US-12617275-B2 - Symmetric human-machine interface for hybrid vehicle control

US12617275B2US 12617275 B2US12617275 B2US 12617275B2US-12617275-B2

Abstract

Systems and methods for operating a hybrid vehicle are provided. The method may comprise receiving, at a human-machine interface (HMI), a selection of at least one hybrid vehicle of a plurality of hybrid vehicles. The HMI may comprise a processor and a memory, and each hybrid vehicle, of the plurality of hybrid vehicles, may be configured to perform wheeled and walking locomotion. The method may further comprise rendering, at the HMI, a graphical user interface (GUI) based on the selection of the at least one hybrid vehicle, and receiving, at the HMI, one or more commands. The one or more commands may be configured to dictate an operation of one or more hybrid vehicles of the selection of the at least one hybrid vehicle.

Inventors

Ernestine FU
John Suh

Assignees

HYUNDAI MOTOR COMPANY
KIA CORPORATION

Dates

Publication Date: 20260505
Application Date: 20230419

Claims (12)

1 . A method for operating a hybrid vehicle, comprising: receiving, at a human-machine interface (HMI) comprising a processor and a memory, a selection of at least one hybrid vehicle of a plurality of hybrid vehicles, wherein each hybrid vehicle, of the plurality of hybrid vehicles, is configured to perform wheeled and walking locomotion; rendering, at the HMI, a graphical user interface (GUI) based on the selection of the at least one hybrid vehicle; and receiving, at the HMI, one or more commands dictating an operation of one or more hybrid vehicles of the selected at least one hybrid vehicle, controlling, based on the received one or more commands, movement of the selected at least one hybrid vehicle; receiving, at another instance of the HMI comprising another processor and another memory, a command to switch an operator of the at least one hybrid vehicle to another operator; determining that a control hierarchy for establishing operator control is satisfied; and switching control of the selected at least one hybrid vehicle to the another operator in response to determining that the control hierarchy for establishing operator control is satisfied.
2 . The method of claim 1 , further comprising receiving, at the HMI, a selection of a different hybrid vehicle of the at least one hybrid vehicle.
3 . The method of claim 1 , wherein the receiving, at the HMI, the one or more commands comprises receiving the one or more commands via one or more of: a motion control device; a display device; a data input device; and an audio device.
4 . The method of claim 2 , further comprising: updating the selection of the at least one hybrid vehicle to the different hybrid vehicle, contingent upon satisfaction of a control hierarchy for establishing operator control; and updating the GUI based on the selection of the different hybrid vehicle.
5 . A system for operating a hybrid vehicle, comprising: a human-machine interface (HMI), comprising a processor and a memory, wherein the processor is configured to: receive, at the HMI, a selection of at least one hybrid vehicle of a plurality of hybrid vehicles, wherein each hybrid vehicle of the plurality of hybrid vehicles is configured to perform wheeled and walking locomotion; render, at the HMI, a graphical user interface (GUI) based on the selection of the at least one hybrid vehicle; and receive, at the HMI, one or more commands configured to dictate an operation of one or more hybrid vehicles of the selection of the at least one hybrid vehicle; a vehicle control system including another processor and configured to control movement of the selected one or more hybrid vehicles based on the received one or more commands, and another instance of the HMI comprising another processor and another memory, wherein the processor of the other HMI is configured to: receive a command to switch an operator of the at least one hybrid vehicle to another operator; determine that a control hierarchy for establishing operator control is satisfied; and switch control of the selected at least one hybrid vehicle to the another operator in response to determining that the control hierarchy for establishing operator control is satisfied.
6 . The system of claim 5 , wherein each hybrid vehicle, of the plurality of hybrid vehicles, comprises: a chassis; a plurality of leg-wheel components coupled to the chassis, wherein the plurality of leg-wheel components are configured to be collectively operable to provide wheeled locomotion and walking locomotion; at least one sensor configured to receive one or more external commands during a supplementary control mode; and a vehicle control system configured to control a hybrid vehicle to effectuate the one or more external commands.
7 . The system of claim 5 , wherein the processor is further configured to receive, at the HMI, a selection of a different hybrid vehicle of the at least one hybrid vehicle.
8 . The system of claim 7 , wherein the processor is further configured to: update the selection of the at least one hybrid vehicle to the different hybrid vehicle; and update the GUI based on the selection of the different hybrid vehicle.
9 . A non-transitory computer-readable medium for operating a hybrid vehicle, comprising programming instructions stored thereon that when executed on a processor, cause the processor to perform operations comprising: receiving, at a human machine interface (HMI), a selection of at least one hybrid vehicle of the plurality of hybrid vehicles, wherein each hybrid vehicle, of the plurality of hybrid vehicles, is configured to perform wheeled and walking locomotion; rendering, at the HMI, a graphical user interface (GUI) based on the selection of the at least one hybrid vehicle; receiving, at the HMI, one or more commands dictating an operation of one or more hybrid vehicles of the selection of the at least one hybrid vehicle; controlling, based on the received one or more commands, movement of the selected at least one hybrid vehicle; receiving, at another instance of the HMI, a command to switch an operator of the at least one hybrid vehicle to another operator; determining that a control hierarchy for establishing operator control is satisfied; and switching control of the selected at least one hybrid vehicle to the another operator in response to determining that the control hierarchy for establishing operator control is satisfied.
10 . The non-transitory computer-readable medium of claim 9 , wherein each hybrid vehicle, of the plurality of hybrid vehicles, comprises: a chassis; a plurality of leg-wheel components coupled to the chassis, wherein the plurality of leg-wheel components are configured to be collectively operable to provide wheeled locomotion and walking locomotion; at least one sensor configured to receive one or more external commands during a supplementary control mode; and a vehicle control system configured to control a hybrid vehicle to effectuate the one or more external commands.
11 . The non-transitory computer-readable medium of claim 9 , wherein the programming instructions, when executed by the processor, are further configured to receive, at the HMI, a selection of a different hybrid vehicle of the at least one hybrid vehicle.
12 . The non-transitory computer-readable medium of claim 11 , wherein the programming instructions, when executed by the processor, are further configured to: update the selection of the at least one hybrid vehicle to the different hybrid vehicle; and update the GUI based on the selection of the different hybrid vehicle.

