# US 2019/0317495 A1 · Apparatus and method for managing control authority transition in vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0317495 A1 - Document ID: US20190317495A1 - Status: Published application - Kind: A1 - Application number: 16/378,181 - Filed: 2019-04-08 - Published: 2019-10-17 - Earliest claimed: 2018-04-11 - Assignees: Hyundai Motor Company; Kia Motors Corporation - Applicants: Hyundai Motor Company; Kia Motors Corportion - Inventors: Na Eun YANG; Jin Su Jeong; Seung Yong Lee; Su Hong Chae; Tae Sung Choi - Web page: https://patentgrep.com/patent/US20190317495A1 ## CPC - B60W 60/0059: {Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity} - B60K 35/10: Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor - B60W 30/095: Predicting travel path or likelihood of collision - B60W 50/10: Interpretation of driver requests or demands - B60W 60/0053: {from vehicle to occupant} - G06V 20/597: {Recognising the driver's state or behaviour, e.g. attention or drowsiness} - B60K 2360/149: Instrument input by detecting viewing direction not otherwise provided for - B60W 2040/0881: {Seat occupation; Driver or passenger presence} - B60W 2540/10: Accelerator pedal position - B60W 2540/12: Brake pedal position - B60W 2540/18: Steering angle - B60W 2540/225: Direction of gaze - B60W 2540/229: Attention level, e.g. attentive to driving, reading or sleeping - B60W 2540/26: Incapacity - 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 - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract An apparatus for managing control authority transition in a vehicle is provided. The apparatus includes a steering device, an acceleration device, a deceleration device, a sensor configured to sense information about a driver of the vehicle, and a control circuit electrically connected with the steering device, the acceleration device, the deceleration device, and the sensor. The control circuit is configured to obtain state information about the driver using the sensor when performing an autonomous control, to receive a control input by the driver to at least one of the steering device, the acceleration device, or the deceleration device, to determine whether to transfer a control authority based on the state information and a reliability of the control input, and to transfer the control authority to the driver when the control authority is determined to transfer. ## Claims ### Claim 1 An apparatus for managing control authority transition in a vehicle, the apparatus comprising: a steering device; an acceleration device; a deceleration device; a sensor configured to sense information about a driver of the vehicle; and a control circuit configured to be electrically connected with the steering device, the acceleration device, the deceleration device, and the sensor, wherein the control circuit is configured to: obtain state information about the driver using the sensor when performing an autonomous control; receive, from the driver, a control input to at least one of the steering device, the acceleration device, or the deceleration device; determine whether to transfer a control authority based on the state information and a reliability of the control input; and transfer, to the driver, the control authority, when it is determined to transfer the control authority. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the sensor comprises a camera, and wherein the control circuit is configured to: obtain the state information by analyzing an image of the driver that is obtained by the camera. ### Claim 3 (depends on 1) The apparatus of claim 1, wherein the state information comprises information regarding a sight of the driver and information regarding a seating of the driver. ### Claim 4 (depends on 1) The apparatus of claim 1, wherein the reliability of the control input comprises information regarding a probability of collision by the control input. ### Claim 5 (depends on 1) The apparatus of claim 1, wherein the control circuit is configured to: calculate an expected path of the vehicle based on the control input; and determine the probability of collision based on the expected path. ### Claim 6 (depends on 1) The apparatus of claim 1, wherein the control circuit is configured to: not transfer the control authority when it is not possible to transfer the control authority. ### Claim 7 (depends on 1) The apparatus of claim 1, wherein the apparatus further comprises: an input device configured to be electrically connected with the control circuit, wherein the control circuit is configured to: immediately transfer, to the driver, the control authority when an input to transfer the control authority is received via the input device. ### Claim 8 (depends on 1) The apparatus of claim 1, wherein the apparatus further comprises: the input device configured to be electrically connected with the control circuit, wherein the control circuit is configured to: resume the autonomous control, after the control authority is transferred, when the control input of the driver is stopped or when an input for the autonomous control is received via the input device. ### Claim 9 (depends on 1) The apparatus of claim 1, wherein the control circuit is configured to: transfer, to the driver, the control authority when pupils of the driver and the seating of the driver seating are detected and when there is no probability of collision by the control input. ### Claim 10 (depends on 1) The apparatus of claim 1, wherein the control circuit is configured to: not transfer the control authority, when the pupils of the driver and the seating of the driver are detected and when there is the probability of collision by the control input. ### Claim 11 (depends on 1) The apparatus of claim 1, wherein the control circuit is configured to: not transfer the control authority when the pupils of the driver are not detected. ### Claim 12 (depends on 1) The apparatus of claim 1, wherein the control circuit is configured to: perform the autonomous control based on a predetermined minimum risk maneuver (MRM) when the seating of the driver seating not detected. ### Claim 13 A method for managing control authority transition in a vehicle, the method comprising: obtaining, with a control circuit, state information about a driver of the vehicle when performing an autonomous control; receiving, with the control circuit, a control input by the driver to at least one of a steering device, an acceleration device, or a deceleration device, wherein the steering device, the acceleration device, and the deceleration device are included in the vehicle; determining, with the control circuit, whether to transfer a control authority based on the state information and a reliability of the control input; and when the control authority is determined to transfer, transferring, with the control circuit, the control authority to the driver. ### Claim 14 (depends on 13) The method of claim 13, wherein the state information comprises information regarding a sight of the driver and information regarding a seating of the driver. ### Claim 15 (depends on 13) The method of claim 13, wherein the reliability of the control input comprises information regarding a probability of collision by the control input.