CONTROL UNIT FOR AUTOMATED VEHICLES, AVAILABLE IN A VEHICLE

Abstract

A device for operating an autonomous vehicle is disclosed. A deployment mechanism is coupled to a convertible interface. The convertible interface comprises a rod with a first and a second end, a touch-sensitive surface connected to the rod at the first end, and a universal joint connected to the rod at the second end, the rod being configured to rotate about the universal joint. The deployment mechanism is configured to move the convertible interface between a first position and a second position. In the first position, the touch-sensitive surface receives a command when an operator moves a pointing device along the touch-sensitive surface in a gesture indicating the command.In the second position, the convertible interface receives the command when the operator moves the touch-sensitive surface to cause a rotation at the universal joint, which indicates the command.

Description

[0001] The present disclosure relates to automated vehicles and in particular to an interface for controlling the operation of an automated vehicle.

[0002] Ideally, an autonomous vehicle can drive itself without input from a driver or operator. However, the driver may wish to provide a command or steering input that better reflects their intentions or preferences. While the driver can use a steering wheel, accelerator, and / or brake pedal, being tied to these devices can require the driver to remain attentive even when the autonomous vehicle is driving independently. Therefore, it is desirable to provide an interface for inputting commands to the autonomous vehicle that allows the driver or operator greater freedom. SUMMARY

[0003] In an exemplary embodiment, a device for operating an autonomous vehicle is disclosed. The device comprises a convertible interface and a deployment mechanism coupled to the convertible interface. The convertible interface includes a rod with a first end and a second end, a touch-sensitive surface connected to the rod at the first end, and a universal joint connected to the rod at the second end, the rod being configured to rotate about the universal joint. The deployment mechanism is configured to move the convertible interface between a first position and a second position. In the first position, the touch-sensitive surface receives a command when an operator moves a pointing device along the touch-sensitive surface in a gesture indicating the command.In the second position, the convertible interface receives the command when the operator moves the touch-sensitive surface to cause a rotation at the universal joint, which indicates the command.

[0004] In addition to one or more of the features described here, the touch-sensitive surface is flush with a display area of ​​a human-machine interface when the convertible interface is in the first position, and the touch-sensitive surface is raised to a selected distance above the display area when the convertible interface is in the second position.

[0005] In addition to one or more of the features described here, the device also includes a haptic actuator coupled to the universal joint to generate a haptic signal that confirms receipt of the command from the operator.

[0006] In addition to one or more of the features described here, the touch-sensitive surface is switched on when the convertible interface is in the first position and is switched off when the convertible interface is in the second position.

[0007] In addition to one or more of the features described herein, the device also includes a potentiometer configured to generate a signal in response to the rotation of the universal joint about an axis, the signal indicating the command.

[0008] In addition to one or more of the features described here, the device also includes a processor configured to perform a maneuver on the autonomous vehicle as indicated by the command entered at the convertible interface.

[0009] In addition to one or more of the features described herein, the device also includes a communication device for sending signals between the processor and a remote communication device, wherein the operator can enter the command at the remote communication device.

[0010] In another exemplary embodiment, a human-machine interface for an autonomous vehicle is disclosed. The human-machine interface comprises a display surface with a screen, a convertible interface that is movable relative to the display surface, and a deployment mechanism connected to the convertible interface. The convertible interface comprises a rod with a first end and a second end, a touch-sensitive surface connected to the rod at the first end, and a universal joint connected to the rod at the second end. The rod is configured to rotate about the universal joint. The deployment mechanism is configured to move the convertible interface between a first position and a second position.In the first position, the touch-sensitive surface receives a command when an operator moves a pointing device along the touch-sensitive surface in a gesture that indicates the command. In the second position, the convertible interface receives the command when the operator moves the touch-sensitive surface to effect a rotation at the universal joint that indicates the command.

[0011] In addition to one or more of the features described here, the touch-sensitive surface is flush with a display area of ​​a human-machine interface when the convertible interface is in the first position, and the touch-sensitive surface is raised to a selected distance above the display area when the convertible interface is in the second position.

[0012] In addition to one or more of the features described here, the human-machine interface also includes a haptic actuator coupled to the universal joint to generate a haptic signal that confirms receipt of the command from the operator.

