# US 11,897,520 B2 · Method for transferring vehicle control from automated vehicle control to manual vehicle control > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,520 B2 - Document ID: US11897520B2 - Status: Granted - Kind: B2 - Application number: 17/271,806 - Filed: 2019-08-12 - Published: 2021-10-14 - Granted: 2024-02-13 - Earliest claimed: 2018-09-24 - Assignees: ZF Friedrichshafen AG; Faurecia Innenraum Systeme GmbH - Applicants: ZF Friedrichshafen AG - Inventors: Steffen Jung; Andreas Kramme; Maximilian Haverkamp; Jan Bavendiek; Lutz Eckstein; Alexander Tenbrock; Gert-Dieter Tuzar; Markus Uhlig; Thomas Sulzbach - Web page: https://patentgrep.com/patent/US11897520B2 ## CPC - B60W 60/0053: {from vehicle to occupant} - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - B60K 26/02: of initiating means or elements - B60K 35/10: Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor - B60K 35/22: Display screens - B60K 35/25: using haptic output - B60K 35/26: using acoustic output - B60K 35/28: characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver - B60K 35/29: Instruments characterised by the way in which information is handled, e.g. showing information on plural displays or prioritising information according to driving conditions - B60T 7/08: hand actuated - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - B60W 50/16: Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal - B62D 1/12: Hand levers - G05D 1/0061: {for transition from automatic pilot to manual pilot and vice versa} - G05D 1/227: Handing over between remote control and on-board control; Handing over between remote control arrangements - B60K 2360/135: Joysticks - B60K 2360/1438: Touch screens - B60K 2360/166: Navigation - B60K 2360/167: Vehicle dynamics information - B60K 2360/175: Autonomous driving - B60W 2050/143: {Alarm means} - B60W 2050/146: {Display means} - B60W 2540/21: Voice - B60W 2540/215: Selection or confirmation of options - 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 - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES - B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES - 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) ## Abstract A method for transferring control of a vehicle from automated vehicle control by a control unit to manual vehicle control by a driver by a control lever, wherein the control lever is used at least to accelerate, brake, and steer the vehicle, wherein there is also at least one first display screen for displaying driving information, including at least an actual speed and an actual trajectory of the vehicle and a speed and a trajectory based on the actual position of the control lever, and wherein automated vehicle control is transferred to manual vehicle control when the actual speed of the vehicle corresponds graphically to the speed based on the actual position of the control lever and the actual trajectory of the vehicle corresponds graphically to the trajectory based on the actual position of the control lever on the first display screen. ## Claims ### Claim 1 A method for transferring control of a vehicle from automated vehicle control by a control unit to manual vehicle control by a vehicle driver by means of a manually operable control lever, wherein the manually operable control lever is used at least for accelerating, braking, and steering the vehicle, and there is at least one first display screen for displaying driving information, wherein the method comprises: displaying graphically on the first display screen at least an actual speed and an actual trajectory of the vehicle and a speed based on an actual position of the control lever and a trajectory based on the actual position of the control lever; and transferring automated vehicle control to manual vehicle control when the actual speed of the vehicle corresponds graphically to the speed based on the actual position of the control lever and the actual trajectory of the vehicle corresponds graphically to the trajectory based on the actual position of the control lever on the first display screen. ### Claim 2 (depends on 1) The method according to claim 1, further comprising confirming the transfer from automated vehicle control to manual vehicle control by the vehicle driver. ### Claim 3 (depends on 1) The method according to claim 1, further comprising receiving a confirmation from the vehicle driver of transferring from automated vehicle control to manual vehicle control through actuation of a graphic element on the first display screen. ### Claim 4 (depends on 1) The method according to claim 1, further comprising receiving a confirmation from the vehicle driver of transferring from automated vehicle control to manual vehicle control through actuation of a control element on the control lever. ### Claim 5 (depends on 1) The method according to claim 1, further comprising receiving a confirmation from the vehicle driver of transferring from automated vehicle control to manual vehicle control through receiving a voice command from the vehicle driver. ### Claim 6 (depends on 1) The method according to claim 1, further comprising transferring vehicle control from automated vehicle control to manual vehicle control when the actual speed of the vehicle is the same as the speed based on the actual speed of the control lever and the actual trajectory of the vehicle is the same as the trajectory based on the actual position of the control lever for at least one to ten seconds. ### Claim 7 (depends on 6) The method according to claim 6, further comprising displaying on the first display screen a