US 11,940,790 B2
Safe hand-off between human driver and autonomous driving system
Juan Carlos Aragon, Redwood City, CA (US); and Regina Madigan, Mountain View, CA (US)
Assigned to ALLSTATE INSURANCE COMPANY, Northbrook, IL (US)
Filed by Allstate Insurance Company, Northbrook, IL (US)
Filed on Dec. 11, 2019, as Appl. No. 16/710,966.
Claims priority of provisional application 62/778,463, filed on Dec. 12, 2018.
Prior Publication US 2020/0192359 A1, Jun. 18, 2020
Int. Cl. G05D 1/00 (2006.01); G05D 1/02 (2020.01); G06N 3/04 (2023.01); G06N 3/08 (2023.01)
CPC G05D 1/0061 (2013.01) [G05D 1/0221 (2013.01); G06N 3/04 (2013.01); G06N 3/08 (2013.01); G05D 2201/0213 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method comprising:
determining, by a computing device, that an autonomous driving system is driving a vehicle with a human driver therein;
determining that an unexpected event associated with a conflict has occurred in a driving scenario;
retrieving a model that captures attributes personalized to the human driver, wherein the model is based on a plurality of weighted feature functions, wherein each weighted feature function outputs a numerical value associated with a deviation from a policy computed for the human driver associated with at least one of speed, heading, or distance to a lane marker;
based on setting a current vehicle state as an input of the model, generating a simulated driving action, including a predicted trajectory;
determining that the human driver can safely handle the unexpected event based on the predicted trajectory passing a safety threshold; and
causing driving control of the vehicle to be passed to the human driver.