[0013] In addition to one or more of the features described here, the touch-sensitive surface is switched on when the convertible interface is in the first position and is switched off when the convertible interface is in the second position.

[0014] In addition to one or more of the features described here, the human-machine interface also includes a potentiometer configured to generate a signal in response to the rotation of the universal joint about an axis, with the signal indicating the command.

[0015] In addition to one or more of the features described here, the human-machine interface also includes a communication device for sending signals between a processor of the autonomous vehicle and a remote communication device, whereby the operator can enter the command at the remote communication device.

[0016] In addition to one or more of the features described here, the screen is touch-sensitive to receive commands from the operator.

[0017] In another exemplary embodiment, a vehicle is disclosed. The vehicle has a processor and a human-machine interface. The processor is configured to control the operation of the vehicle based on a command from an operator. The human-machine interface is configured to receive the operator's command. The human-machine interface comprises a display area with a screen, a convertible interface that is movable relative to the display area, and a deployment mechanism coupled to the convertible interface.

[0018] The convertible interface comprises a rod with a first and second end, a touch-sensitive surface attached to the rod at the first end, and a universal joint attached to the rod at the second end, with the rod configured to rotate around the universal joint. The deployment mechanism is configured to move the convertible interface between a first position and a second position. In the first position, the touch-sensitive surface receives the command when an operator moves a pointing device along the touch-sensitive surface in a gesture that indicates the command. In the second position, the convertible interface receives the command when the operator moves the touch-sensitive surface to cause a rotation of the universal joint that indicates the command.

[0019] In addition to one or more of the features described here, the touch-sensitive surface is flush with a display area of ​​a human-machine interface when the convertible interface is in the first position, and the touch-sensitive surface is raised to a selected distance above the display area when the convertible interface is in the second position.

[0020] In addition to one or more of the features described here, the vehicle also includes a haptic actuator coupled to the universal joint to generate a haptic signal that confirms receipt of the command from the operator.

[0021] In addition to one or more of the features described here, the touch-sensitive surface is switched on when the convertible interface is in the first position and is switched off when the convertible interface is in the second position.

[0022] In addition to one or more of the features described here, the vehicle also includes a potentiometer configured to generate a signal in response to the rotation of the universal joint about an axis, the signal indicating the command.

[0023] In addition to one or more of the features described here, the vehicle also includes a communication device for sending signals between the processor and a remote communication device, whereby the operator can enter the command at the remote communication device.

[0024] The above features and advantages, as well as further features and advantages of the disclosure, are readily apparent from the following detailed description in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Further features, advantages and details are listed only as examples in the following detailed description, which refers to the drawings in which the following applies: Fig. Figure 1 shows an autonomous vehicle with an associated trajectory planning system according to an exemplary embodiment, Fig. Figure 2 shows a control center for the autonomous vehicle, in an illustrative embodiment; Fig. Figure 3 shows a perspective view of the human-machine interface in a first operating mode; Fig. Figure 4 shows a perspective view of the human-machine interface as it switches between operating modes; Fig. Figure 5 shows a perspective view of the human-machine interface in a second operating mode; Fig. Figure 6 is a side view showing internal components of the human-machine interface in one embodiment; Fig. Figure 7 shows a frontal view of a screen of the convertible interface, illustrating the input of an acceleration command when the convertible interface is operating in a touch mode; Fig. Figure 8 shows a frontal view of the screen illustrating the input of a delay command when the convertible interface is operated in touch mode; Fig. Figure 9 shows a frontal view of the screen illustrating the input of a command to change to the right lane when the convertible interface is operating in touch mode; Fig. Figure 10 shows a frontal view of the screen illustrating the input of a command to change to the left lane when the convertible interface is operated in touch mode; Fig. 11 is a view of the display showing the current driving environment for the vehicle; Fig. 12 is a view of the display that receives an illustrative command from the operator; Fig. 13 is a view of the display that confirms receipt of the command; Fig. 14 is a view of the display after the command has been entered; Fig. Figure 15 shows screenshots of a remote communication device that can be used to control the autonomous vehicle; Fig. Figure 16 shows screenshots of the remote communication device illustrating the input of a command to change lanes to the left; Fig. Figure 17 shows a screenshot illustrating a parallel parking maneuver; Fig. Figure 18 shows a diagram of components of the autonomous vehicle; and Fig. Figure 19 is a flowchart of a procedure for controlling the vehicle using the human-machine interface disclosed herein. DETAILED DESCRIPTION

[0026] The following description is merely exemplary and is not intended to limit the disclosure, its application, or use. It should be understood that in the drawings, corresponding reference numerals denote identical or corresponding parts and features.

