# US 11,999,382 B2 · Methods and apparatus for causing a lane change maneuver of an autonomous vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,999,382 B2 - Document ID: US11999382B2 - Status: Granted - Kind: B2 - Application number: 18/096,837 - Filed: 2023-01-13 - Published: 2023-10-05 - Granted: 2024-06-04 - Earliest claimed: 2022-03-31 - Assignees: PlusAI, Inc. - Applicants: PlusAI, Inc. - Inventors: Amit Kumar; Lichun Yang; Anurag Ganguli - Web page: https://patentgrep.com/patent/US11999382B2 ## CPC - B60W 30/18163: {Lane change; Overtaking manoeuvres} - B60W 60/0015: {specially adapted for safety} - B60W 40/09: Driving style or behaviour - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - B60W 60/0059: {Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity} - B60W 2050/0067: {Confirmation by the driver} - B60W 2050/146: {Display means} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2510/0638: Engine speed - B60W 2540/20: Direction indicator values - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - B60W 2554/402: Type - B60W 2554/4041: Position - B60W 2554/804: Relative longitudinal speed - 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 ## Abstract In one or more embodiments, a method comprises receiving, at a processor, an input signal from an input device in response to a first actuation of the input device by a driver of an autonomous vehicle. The input device is a device disposed with the autonomous vehicle and has a second actuation of the input device associated with a standard operation of the input device. The second actuation has an actuation pattern different from an actuation pattern of the first actuation. In response to the input signal, a determination is made by the processor to determine whether the autonomous vehicle can perform a maneuver safely. In response to determining that the autonomous vehicle can perform the maneuver safely, a signal is sent by the processor to cause the autonomous vehicle to perform the maneuver. ## Claims ### Claim 1 A computer-implemented method comprising: determining, by a computing system, a first command provided by a person in a vehicle and received by a first type of actuating device; determining, by the computing system, a second command provided by the person and received by a second type of non-actuating device; determining, by the computing system, a predetermined relationship between the first command and the second command, wherein the predetermined relationship is associated with receipt of the second command by the second type of non-actuating device within a selected time duration after receipt of the first command by the first type of actuating device; generating, by the computing system, a signal to cause the vehicle to perform a maneuver associated with the first command and the second command; and automatically, by the computing system, performing the maneuver based on the signal. ### Claim 2 (depends on 1) The computer-implemented method of claim 1, wherein the first type of actuating device is at least one of an arm, a lever, a knob, and a button. ### Claim 3 (depends on 2) The computer-implemented method of claim 2, wherein the first command is associated with at least one of shifting the arm, shifting the lever, turning the knob, and pressing the button. ### Claim 4 (depends on 1) The computer-implemented method of claim 1, wherein the second type of non-actuating device is at least one of a touch screen, a microphone, and an image sensor. ### Claim 5 (depends on 4) The computer-implemented method of claim 4, wherein the second command is associated with at least one of tapping the touch screen, providing a voice command to the microphone, and providing a gesture detected by the image sensor. ### Claim 6 (depends on 1) The computer-implemented method of claim 1, wherein the first command and the second command are associated with an actuation pattern that is indicative of driver consent to the maneuver. ### Claim 7 (depends on 1) The computer-implemented method of claim 1, wherein the first command and the second command are associated with an actuation pattern that is distinguishable from standard operations relating to standard use of the first type of actuating device and the second type of non-actuating device. ### Claim 8 (depends on 1) The computer-implemented method of claim 1, wherein the signal to cause the vehicle to perform the maneuver is not generated before receipt of the first command and the second command. ### Claim 9 (depends on 1) The computer-implemented method of claim 1, further comprising: in response to receipt of the first command and the second command, determining whether the vehicle can safely perform the maneuver based on sensor data associated with an environment of the vehicle, wherein the maneuver is a lane change and the vehicle is a truck. ### Claim 10 A system comprising: at least one processor; and a memory storing instructions that, when executed by the at least one processor, cause the system to perform operations comprising: determining a first command provided by a person in a vehicle and received by a first type of actuating device; determining a second command provided by the person and received by a second type of non-actuating device; determining a predetermined relationship between the first command and the second command, wherein the predetermined relationship is associated with receipt of the second command by the second type of non-actuating device within a selected time duration after receipt of the first command by the first type of actuating device; generating a signal to cause the vehicle to perform a maneuver associated with the first command and the second command; and automatically performing the maneuver based on the signal. ### Claim 11 (depends on 10) The system of claim 10, wherein the first type of actuating device is at least one of an arm, a lever, a knob, and a button. ### Claim 12 (depends on 11) The system of claim 11, wherein the first command is associated with at least one of shifting the arm, shifting the lever, turning the knob, and pressing the button. ### Claim 13 (depends on 10) The system of claim 10, wherein the second type of non-actuating device is at least one of a touch screen, a microphone, and an image sensor. ### Claim 14 (depends on 13) The system of claim 13, wherein the second command is associated with at least one of tapping the touch screen, providing a voice command to the microphone, and providing a gesture detected by the image sensor. ### Claim 15 A non-transitory computer-readable storage medium including instructions that, when executed by at least one processor of a computing system, cause the computing system to perform operations comprising: determining a first command provided by a person in a vehicle and received by a first type of actuating device; determining a second command provided by the person and received by a second type of non-actuating device; determining a predetermined relationship between the first command and the second command, wherein the predetermined relationship is associated with receipt of the second command by the second type of non-actuating device within a selected time duration after receipt of the first command by the first type of actuating device; generating a signal to cause the vehicle to perform a maneuver associated with the first command and the second command; and automatically performing the maneuver based on the signal. ### Claim 16 (depends on 15) The non-transitory computer-readable storage medium of claim 15, wherein the first type of actuating device is at least one of an arm, a lever, a knob, and a button. ### Claim 17 (depends on 16) The non-transitory computer-readable storage medium of claim 16, wherein the first command is associated with at least one of shifting the arm, shifting the lever, turning the knob, and pressing the button. ### Claim 18 (depends on 15) The non-transitory computer-readable storage medium of claim 15, wherein the second type of non-actuating device is at least one of a touch screen, a microphone, and an image sensor. ### Claim 19 (depends on 18) The non-transitory computer-readable storage medium of claim 18, wherein the second command is associated with at least one of tapping the touch screen, providing a voice command to the microphone, and providing a gesture detected by the image sensor.