# US 2014/0156133 A1 · Engaging and disengaging for autonomous driving

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- Number: US 2014/0156133 A1
- Document ID: US20140156133A1
- Status: Published application
- Kind: A1
- Application number: 13/792,774
- Filed: 2013-03-11
- Published: 2014-06-05
- Earliest claimed: 2012-11-30
- Assignees: Google Inc.
- Applicants: Google Inc.
- Inventors: Brian Cullinane; Philip Nemec; Manuel Christian Clement; Robertus Christianus Elisabeth Mariet; Lilli Ing-Marie Jonsson
- Web page: https://patentgrep.com/patent/US20140156133A1

## CPC

- B60W 50/082: {Selecting or switching between different modes of propelling}
- 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 35/28: 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
- B60R 16/023: for transmission of signals between vehicle parts or subsystems
- B60R 22/48: Control systems, alarms, or interlock systems, for the correct application of the belt or harness
- B60W 30/00: Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W 60/0051: {from occupants to vehicle}
- B60W 60/0053: {from vehicle to occupant}
- B60W 60/0059: {Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity}
- 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 1/0061: {for transition from automatic pilot to manual pilot and vice versa}
- G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)}
- G05D 1/0223: {involving speed control of the vehicle (vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00)}
- G05D 1/646: Following a predefined trajectory, e.g. a line marked on the floor or a flight path
- G05D 1/65: Following a desired speed profile
- G05D 1/81: Handing over between on-board automatic and on-board manual control
- B60K 2360/172: Driving mode indication
- B60K 2360/175: Autonomous driving
- B60R 2022/4866: {Displaying or indicating arrangements thereof}
- B60R 2300/105: using multiple cameras
- B60W 2050/0002: {Automatic control, details of type of controller or control system architecture}
- B60W 2050/0075: {Automatic parameter input, automatic initialising or calibrating means}
- B60W 2050/146: {Display means}
- B60W 2540/045: Occupant permissions
- B60W 2540/16: Ratio selector position
- B60W 2540/215: Selection or confirmation of options
- B60W 2540/229: Attention level, e.g. attentive to driving, reading or sleeping
- B60W 2552/00: Input parameters relating to infrastructure
- B60W 2552/20: Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
- B60W 2552/30: Road curve radius
- B60W 2552/53: Road markings, e.g. lane marker or crosswalk
- B60W 2554/801: Lateral distance
- B60W 2555/20: Ambient conditions, e.g. wind or rain
- B60W 2556/00: Input parameters relating to data
- B60W 2556/45: External transmission of data to or from the vehicle
- B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data
- 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
- 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
- B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

## Abstract

Aspects of the present disclosure relate switching between autonomous and manual driving modes. In order to do so, the vehicle's computer may conduct a series of environmental, system, and driver checks to identify certain conditions. The computer may correct some of these conditions and also provide a driver with a checklist of tasks for completion. Once the tasks have been completed and the conditions are changed, the computer may allow the driver to switch from the manual to the autonomous driving mode. The computer may also make a determination, under certain conditions, that it would be detrimental to the driver's safety or comfort to make a switch from the autonomous driving mode to the manual driving mode.

## Claims

### Claim 1

A method comprising:
receiving a request to switch a vehicle on a roadway from a manual driving mode to an autonomous driving mode;
in response to receiving the request, accessing protocol data;
using, by a processor, the protocol data to assess (i) the status of the vehicle's environment, (ii) the vehicle, and systems of the vehicle, and (iii) a driver;
identifying a set of driving conditions from a plurality of driving conditions based on one or more of the assessments, wherein each of the plurality of driving conditions is associated with a task that may be performed by a driver to change the condition;
generating, based on the set of driving conditions, a set of tasks;
displaying to a user of the vehicle the set of tasks in an ordered sequence; and
upon determining that all of the tasks of the set of tasks are completed, switching the vehicle from a manual driving mode to an autonomous driving mode.

### Claim 2 (depends on 1)

The method of claim 1, wherein at least one of the assessments includes:
accessing detailed map information;
communicating with various systems of the vehicle;
and communicating with a remote computer.

### Claim 3 (depends on 1)

The method of claim 1, wherein at least one of the assessments includes determining whether the current or future weather would make autonomous driving unsafe

### Claim 4 (depends on 1)

The method of claim 1, wherein at least one of the assessments includes determining whether the vehicle's actual location agrees with the vehicle's location relative to the detailed map information.

### Claim 5 (depends on 1)

The method of claim 1, wherein at least one of the assessments includes determining whether data received from the sensors of the detection system agrees with the corresponding detailed map information.

### Claim 6 (depends on 1)

The method of claim 1, wherein at least one of the assessments includes determining whether the vehicle is currently driving in an area pre-approved for initiating the autonomous mode.

### Claim 7 (depends on 1)

The method of claim 1, wherein at least one of the assessments includes determining whether the roadway is paved.