[0027] According to an exemplary embodiment, Fig. Figure 1 shows an autonomous vehicle 10 with an associated trajectory planning system, represented by 100. In general, the trajectory planning system 100 determines a trajectory plan for the automated driving of the autonomous vehicle 10. The autonomous vehicle 10 generally comprises a chassis 12, a body 14, front wheels 16, and rear wheels 18. The body 14 is mounted on the chassis 12 and essentially encloses the components of the autonomous vehicle 10. The body 14 and the chassis 12 can together form a frame. The front wheels 16 and the rear wheels 18 are each rotatably connected to the chassis 12 near their respective corners of the body 14.

[0028] In various embodiments, the trajectory planning system 100 is integrated into the autonomous vehicle 10. The autonomous vehicle 10 is, for example, a vehicle that is automatically controlled to transport passengers from one place to another. In the embodiment shown, the autonomous vehicle 10 is depicted as a passenger car, but it is understood that any other vehicle, such as motorcycles, trucks, sport utility vehicles (SUVs), motorhomes (RVs), etc., can also be used. At various levels, an autonomous vehicle can assist the driver through a range of methods, such as warning signals indicating impending hazardous situations, indicators that enhance the driver's situational awareness by predicting the movements of other agents and warning of potential collisions, etc.The autonomous vehicle has various levels of intervention or control, ranging from coupled assistive vehicle control to complete control of all vehicle functions. In an exemplary embodiment, the autonomous vehicle 10 is a so-called Level 4 or Level 5 automation system. A Level 4 system signifies a "high degree of automation," meaning that an automated driving system performs all aspects of the dynamic driving task, even if a human driver does not respond appropriately to a request for intervention. A Level 5 system signifies "full automation," meaning that an automated driving system fully performs all aspects of the dynamic driving tasks in all road and environmental conditions that can be handled by a human driver.

[0029] As shown, the autonomous vehicle 10 generally comprises a drive system 20, a transmission system 22, a steering system 24, a braking system 26, a sensor system 28, an actuation system 30, a communication device 32, and a controller 34. The drive system 20 may, in various embodiments, comprise an internal combustion engine, an electric machine such as a traction motor, and / or a fuel cell drive system. The transmission system 22 is configured to transmit the power of the drive system 20 to the front wheels 16 and rear wheels 18 in selectable gear ratios. According to various embodiments, the transmission system 22 may comprise a continuously variable automatic transmission, a continuously variable transmission, or another suitable transmission. The braking system 26 is configured to transmit the braking torque to the front wheels 16 and the rear wheels 18.The braking system 26 can, in various embodiments, comprise friction brakes, an electromechanical brake, a regenerative braking system such as an electric motor, and / or other suitable braking systems. The steering system 24 influences the position of the front wheels 16 and the rear wheels 18. Although a steering wheel is shown for illustrative purposes, the steering system 24 need not include a steering wheel in some embodiments considered within the scope of this disclosure.

[0030] The sensor system 28 comprises one or more sensor devices 40a-40n that detect observable conditions of the external and / or internal environment of the autonomous vehicle 10. The sensor devices 40a-40n may include, among others, radars, lidar, global positioning systems, optical cameras, thermal cameras, ultrasonic sensors, and / or other sensors. The sensor devices 40a-40n receive measurements or data on various objects or agents 50 in the vehicle's environment. These agents 50 may include, among others, other vehicles, pedestrians, bicycles, motorcycles, etc., but also stationary objects. The sensor devices 40a-40n may also acquire traffic data, such as information on traffic signals and signs, etc.

[0031] The actuation system 30 comprises one or more actuating devices 42a-42n that control one or more vehicle functions, such as, but not limited to, the drive system 20, the transmission system 22, the steering system 24, and the braking system 26. In various embodiments, the vehicle features may also include internal and / or external vehicle features, such as doors, a trunk, and interior features such as ventilation, music, lighting, etc. (not designated by reference numerals).

