US 12,246,756 B2
Methods and systems for hand-over from and ads feature to a driver of a vehicle
Peter Hardå, Torslanda (SE); and Mattias Brännström, Gothenburg (SE)
Assigned to Zenuity AB, Gothenburg (SE)
Filed by ZENUITY AB, Gothenburg (SE)
Filed on Apr. 7, 2021, as Appl. No. 17/224,477.
Claims priority of application No. 20168622 (EP), filed on Apr. 8, 2020.
Prior Publication US 2021/0316765 A1, Oct. 14, 2021
Int. Cl. B60W 60/00 (2020.01); B60K 35/00 (2024.01); B60K 35/10 (2024.01); B60K 35/22 (2024.01); B60K 35/28 (2024.01)
CPC B60W 60/0059 (2020.02) [B60K 35/00 (2013.01); B60W 60/0015 (2020.02); B60W 60/0055 (2020.02); B60W 60/0061 (2020.02); B60K 35/10 (2024.01); B60K 35/22 (2024.01); B60K 35/28 (2024.01); B60K 2360/11 (2024.01); B60K 2360/172 (2024.01)] 17 Claims
OG exemplary drawing
 
1. A method for managing a hand-over from an Automated Driving System (ADS) to a driver of a vehicle, wherein the ADS comprises an ADS feature being associated with a first set of pre-cautionary constraints out of a plurality of pre-cautionary constraints set by a Pre-Cautionary Safety System, while the ADS feature controls the vehicle, wherein the plurality of pre-cautionary constraints comprise a set of safety margins for lateral and longitudinal control of the vehicle, the method comprising:
obtaining a request to deactivate the ADS feature;
providing partial control of the vehicle to the driver in order to enable manual driver operation of the vehicle based on the obtained request, wherein the providing partial control comprises providing access to steering, acceleration, and braking of the vehicle to the driver while a second set of pre-cautionary constraints out of the plurality of pre-cautionary constraints is imposed for the driver while the driver is manually controlling steering, acceleration, and braking of the vehicle;
monitoring the manual driver operation of the vehicle for a time period, wherein the manual driver operation comprises continuously controlling steering, acceleration or braking during at least a portion of the time period, wherein the time period is dynamically set based on a type of ADS feature that is to be deactivated, on a current Operational Design Domain (ODD), on a driver profile, or on a duration of time that the ADS feature has been active prior to the request to deactivate the ADS feature;
evaluating the manual driver operation of the vehicle against the second set of pre-cautionary constraints during the time period in order to check whether the driver violates any one of the constraints comprised in the second set of pre-cautionary constraints,
wherein the second set of pre-cautionary constraints comprises two groups of constraints, wherein a first group of the two groups of constraints comprises critical constraints and a second group of the two groups of constraints comprises non-critical constraints;
in response to the driver not violating any constraint in the set of pre-cautionary constraints during the time period, determining that the driver has passed the evaluation and
deactivating the second set of pre-cautionary constraints upon the expiry of the time period;
in response to the driver violating a constraint in the first group of constraint of the second set of pre-cautionary constraints during the time period, determining that the driver has failed the evaluation and providing control of the vehicle to the ADS; and
in response to the driver violating a constraint in the second group of constraints of the second set of pre-cautionary constraints:
extending the time period,
reducing an evaluation score of the driver, or
temporarily controlling the vehicle using the ADS so to perform an intervention without aborting the evaluation of the manual driver operation.