# US 11,908,209 B2 · Vehicle control system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,908,209 B2 - Document ID: US11908209B2 - Status: Granted - Kind: B2 - Application number: 17/593,234 - Filed: 2020-03-10 - Published: 2022-02-24 - Granted: 2024-02-20 - Earliest claimed: 2019-03-13 - Assignees: Jaguar Land Rover Limited; UCL Business PLC - Applicants: Jaguar Land Rover Limited; Ucl Business PLC. - Inventors: Lee Skrypchuk; Rebecca Matthias; Alexandros Mouzakitis; Nilli Lavie; Anthony Harris; Joshua Eayrs - Web page: https://patentgrep.com/patent/US11908209B2 ## CPC - G06V 20/597: {Recognising the driver's state or behaviour, e.g. attention or drowsiness} - B60W 40/08: related to drivers or passengers - B60W 50/082: {Selecting or switching between different modes of propelling} - 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 - B60W 60/0053: {from vehicle to occupant} - G06F 3/013: {Eye tracking input arrangements (G06F3/015 takes precedence)} - B60W 2040/0818: {Inactivity or incapacity of driver} - B60W 2050/143: {Alarm means} - B60W 2050/146: {Display means} - B60W 2540/225: Direction of gaze - B60W 2540/229: Attention level, e.g. attentive to driving, reading or sleeping - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - 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 - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) ## Abstract Aspects of the present disclosure relate to a control system, system and method for controlling a transition between a first driving mode and a second driving mode of a vehicle. The present disclosure relates to receiving image data of an occupant of the vehicle; quantifying one or more characteristics of the occupant's gaze based at least in part on the received image data, the one or more characteristics being indicative of the occupant's attention to a non-driving task; determining a transition profile for transitioning between the first driving mode and the second driving mode based at least in part on the one or more characteristics of the occupant's gaze; and generating and outputting a control signal to transition from the first driving mode to the second driving mode, the control signal comprising instructions for controlling one or more vehicle systems in accordance with the determined transition profile. ## Claims ### Claim 1 A control system for controlling a transition between a first driving mode and a second driving mode of a vehicle, the second driving mode requiring a higher level of interaction from an occupant than the first driving mode, the control system comprising one or more controllers, the control system configured to: receive image data of the occupant of the vehicle; quantify one or more characteristics of the occupant's gaze based at least in part on the received image data, the one or more characteristics being indicative of the occupant's attention to a non-driving task; determine a transition profile for transitioning between the first driving mode and the second driving mode based at least in part on the one or more characteristics of the occupant's gaze, wherein the transition profile comprises a transition position ahead of the vehicle at which the transition between the first and second driving modes will occur and the control system is configured to adjust the location of the transition position based at least in part on the one or more characteristics of the occupant's gaze; and generate and output a control signal to transition from the first driving mode to the second driving mode; wherein the control signal comprises instructions for controlling one or more vehicle systems in accordance with the transition profile. ### Claim 2 (depends on 1) The control system of claim 1, wherein the one or more controllers collectively comprise: at least one electronic processor having an electrical input for receiving the image data; and at least one memory device electrically coupled to the at least one electronic processor and having instructions stored therein; and wherein the at least one electronic processor is configured to access the at least one memory device and execute the instructions thereon so as to generate and output the control signal to the one or more vehicle systems. ### Claim 3 (depends on 1) The control system of claim 1, wherein the one or more characteristics of the occupant's gaze comprises any one or more of: a gaze direction; a gaze duration on a target; a saccade duration; a saccade length; a saccade velocity; and a saccade direction. ### Claim 4 (depends on 1) The control system as claimed in claim 1, configured to determine an attention parameter based at least in part on the one or more characteristics of the occupant's gaze; and determine the transition profile based at least in part on the attention parameter. ### Claim 5 (depends on 4) The control system of claim 4, wherein the attention parameter comprises a relative measurement of a perceptual load of the occupant when engaging with the non-driving task. ### Claim 6 (depends on 4) The control system as claimed in claim 4, configured to: receive data indicative of a type of non-driving task being performed; identify the non-driving task being performed by the occupant based at least in part on the received data; and determine the attention parameter based at least in part on the identified non-driving task. ### Claim 7 (depends on 6) The control system of claim 6, wherein the data indicative of the non-driving task being performed comprises image data of the occupant. ### Claim 8 (depends on 1) The control system of claim 1, wherein the control signal comprises instructions for controlling one or more vehicle output devices for providing an audio, a visual, and/or a haptic transition indicator to the occupant, the or each transition indicator notifying the occupant of an upcoming transition between the first and second driving modes. ### Claim 9 (depends on 8) The control system as claimed in claim 8, configured to adjust one or more of an intensity/volume and/or duration of the or each transition indicator based at least in part on the one or more characteristics of the occupant's gaze. ### Claim 10 (depends on 1) The control system of claim 1, wherein the transition profile comprises a time period within which a transition between the first and second driving modes is to occur; and wherein the control system is configured to adjust the time period based at least in part on the one or more characteristics of the occupant's gaze. ### Claim 11 (depends on 1) The control system as claimed in claim 1, configured to receive an input signal indicative of a request to transition between driving modes. ### Claim 12 (depends on 1) The control system as claimed in claim 1, configured to: monitor the occupant's response to the transition from the first driving mode to the second driving mode before and/or during the transition; and output a further control signal to one or more vehicle systems to transfer the vehicle to a third driving mode, at any time before or during the transition from the first driving mode to the second driving mode, based at least in part on the occupant's response to the transition not meeting one or more response criteria. ### Claim 13 (depends on 1) A system for controlling a transition between a first driving mode and a second driving mode of a vehicle, the system comprising: a control system as claimed in claim 1; and an image sensor configured to obtain image data of an occupant of the vehicle. ### Claim 14 (depends on 1) A vehicle comprising the control system of claim 1. ### Claim 15 (depends on 11) The control system as claimed in claim 11, wherein the input signal is received from a vehicle control module. ### Claim 16 A method for controlling a transition between a first driving mode and a second driving mode of a vehicle, the second driving mode requiring a higher level of interaction from an occupant than the first driving mode, the method comprising: receiving image data of an occupant of the vehicle; quantifying one or more characteristics of the occupant's gaze based at least in part on the received image data, the one or more characteristics being indicative of the occupant's attention to a non-driving task; determining a transition profile for transitioning between the first driving mode and the second driving mode based at least in part on the one or more characteristics of the occupant's gaze, wherein the transition profile comprises a transition position ahead of the vehicle at which the transition between the first and second driving modes will occur; adjusting the time period and/or the location of the transition position based at least in part on the one or more characteristics of the occupant's gaze; and generating and outputting a control signal to transition from the first driving mode to the second driving mode, the control signal comprising instructions for controlling one or more vehicle systems in accordance with the determined transition profile. ### Claim 17 (depends on 16) A non-transitory, computer-readable storage medium storing instructions thereon that, when executed by one or more electronic processors, causes the one or more electronic processors to carry out the method of claim 16. ### Claim 18 (depends on 16) The method as claimed in claim 16, wherein the transition profile further comprises a time period within which a transition between the first and second driving modes is to occur.