[0032] The controller 34 comprises a processor 44 and a computer-readable storage device or medium 46. The processor 44 can be a custom or off-the-shelf processor, a central processing unit (CPU), a graphics processing unit (GPU), an auxiliary processor among several processors connected to the controller 34, a semiconductor-based microprocessor (in the form of a microchip or chipset), a macroprocessor, a combination thereof, or, more generally, a device for executing instructions. The computer-readable storage devices or media 46 can include volatile and non-volatile memory, such as read-only memory (ROM), random-access memory (RAM), and keep-alive memory (KAM). KAM is persistent or non-volatile memory that can be used to store various operating variables while the processor 44 is powered off.The computer-readable storage device or medium 46 can be implemented using any of a number of known storage devices such as PROMs (programmable read-only memories), EPROMs (electrical PROMs), EEPROMs (electrically erasable PROMs), flash memory, or any other electrical, magnetic, optical, or combined storage devices capable of storing data, some of which constitute executable instructions used by the controller 34 in controlling the autonomous vehicle 10.

[0033] The instructions can comprise one or more separate programs, each containing an ordered list of executable instructions for implementing logical functions. When executed by the processor 44, the instructions receive and process signals from the sensor system 28, perform logic, calculations, procedures, and / or algorithms for the automatic control of the components of the autonomous vehicle 10, and generate control signals for the actuation system 30 to automatically control the components of the autonomous vehicle 10 based on the logic, calculations, procedures, and / or algorithms.

[0034] The communication device 32 can control the signal communication between the controller 34 and a remote communication device 60. In various embodiments, the remote communication device 60 can be a portable device such as a smartphone. The remote communication device 60 can be in the possession of a passenger, driver, occupant, or operator of the autonomous vehicle and can therefore be carried inside the autonomous vehicle 10. The operator can issue a command to the autonomous vehicle 10 via the remote communication device 60.

[0035] Fig. Figure 2 shows an illustrative embodiment of a control center 200 for the autonomous vehicle 10. The control center 200 includes a seat 202 for an operator, such as a driver, a passenger, etc. The seat 202 includes a human-machine interface 204 through which an operator can control the autonomous vehicle 10. In one embodiment, the human-machine interface 204 can be attached to an armrest 206 of the seat 202. The human-machine interface 204 includes a display 208 and a convertible interface 210. The display 208 shows information that can be viewed by the operator, and it can receive various commands from the operator. The convertible interface 210 is a device that can be operated in at least two modes to receive input from the operator.The convertible interface 210 features a touchpad on its top surface, which can be used in a first operating mode for data input via touch. In a second operating mode, the convertible interface 210 can be used as a joystick for data input by moving the joystick around the room.

[0036] Fig. Figure 3 shows a perspective view 300 of the human-machine interface 204 in a first operating mode. The convertible interface 210 functions as a touchscreen, allowing the driver to input commands into the vehicle by performing a gesture on the touchpad, e.g., by dragging their finger across the touchpad, tapping the touchpad screen, touching an icon displayed on the touchpad, etc. In the first mode, the convertible interface 210 is generally flush with the surface of the display 208.

[0037] Fig. Figure 4 shows a perspective view 400 of the human-machine interface 204 as it switches between operating modes. The convertible interface 210 can be raised or lowered in a direction perpendicular to the surface of the display 208.

[0038] Fig. Figure 5 shows a perspective view 500 of the human-machine interface 204 in a second operating mode. The convertible interface 210 is mounted above the display 208 and serves as a joystick. The operator gives commands to the vehicle by physically moving the joystick in a specific direction, as shown by the direction arrow 502. The direction arrows indicate spatial movement in a left-right direction, which corresponds to a rotation at the universal joint about a first axis of rotation. The joystick can also move in a forward-backward direction, which corresponds to a rotation at the universal joint about a second axis of rotation.

[0039] Fig. Figure 6 is a side view 600 showing the internal components of the human-machine interface 204 in one embodiment. The side view 600 shows a display surface 602 and the convertible interface 210. The convertible interface 210 comprises a touchpad or touch-sensitive surface 604, a rod 606, and a universal joint 608 or other pivot joint for suitable rotation about three axes. The touch-sensitive surface 604 is connected to the universal joint 608 via the rod 606. The touch-sensitive surface 604 is located at a first end of the rod 606, and the universal joint 608 is connected to a second end of the rod. The universal joint 608 therefore provides a pivot point about which the touch-sensitive surface 604 can rotate.

