US 12,405,609 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 Feb. 22, 2024, as Appl. No. 18/583,936.
Application 18/583,936 is a continuation of application No. 16/710,966, filed on Dec. 11, 2019, granted, now 11,940,790.
Claims priority of provisional application 62/778,463, filed on Dec. 12, 2018.
Prior Publication US 2024/0280985 A1, Aug. 22, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2024.01); G05D 1/81 (2024.01); G06N 3/04 (2023.01); G06N 3/08 (2023.01)
CPC G05D 1/0061 (2013.01) [G05D 1/0221 (2013.01); G05D 1/81 (2024.01); G06N 3/04 (2013.01); G06N 3/08 (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 first model that generates a predicted reaction time associated with the human driver, wherein the first 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 the driving scenario that is a given distribution of surrounding vehicles with at least one of respective positions, respective headings, respective speeds, or respective accelerations of the surrounding vehicles;
inputting the predicted reaction time in a second model that generates 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.