counter that displays a point of transfer from automated vehicle control to manual vehicle control when the actual speed of the vehicle is the same as the speed based on the actual position of the control lever and the actual trajectory of the vehicle is the same as the trajectory based on the actual position of the control lever. ### Claim 8 (depends on 1) The method according to claim 1, further comprising outputting an acoustic feedback is output when the actual speed of the vehicle is the same as the speed based on the actual position of the control lever and the actual trajectory of the vehicle is the same as the trajectory based on the actual position of the control lever. ### Claim 9 (depends on 1) The method according to claim 1, further comprising outputting a haptic feedback at the control lever when the actual speed of the vehicle is the same as the speed based on the actual position of the control lever and the actual trajectory of the vehicle is the same as the trajectory based on the actual position of the control lever. ### Claim 10 (depends on 1) The method according to claim 1, wherein the vehicle further includes at least one second display screen, wherein the method further comprises displaying information display on the second display screen that is adapted according to the information display on the first display screen. ### Claim 11 A vehicle, comprising: a control unit configured to automatically control the vehicle; a control lever coupled to the control unit and configured to allow a vehicle driver to manually control the vehicle via the control lever; and at least a first display screen coupled to the control unit, wherein the control unit is configured to: display graphically on the first display screen at least an actual speed and an actual trajectory of the vehicle and a speed based on an actual position of the control lever and a trajectory based on the actual position of the control lever; and transfer automated vehicle control to manual vehicle control when the actual speed of the vehicle corresponds graphically to the speed based on the actual position of the control lever and the actual trajectory of the vehicle corresponds graphically to the trajectory based on the actual position of the control lever on the first display screen. ### Claim 12 (depends on 11) The vehicle according to claim 11, wherein the control unit is further configured to receive a confirmation from the vehicle driver of the transfer from automated vehicle control to manual vehicle control. ### Claim 13 (depends on 11) The vehicle according to claim 11, wherein the control unit is further configured to receive a confirmation from the vehicle driver of the transfer from automated vehicle control to manual vehicle control by receiving an actuation of a graphic element on the first display screen. ### Claim 14 (depends on 11) The vehicle according to claim 11, wherein the control lever further comprises at least one control element, and wherein the control unit is further configured to receive a confirmation from the vehicle driver of the transfer from automated vehicle control to manual vehicle control by receiving an actuation of the control element on the control lever. ### Claim 15 (depends on 11) The vehicle according to claim 11, wherein the control unit is further configured to receive a confirmation from the vehicle driver of the transfer from automated vehicle control to manual vehicle control by receiving a voice command from the vehicle driver. ### Claim 16 (depends on 11) The vehicle according to claim 11, wherein the control unit is further configured to transfer vehicle control from automated vehicle control to manual vehicle control when the actual speed of the vehicle is the same as the speed based on the actual speed of the control lever and the actual trajectory of the vehicle is the same as the trajectory based on the actual position of the control lever for one to ten seconds. ### Claim 17 (depends on 16) The vehicle according to claim 16, wherein the control unit is further configured to display on the first display screen a counter that displays a point of transfer from automated vehicle control to manual vehicle control when the actual speed of the vehicle is the same as the speed based on the actual position of the control lever and the actual trajectory of the vehicle is the same as the trajectory based on the actual position of the control lever. ### Claim 18 (depends on 11) The vehicle according to claim 11, wherein the control unit is further configured to cause an output of an acoustic feedback when the actual speed of the vehicle is the same as the speed based on the actual position of the control lever and the actual trajectory of the vehicle is the same as the trajectory based on the actual position of the control lever. ### Claim 19 (depends on 11) The vehicle according to claim 11, wherein the control unit is further configured to cause an output of a haptic feedback at the control lever when the actual speed of the vehicle is the same as the speed based on the actual position of the control lever and the actual trajectory of the vehicle is the same as the trajectory based on the actual position of the control lever. ### Claim 20 (depends on 11) The vehicle according to claim 11, wherein the vehicle further includes at least one second display screen, and wherein the control unit is further configured to display information on the second display screen and adapt the information displayed on the second display screen according to the information displayed on the first display screen.