[0040] The universal joint 608 is arranged on a delivery mechanism 610, which can raise and lower the convertible interface 210 (including the universal joint 608, rod 606, and touch-sensitive surface 604). The delivery mechanism 610 can be a linear actuator that moves the convertible interface 210 between a first position and a second position. The linear actuator can be an electric motor, a mechanical spring with a damper, or another suitable mechanism for linearly actuating the convertible interface 210. The first position is generally lower than the second position, and the delivery mechanism 610 raises and lowers the convertible interface 210 depending on the operating mode used.

[0041] In the first position, the convertible interface 210 is flush with the display surface 602 and is held in place relative to the display surface 602. In this position, the touch-sensitive surface 604 is activated, allowing commands to be entered by the operator touching the screen with a finger or other suitable pointing device.

[0042] In the second position, the convertible interface 210 is positioned at a selected distance above the display surface 602, and the touch-sensitive surface 604 rotates around the universal joint 608 (i.e., as a joystick). The touch-sensitive surface 604 can be deactivated when the convertible interface 210 is in the second position to prevent operator input of a command by touch. A command is entered when the operator grasps the touch-sensitive surface 604 and moves it in a suitable direction (e.g., left, right, forward, backward) to cause rotation of the universal joint 608.

[0043] The universal joint 608 comprises a ball 612 rotatably mounted in a socket 614. The socket 614 contains a first potentiometer 616 and a second potentiometer 618. The first potentiometer 616 responds to rotation of the ball 612 along a first axis (i.e., an x-axis). The second potentiometer 618 responds to rotation of the ball 612 along a second axis (e.g., a y-axis). The electrical signals from the first potentiometer 616 and the second potentiometer 618 can be sent to the controller 34 via lines 620 to control one or more drive motors. The electrical signals indicate the operator's intent, which is transmitted via the convertible interface 210, functioning as a joystick.

[0044] A haptic actuator 622 is connected to the universal joint 608. The haptic actuator 622 can be activated to generate a vibration at the universal joint 608, which can be perceived by the operator by hand on the convertible interface 210. A microcontroller 624 is connected to a haptic driver 626. The haptic driver 626 communicates with the haptic actuator 622 and can send a signal to activate the haptic actuator. The microcontroller 624 can receive signals from the vehicle's sensors. In one embodiment, the microcontroller 624 acknowledges receipt of a command from the operator via the convertible interface 210 and sends an acknowledgment signal to the haptic driver 626. Upon receiving the acknowledgment signal, the haptic driver 626 actuates the haptic actuator 622 to generate the haptic signal confirming receipt of the command.

[0045] Fig. Figure 7 shows a frontal view 700 of a screen 702 of the convertible interface 210, illustrating the input of an acceleration command when the convertible interface 210 is operated in a touch mode (i.e., the first mode). A position symbol 704 is displayed, allowing the operator to input a command. A default position of the position symbol 704 (i.e., while waiting for a command input) is in the center of the screen 702. The operator places their finger on the position symbol 704 and moves their finger forward (e.g., to the location shown by the outline 706) to input a command to increase the speed of the autonomous vehicle 10. The amount of acceleration is related to the amount by which the operator moves the position symbol 704 forward on the screen 702. This command is transmitted to the controller 34.

[0046] Fig. Figure 8 shows a frontal view 800 of screen 702, illustrating the input of a deceleration command when the convertible interface 210 is operated in touch mode. The driver places their finger on the position symbol 704 and moves it backward (e.g., to the point indicated by the outline 802) to reduce the vehicle's speed. A command to decelerate the vehicle is associated with the amount by which the operator moves the position symbol 704 backward on screen 702. This command is transmitted to the controller 34.

[0047] Fig. Figure 9 shows a frontal view 900 of the screen 702, illustrating the input of a command to change lanes to the right when the convertible interface 210 is operating in touch mode. The operator places their finger on the position symbol 704 and slides it to the right. The position symbol 704 transforms into a dot 902 with a bar 904 to its right to visually represent the "change lanes to the right" command. This command is transmitted to the controller 34.

[0048] Fig. Figure 10 shows a frontal view 1000 of the screen 702, illustrating the input of a command to change to the left lane when the convertible interface 210 is operated in touch mode. The operator places their finger on the position symbol 704 and slides it to the left. The position symbol 704 transforms into a dot 1002 with a bar 1004 to its left to visually represent the "change lanes left" command. This command is transmitted to the controller 34.