### Claim 8 (depends on 1)

The method of claim 1, wherein at least one of the assessments includes determining the width of the roadway.

### Claim 9 (depends on 1)

The method of claim 1, wherein at least one of the assessments includes determining whether the vehicle is on a curved roadway.

### Claim 10 (depends on 1)

The method of claim 1, wherein at least one of the assessments includes determining, whether the vehicle is sufficiently centered in a lane.

### Claim 11 (depends on 1)

The method of claim 1, wherein at least one of the assessments includes determining whether the vehicle is facing oncoming traffic.

### Claim 12 (depends on 1)

The method of claim 1, wherein at least one of the assessments includes determining whether another vehicle is pulling into the vehicle's lane proximate to the vehicle.

### Claim 13 (depends on 1)

The method of claim 1, wherein at least one of the assessments includes determining whether any upcoming maneuvers would prevent a switch from manual to autonomous driving mode.

### Claim 14 (depends on 1)

The method of claim 1, wherein at least one of the assessments includes determining whether the vehicle can be driving in the autonomous mode for a minimum period of time before a switch to manual mode is required.

### Claim 15 (depends on 1)

The method of claim 1, wherein at least one of the assessments includes determining whether the vehicle has met a minimum maintenance standard.

### Claim 16 (depends on 1)

The method of claim 1, wherein at least one of the assessments includes determining whether the vehicle's automatic wipers are currently on

### Claim 17 (depends on 1)

The method of claim 1, wherein at least one of the assessments includes determining whether the driver's seatbelt is properly buckled.

### Claim 18 (depends on 1)

The method of claim 1, wherein the set of tasks are displayed such that a first task of the set of tasks is displayed until the first task is completed, and after the first task is completed, a second task is displayed.

### Claim 19 (depends on 1)

The method of claim 1, further comprising before generating the set of tasks, correcting by the processor any of the set of driving conditions pre-approved for correction by the processor.

### Claim 20

A non-transitory, tangible computer-readable storage medium on which computer readable instructions of a program are stored, the instructions, when executed by a processor, cause the processor to perform a method, the method comprising:
receiving a request to switch a vehicle on a roadway from a manual driving mode to an autonomous driving mode;
in response to receiving the request, accessing protocol data;
using the protocol data to assess (i) the status of the vehicle's environment, (ii) the vehicle, and systems of the vehicle, and (iii) a driver;
identifying a set of driving conditions from a plurality of driving conditions based on one or more of the assessments, wherein each of the plurality of driving conditions is associated with a task that may be performed by a driver to change the condition;
generating, based on the set of driving conditions, a set of tasks;
displaying to a user of the vehicle the set of tasks in an ordered sequence; and
upon determining that all of the tasks of the set of tasks are completed, switching the vehicle from a manual driving mode to an autonomous driving mode.

### Claim 21

A system:
a processor configured to:
receive a request to switch a vehicle on a roadway from a manual driving mode to an autonomous driving mode;
in response to receiving the request, access protocol data;
use the protocol data to assess (i) the status of the vehicle's environment, (ii) the vehicle, and systems of the vehicle, and (iii) a driver;
identify a set of driving conditions from a plurality of driving conditions based on one or more of the assessments, wherein each of the plurality of driving conditions is associated with a task that may be performed by a driver to change the condition;
generate, based on the set of driving conditions, a set of tasks;
display to a user of the vehicle the set of tasks in an ordered sequence; and
upon determining that all of the tasks of the set of tasks are completed, switch the vehicle from a manual driving mode to an autonomous driving mode.

### Claim 22

A method comprising:
receiving a request to switch a vehicle on a roadway from a manual driving mode to an autonomous driving mode;
examining, by a processor, a first driving condition including whether the vehicle is not sufficiently centered in a driving lane;
examining a second driving condition including whether the vehicle is driving at a predetermined speed;
examining a third driving condition including whether the vehicle is within a predetermined distance from another vehicle in the roadway;
when all of the tasks of the set of tasks are completed, switching the vehicle from a manual driving mode to an autonomous driving mode.

### Claim 23 (depends on 22)

The method of claim 22, further comprising:
generating, based on all of the first, second, and third examined driving conditions, a set of tasks; and
displaying to a user of the vehicle the set of tasks in an ordered sequence.

### Claim 24 (depends on 23)

The method of claim 23, wherein a first task of the set of tasks includes asking the driver to center the vehicle within the driving lane, and the first task is displayed before other tasks of the set of tasks.

### Claim 25 (depends on 23)

The method of claim 23, wherein a first task of the set of tasks includes requiring the driver to reduce or increase the speed of the vehicle, and the first task is displayed before other tasks of the set of tasks.

### Claim 26 (depends on 23)

The method of claim 23, wherein a first task of the set of tasks includes requiring the driver to maintain a minimum distance behind the other vehicle in the roadway, and the first task is displayed before other tasks of the set of tasks.