# US 10,768,619 B1 · User interface for displaying internal state of autonomous driving system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,768,619 B1 - Document ID: US10768619B1 - Status: Granted - Kind: B1 - Application number: 16/134,313 - Filed: 2018-09-18 - Granted: 2020-09-08 - Earliest claimed: 2010-04-28 - Assignees: Waymo LLC - Applicants: Waymo LLC - Inventors: Andrew Timothy Szybalski; Luis Ricardo Prada Gomez; Christopher Paul Urmson; Sebastian Thrun; Philip Nemec - Web page: https://patentgrep.com/patent/US10768619B1 ## CPC - B60W 50/082: {Selecting or switching between different modes of propelling} - B60W 10/04: including control of propulsion units - B60W 10/18: including control of braking systems - B60W 10/20: including control of steering systems - B60W 10/30: including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps - B60W 50/10: Interpretation of driver requests or demands - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - B62D 1/286: {Systems for interrupting non-mechanical steering due to driver intervention} - B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)} - G01S 19/10: providing dedicated supplementary positioning signals - G06F 3/04842: Selection of displayed objects or displayed text elements (G06F3/0482 takes precedence) - G06F 3/04847: Interaction techniques to control parameter settings, e.g. interaction with sliders or dials - B60W 60/0053: {from vehicle to occupant} - B60W 2050/146: {Display means} - G06F 3/0481: based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance - 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 - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) ## Abstract A passenger in an automated vehicle may relinquish control of the vehicle to a control computer when the control computer has determined that it may maneuver the vehicle safely to a destination. The passenger may relinquish or regain control of the vehicle by applying different degrees of pressure, for example, on a steering wheel of the vehicle. The control computer may convey status information to a passenger in a variety of ways including by illuminating elements of the vehicle. The color and location of the illumination may indicate the status of the control computer, for example, whether the control computer has been armed, is ready to take control of the vehicle, or is currently controlling the vehicle. ## Claims ### Claim 1 A method of controlling a control computer for a vehicle, the method comprising: receiving, by one or more processors, a first input indicating that a first threshold force has been applied or released; causing, by the one or more processors, the control computer to enter a ready mode wherein the control computer is controlling an aspect of driving the vehicle and a user is controlling another aspect of driving the vehicle, and wherein the another aspect of driving includes at least one of acceleration of the vehicle or deceleration of the vehicle; receiving, by the one or more processors, a second input indicating that a second threshold force has been applied or released; and based on the second input, causing, by the one or more processors, the control computer to switch from the ready mode to a second mode other than the ready mode. ### Claim 2 (depends on 1) The method of claim 1, wherein when the second threshold force is released, the second mode is an autonomous driving mode wherein the control computer is controlling sufficient aspects of the vehicle for the user to relinquish control. ### Claim 3 (depends on 1) The method of claim 1, wherein when the second threshold force is applied, the second mode is an off mode wherein the control computer is not engaged. ### Claim 4 (depends on 1) The method of claim 1, wherein the first threshold force corresponds to a threshold pressure on one or more of a pedal of the vehicle, a steering wheel of the vehicle, and a gear shifter of the vehicle. ### Claim 5 (depends on 1) The method of claim 1, wherein the second threshold force corresponds to a threshold pressure on one or more of a pedal of the vehicle, a steering wheel of the vehicle, and a gear shifter of the vehicle. ### Claim 6 (depends on 1) The method of claim 1, further comprising, when the control computer has entered the ready mode, displaying, on a display device of the vehicle, an indication that the vehicle is in the ready mode. ### Claim 7 (depends on 1) The method of claim 1, further comprising, when the control computer has entered the second mode, displaying, on a display device of the vehicle, an indication that the vehicle is in the second mode. ### Claim 8 (depends on 1) The method of claim 1, further comprising, displaying, on a display device of the vehicle, an instruction for the user to grip or release a steering wheel of the vehicle. ### Claim 9 (depends on 1) The method of claim 1, further comprising, displaying, on a display device of the vehicle, an instruction for the user to grip or release a pedal of the vehicle. ### Claim 10 A system for controlling a vehicle in various modes, the system comprising: a force sensor; a control computer configured to: receive a first input indicating that a first threshold force has been applied or released at the force sensor; cause the control computer to enter a ready mode wherein the control computer is controlling an aspect of driving the vehicle and a user is controlling another aspect of driving the vehicle, and wherein the another aspect of driving includes at least one of acceleration of the vehicle or deceleration of the vehicle; receive a second input indicating that a second threshold force has been applied or released; and based on the second input, switch from the ready mode to a second mode other than the ready mode. ### Claim 11 (depends on 10) The system of claim 10, wherein when the second threshold force is released, the second mode is an autonomous driving mode wherein the control computer is controlling sufficient aspects of the vehicle for the user to relinquish control. ### Claim 12 (depends on 10) The system of claim 10, wherein when the second threshold force is applied, the second mode is an off mode wherein the control computer is not engaged. ### Claim 13 (depends on 10) The system of claim 10, wherein the first threshold force corresponds to a threshold pressure on one or more of a pedal of the vehicle, a steering wheel of the vehicle, and a gear shifter of the vehicle. ### Claim 14 (depends on 10) The system of claim 10, wherein the second threshold force corresponds to a threshold pressure on one or more of a pedal of the vehicle, a steering wheel of the vehicle, and a gear shifter of the vehicle. ### Claim 15 (depends on 10) The system of claim 10, further comprising the vehicle.