[0049] The Fig. Figures 11-14 show a sequence of images illustrating the command input on the display 208 of the human-machine interface. Fig. 11 is a view 1100 of the display 208, which shows the current driving environment for the vehicle. The display 208 is capable of receiving commands via a touchscreen. As shown, the current driving environment displays a host vehicle icon 1102 (representing the autonomous vehicle 10) and a remote vehicle icon 1104. The remote vehicle icon 1104 is located in front of the host vehicle icon 1102. Fig. 12 is a view 1200 of the display 208, which receives an illustrative command from the operator. The operator draws a vehicle maneuver 1202 on the display 208. The in Fig. Maneuver 12 shown is a request to overtake the remote vehicle symbol 1104 by passing it on the left. Fig. 13 is a view 1300 of display 208, which confirms receipt of the command. A check mark 1302 appears on display 208 to confirm that the command has been entered. Fig. 14 is a view of display 1400 of display 208 after the command has been entered. The host vehicle icon 1102 is displayed to the left of the remote vehicle icon 1104.

[0050] Fig. Figure 15 shows screenshots of a remote communication device 60 that can be used to control the autonomous vehicle 10. The remote communication device 60 can be a smartphone with a processor running an application that can communicate with the autonomous vehicle 10. A first screenshot, 1502, shows a vehicle icon 1504 located in the center of a remote screen 1506 on the smartphone. An envelope 1508 surrounds the vehicle icon 1504. The envelope 1508 can be manipulated by the operator to issue a command to the autonomous vehicle 10. The envelope 1508 is activated by pressing and holding the vehicle icon 1504 and dragging it forward or backward (stretching the envelope 1508) to change the vehicle's speed. In a second screenshot 1510, the envelope 1508 is stretched in the direction in front of the vehicle symbol 1504 to enter a command for acceleration.The operator can stretch the envelope 1508 by placing their finger on a leading section of the envelope and dragging the leading edge forward. The required acceleration depends on the extent to which the leading edge of the envelope 1508 is dragged forward in front of the vehicle symbol 1504. Similarly, a braking command can be entered by dragging the trailing edge of the envelope 1508 behind the vehicle symbol. In a third screenshot, 1512, the operator has released their finger from the remote control screen 1506 to enter the command. In the fourth screenshot, 1514, the envelope 1508 returns to its original shape after the command is entered (as in the first screenshot, 1502).

[0051] The screenshots in Fig. Figure 15 shows a sequence for entering an acceleration command. The acceleration command is entered by dragging the leading edge of the envelope forward, or away from vehicle symbol 1504. Similarly, a deceleration command can be entered by dragging the trailing edge of the envelope backward, or away from vehicle symbol 1504. Additionally, a left lane change can be entered by dragging the left side of the envelope to the left, and a right lane change can be entered by dragging the right side of the envelope to the right.

[0052] Fig. Figure 16 shows screenshots of the remote communication device 60 illustrating the input of a left lane change command. The first screenshot, 1602, shows the vehicle icon 1504 and the envelope 1508. A bubble 1610 appears to the left of the vehicle icon 1504. Bubble 1610 appears when the operator makes a large press on the screen to select a desired new position for the vehicle (e.g., lane change, overtaking, parking in the grass, etc.). For illustration, bubble 1610 is shown selecting a left lane change command. Bubble 1610 contains a first checkbox 1612 for selecting the left lane change (i.e., confirming the action) and a second checkbox 1614 for rejecting the left lane change (i.e., canceling the action). The first checkbox 1612 and the second checkbox 1614 have approximately the same dimensions on the remote screen 1506.A second screenshot, 1604, shows the state of the remote screen, 1506, as soon as the operator selects the left lane change command. The first checkbox, 1612, has a larger area on the remote screen, 1506, than the second checkbox, 1614. A third screenshot, 1606, shows a confirmation screen for the left lane change command. If the autonomous vehicle, 10, deems the action safe, the vehicle icon, 1504, will inscribe itself within the bubble, 1610, along the line, 1618, to indicate acceptance of the left lane change command (or other appropriate action). A fourth screenshot, 1608, shows the remote screen, 1506, after the command has been entered. The remote screen, 1506, displays a standard view of the vehicle icon, 1504, and the envelope, 1508.

