.

[0070] Accordingly, methods, systems, and vehicles are provided for systems for controlling movements in accordance with inputs provided by a user during an automatic driving mode, e.g., in vehicles. In various embodiments, when the vehicle is driven in an autonomous manner and the drive provides a steering input representing the desire to change lanes, the control system executes the desired lane change maneuver based on whether the desired lane is a viable lane for the vehicle, after which full control is returned to the control system for autonomous operation of the vehicle. In various embodiments, the control system effectively operates the vehicle in cooperation with the driver, such that the driver's intention (e.g.,regarding a desired lane change) while the control system otherwise maintains autonomous control over the operation of the vehicle. In various embodiments, the driver is also able to steer the vehicle into a desired lane or path of travel (assuming the desired lane or path of travel is practical and suitable), while the control system 102 otherwise maintains autonomous driving without having to return full control to the driver.

[0071] It will be appreciated that systems, vehicles, and methods may vary from those depicted in the figures and described herein. For example, vehicle 100 may be Fig. 1, including the control system 102 and / or other components, in various embodiments of the Fig. 1 and / or described above in connection therewith. Similarly, the steps of method 200 may differ from the Fig. 2 and / or different steps of the method 200 may be performed simultaneously and / or in a different order than that shown in Fig. 2 and / or described above in connection therewith.

[0072] Although at least one exemplary embodiment has been presented in the foregoing detailed description, it should be understood that numerous variations exist. It should also be appreciated that the exemplary embodiment or exemplary embodiments are merely examples and are not intended to limit the scope, applicability, or configuration of the description in any way. Rather, the foregoing detailed description is intended to provide one skilled in the art with a convenient guide for implementing the exemplary embodiment or exemplary embodiments. It is understood that various changes in the function and arrangement of elements may be made without departing from the scope of the description as set forth in the appended claims and the legal equivalents thereof.

Claims

[1] Method comprising: Operating a vehicle autonomously in an autonomous driving mode via instructions provided by a processor of the vehicle; Obtaining sensor data via one or more sensors of the vehicle, wherein the sensor data represents an intention of a user of the vehicle for the vehicle to perform a maneuver during the autonomous driving mode; and Perform the maneuver according to the instructions provided by the processor, while the vehicle otherwise remains in autonomous driving mode. [2] The method of claim 1, further comprising: Interpreting a user's navigation intent to perform the maneuver based on the sensor data via the processor. [3] The method of claim 1, wherein the sensor data reflects activation of a steering wheel of the vehicle by the user. [4] The method of claim 3, wherein the maneuver represents an intended lane change from a current lane in which the vehicle is traveling to an intended lane for execution by the processor while the processor maintains autonomous control of the vehicle. [5] The method of claim 4, further comprising: Determining, via the processor using the sensor data, whether the intended lane is a practical lane for the vehicle; wherein the maneuver is performed based on whether the intended lane is a practical lane for the vehicle. [6] The method of claim 4, wherein determining whether the intended lane is a viable lane is based at least in part on the dimensions of the intended lane. [7] The method of claim 4, wherein determining whether the intended lane is a viable lane is based at least in part on traffic in the intended lane. [8] The method of claim 4, further comprising: Determining, by the processor using the sensor data, whether a driver has one or more hands on the steering wheel; where the maneuver is performed based on whether the driver has one or more hands on the steering wheel. [9] The method of claim 4, further comprising: Determining, via the processor, whether a driver is paying attention to a roadway on which the vehicle is traveling using the sensor data, further comprising one or more camera images from a driver monitoring system; where the maneuver is performed based on whether the driver is paying attention to the road. [10] System comprising: one or more sensors of a vehicle configured to enable at least obtaining sensor data representing an intention of a user of the vehicle for the vehicle to perform a maneuver during an autonomous driving mode; and a processor of the vehicle coupled to the one or more sensors and configured to enable at least the following: Operating the vehicle in an autonomous manner in the autonomous driving mode via instructions provided by the processor; and Perform the maneuver according to the instructions provided by the processor while the vehicle otherwise remains in autonomous driving mode.

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