# US 10,246,101 B2 · Driver training system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,246,101 B2 - Document ID: US10246101B2 - Status: Granted - Kind: B2 - Application number: 15/404,605 - Filed: 2017-01-12 - Published: 2018-07-12 - Granted: 2019-04-02 - Earliest claimed: 2017-01-12 - Assignees: Ford Global Technologies, LLC - Applicants: Ford Global Technologies, LLC - Inventors: Eric She; Scott J. Lauffer; Ali Abdallah - Web page: https://patentgrep.com/patent/US10246101B2 ## CPC - B60W 50/0098: {Details of control systems ensuring comfort, safety or stability not otherwise provided for} - B60W 10/06: including control of combustion engines - B60W 10/08: including control of electric propulsion units, e.g. motors or generators - B60W 10/18: including control of braking systems - B60W 10/20: including control of steering systems - B60W 20/00: Control systems specially adapted for hybrid vehicles {(hybrid vehicle design, B60K6/00; electric vehicles B60L)} - B60W 40/08: related to drivers or passengers - B60W 50/12: Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - G05D 1/0217: {in accordance with energy consumption, time reduction or distance reduction criteria} - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 2040/0809: {Driver authorisation; Driver identity check} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - B60W 2540/10: Accelerator pedal position - B60W 2540/12: Brake pedal position - B60W 2540/18: Steering angle - Y02T 10/62: Hybrid vehicles - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract A computer in a vehicle is programmed to operate a vehicle along a predefined course according to predetermined criteria, record an optimal path through the predefined course based on operation of the vehicle according to the predetermined criteria, monitor operation of at least one vehicle control while the vehicle is operated by a human driver along the predefined course, and actuate the at least one vehicle control based on a predetermined deviance from the optimal path. ## Claims ### Claim 1 A computer programmed to: autonomously operate a vehicle along a predefined course according to predetermined criteria; simultaneously record an optimal path through the predefined course based on operation of the vehicle according to the predetermined criteria; then monitor operation of at least one vehicle control while the vehicle is operated by a human driver along the predefined course; and while monitoring, actuate the at least one vehicle control based on a predetermined deviance from the recorded optimal path. ### Claim 2 (depends on 1) The computer of claim 1, wherein the optimal path includes a sequence of positions relative to the predefined course. ### Claim 3 (depends on 2) The computer of claim 2, wherein the optimal path includes a sequence of speeds and accelerations respectively corresponding to the positions. ### Claim 4 (depends on 3) The computer of claim 3, wherein the optimal path includes a sequence of steering-wheel angles respectively corresponding to the positions. ### Claim 5 (depends on 1) The computer of claim 1, wherein the at least one vehicle control is at least one of a brake pedal, an accelerator pedal, and a steering wheel. ### Claim 6 (depends on 1) The computer of claim 1, further programmed to receive a selection of the predetermined criteria, and select the optimal path based on the selection of the predetermined criteria. ### Claim 7 (depends on 6) The computer of claim 6, wherein the predetermined criteria include one of speed, comfort, and safety. ### Claim 8 (depends on 1) The computer of claim 1, wherein a level of actuation of the actuator is based on a magnitude of an actual deviance from the optimal path. ### Claim 9 (depends on 1) The computer of claim 1, wherein a level of actuation of the actuator is based on a profile of the human driver. ### Claim 10 (depends on 9) The computer of claim 9, wherein the profile includes monitored paths through the predefined course with the vehicle operated by the human driver. ### Claim 11 (depends on 1) The computer of claim 1, further programmed to receive a selection of an operation mode from a fully autonomous mode in which the human driver is prohibited from operating any vehicle controls, a nonautonomous mode in which the at least one actuator is prevented from actuating, and a shared mode in which the human driver is permitted to operate at least one vehicle control and in which the at least one actuator is permitted to actuate. ### Claim 12 A method comprising: autonomously operating a vehicle along a predefined course according to predetermined criteria; simultaneously recording an optimal path through the predefined course based on operation of the vehicle according to the predetermined criteria; then monitoring operation of a vehicle control while the vehicle is operated by a human driver along the predefined course; and while monitoring, actuating the vehicle control based on a predetermined deviance from the optimal path. ### Claim 13 (depends on 12) The method of claim 12, wherein the optimal path includes a sequence of respective positions relative to the predefined course, speeds, accelerations, and steering-wheel angles. ### Claim 14 (depends on 12) The method of claim 12, wherein the at least one vehicle control is at least one of a brake pedal, an accelerator pedal, and a steering wheel. ### Claim 15 (depends on 12) The method of claim 12, further comprising receiving a selection of the predetermined criteria, and selecting the optimal path based on the selection of the predetermined criteria. ### Claim 16 (depends on 15) The method of claim 15, wherein the predetermined criteria includes one of speed, comfort, and safety. ### Claim 17 (depends on 12) The method of claim 12, wherein a level of actuation of the actuator is based on a magnitude of an actual deviance from the recorded path. ### Claim 18 (depends on 12) The method of claim 12, wherein a level of actuation of the actuator is based on a profile of the human driver. ### Claim 19 A vehicle comprising: a vehicle control; an actuator coupled to the vehicle control; and a computer in communication with the actuator and programmed to autonomously operate a vehicle along a predefined course according to predetermined criteria, simultaneously record an optimal path through the predefined course based on operation of the vehicle according to the predetermined criteria, then monitor operation of the vehicle control while the vehicle is operated by a human driver along the predefined course, and while monitoring, instruct the actuator to actuate based on a predetermined deviance from the optimal path. ### Claim 20 (depends on 19) The vehicle of claim 19, wherein the vehicle control is a brake pedal; further comprising an accelerator pedal, a steering wheel, a second actuator coupled to the accelerator pedal, and a third actuator coupled to the steering wheel; wherein the computer is in communication with the second and third actuators and is programmed to monitor operation of the accelerator pedal and the steering wheel while the vehicle is operated by a human driver along the predefined course, and instruct the second and third actuators to actuate based on the predetermined deviance from the optimal path.