[0053] Fig. Screenshot 1700, depicting a parallel parking maneuver, is shown on screen 1506. Next to the vehicle icon (1504), a space icon (1702) appears, indicating an available parking space. The operator can select space icon 1702 to issue a command to parallel park in the space. Screenshot 1700 shows that passengers have sufficient safe space to exit the vehicle after it has parked. This can be helpful for passengers with disabilities who require more space when getting in and out. The area is reserved and marked as "occupied" to other vehicles until the vehicle departs.

[0054] Fig. Figure 18 shows a diagram 1800 of components of the autonomous vehicle 10. These components include an on-board computer 1802, which is coupled with on-board sensors 1804, a data communication network 1806, and a system output 1808. The on-board sensors 1804 may include, among others, the automated driving system 1810, external cameras and sensors 1812, vehicle brake sensors 1814, vehicle acceleration sensors 1816, steering angle sensors 1818, and the human-machine interface 1820. The human-machine interface 1820 provides the commands described here to the on-board computer 1802 based on touch gestures and / or surface movement gestures.

[0055] The data communication network 1806 connects the on-board computer 1802 to data servers 1822 and external input devices 1824. The external input devices 1824 can include, among other things, a Global Positioning Satellite (GPS) system 1826, a traffic signal system 1828, a cellular communication network 1830, a weather data server 1832, a WiFi communication system 1834, a road database server 1836, and V2X (vehicle-to-everything) communication 1838. The data servers 1822 can provide traffic information, etc.

[0056] The on-board computer 1802 executes algorithms to determine the operator's command input. The on-board computer 1802 can also generate haptic signals that can be used to create a haptic signal on a display 1840 or a haptic signal on a joystick 1842. The haptic signal can be used to display a vehicle control 1844.

[0057] Fig.Figure 19 is a flowchart of a method for controlling the vehicle using the human-machine interface disclosed herein. The method begins in field 1902. In field 1904, the operator drives the vehicle in an autonomous mode.

[0058] In field 1906, the processor monitors the inputs to determine whether the operator wishes to take over manual control of the vehicle for manual driving. The input can be a command in the form of a touch at a selected location on a screen or human interface surface, etc. If the operator does not wish to take over control, the process proceeds to field 1908. In field 1908, the processor monitors the inputs to determine whether the operator wishes to enter a command to adjust the vehicle's automatic driving mode. If no input is received indicating a wish to enter a command, the process returns to field 1904.

[0059] If the operator wishes to take control at field 1906, the procedure continues to field 1910. In field 1910, the operator presses a point on the display to select joystick control. In field 1912, the processor extends the joystick for the vehicle by raising it above the flush plane of the interface. In field 1914, the driver controls the vehicle using the joystick. In field 1916, the processor determines, based on input from the driver, whether they wish to return to automated driving. If there is no input indicating that the operator wishes to return to automated driving, the procedure loops back to itself. If the operator wishes to return to automated driving, the procedure returns to field 1904.

[0060] If the operator wishes to issue commands to the autonomous vehicle in field 1908, the procedure continues with field 1918. In field 1918, the operator touches the screen of the convertible interface and performs a gesture on the screen. In field 1920, the processor determines various parameters of the gesture, such as the position of the gesture on the convertible interface, a trajectory vector for the gesture, the speed of the gesture, the orientation of the gesture, etc. In field 1922, the processor updates a symbol on the screen and generates corresponding haptic feedback. In field 1924, the processor determines the vehicle command requested by the operator.

[0061] In field 1926, the processor determines whether the current traffic conditions allow the vehicle to execute the command. If the current traffic conditions are favorable, the procedure continues to field 1928. In field 1928, the processor executes the command. In field 1930, the processor determines whether the operator orders an additional maneuver. If an additional maneuver is ordered, the procedure returns to field 1920. Otherwise, the procedure continues to field 1904.

[0062] If, at field 1926, the traffic conditions for the vehicle executing the command are unfavorable, the procedure proceeds to field 1932. In field 1932, the vehicle waits for a selected waiting period until the traffic conditions have improved sufficiently for the command to be executed. In field 1934, the waiting time is compared to a time threshold. If the waiting time is less than the time threshold, the procedure returns to field 1926. Otherwise, the procedure continues to field 1936. In field 1936, the vehicle displays a message to the operator indicating that the command could not be executed. The procedure then returns to field 1904.

[0063] The terms "a" and "an" do not imply a limitation of quantity, but rather denote the presence of at least one of the mentioned items. The term "or" means "and / or," unless the context clearly indicates otherwise. When the entire description refers to "an aspect," this means that a specific element (e.g., a feature, a structure, a step, or a property) described in connection with that aspect is contained in at least one of the aspects described here and may or may not be present in other aspects. It goes without saying that the described elements can be combined in any suitable way across the various aspects.

[0064] When an element such as a layer, film, foil, area, or substrate is described as lying "on" another element, it can lie directly on top of the other element, or there can be intermediate elements. Conversely, when an element is described as lying "directly on" another element, there are no intermediate elements.

[0065] Unless otherwise stated herein, all testing standards are the latest standard in force on the filing date of this application or, if priority is claimed, on the filing date of the earliest priority application in which the testing standard appears.

[0066] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as generally understood by experts in the field of the present disclosure.

[0067] While the above disclosure has been described with reference to exemplary embodiments, those skilled in the art understand that various modifications can be made and their elements replaced by equivalents without departing from the scope of application. Furthermore, many modifications can be made to adapt a particular situation or material to the teachings of the disclosure without deviating from the essential scope of the disclosure. Therefore, the present disclosure is not intended to be limited to the specific embodiments disclosed, but rather to encompass all embodiments that fall within its scope.

Claims

[1] Device for operating an autonomous vehicle, comprising: a convertible interface comprising: a rod with a first end and a second end, a touch-sensitive surface connected to the rod at the first end, and a universal joint connected to the rod at the second end, the rod being configured to rotate about the universal joint; and a deployment mechanism coupled to the convertible interface, wherein the deployment mechanism is configured to move the convertible interface between a first position and a second position, wherein in the first position the touch-sensitive surface receives a command when an operator moves a pointing device along the touch-sensitive surface in a gesture indicating the command, and in the second position the convertible interface receives the command when the operator moves the touch-sensitive surface to effect a rotation at the universal joint indicating the command. [2] Device according to claim 1, wherein the touch-sensitive surface is flush with a display area of ​​a human-machine interface when the convertible interface is in the first position, and the touch-sensitive surface is raised to a selected distance above the display area when the convertible interface is in the second position. [3] Device according to claim 1, further comprising a haptic actuator coupled to the universal joint to generate a haptic signal that confirms receipt of the command from the operator. [4] Device according to claim 1, further comprising a processor configured to perform a maneuver on the autonomous vehicle as indicated by the command entered at the convertible interface. [5] Device according to claim 4, further comprising a communication device for sending signals between the processor and a remote communication device, wherein the operator can input the command at the remote communication device. [6] Human-machine interface for an autonomous vehicle, including: a display area with a screen; a convertible interface that is movable with respect to the display surface, wherein the convertible interface comprises: a rod having a first end and a second end, a touch-sensitive surface connected to the rod at the first end, and a universal joint connected to the rod at the second end, the rod being configured to rotate about the universal joint; and a deployment mechanism coupled to the convertible interface, wherein the deployment mechanism is configured to move the convertible interface between a first position and a second position, wherein in the first position the touch-sensitive surface receives a command when an operator moves a pointing device along the touch-sensitive surface in a gesture indicating the command, and in the second position the convertible interface receives the command when the operator moves the touch-sensitive surface to effect a rotation at the universal joint indicating the command. [7] Human-machine interface according to claim 6, wherein the touch-sensitive surface is flush with the display area of ​​the human-machine interface when the convertible interface is in the first position, and the touch-sensitive surface is raised to a selected distance above the display area when the convertible interface is in the second position. [8] Human-machine interface according to claim 6, further comprising a haptic actuator coupled to the universal joint to generate a haptic signal that confirms receipt of the command from the operator. [9] Human-machine interface according to claim 6, wherein the touch-sensitive surface is switched on when the convertible interface is in the first position and is switched off when the convertible interface is in the second position. [10] Human-machine interface according to claim 6, further comprising a communication device for sending signals between a processor of the autonomous vehicle and a remote communication device, wherein the operator can input the command at the remote communication device.

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