Description

BACKGROUND Technical Field Embodiments of the present disclosure relate to systems and methods for controlling a vehicle capable of locomotion using both walking motion and rolling traction using a human-machine interface. Background Conventional passenger motor vehicles are designed to primarily move in a forward direction using wheeled locomotion. These conventional motor vehicles are typically controlled using a steering wheel to control the direction of travel of the vehicle and two (or three) foot pedals to control acceleration and braking (and shifting gears in a manual transmission). While innovation in the automobile industry has changed the driving experience, control of vehicles using a steering wheel and standard foot pedals has not fundamentally changed since the mass-production of automobiles. New motor vehicles capable of wheeled and walking motion, such as, e.g., the Hyundai Elevate, will be capable of omnidirectional movement (e.g., being able to perform in a walking mode). Current user interfaces for controlling conventional motor vehicles are not able to provide control for such new vehicles. With the advent of an automobile capable of omnidirectional travel (e.g., a walking vehicle), driving controls must be reimagined to provide operator control of the new vehicular functionality. It is envisioned that such walking vehicles may be remotely controlled or may have passengers with an onboard operator. Moreover, it is possible that multiple walking vehicles may perform collective operations, possibly under the control of one remote or onboard operator. Given the wide range of possible use cases and control possibilities, the driving controls should be reimagined to efficiently and intuitively allow for such varied control options. SUMMARY According to an object of the present disclosure, a method for operating a hybrid vehicle is provided. The method may comprise receiving, at a human-machine interface (HMI), a selection of at least one hybrid vehicle of a plurality of hybrid vehicles. The HMI may comprise a processor and a memory, and each hybrid vehicle, of the plurality of hybrid vehicles, may be configured to perform wheeled and walking locomotion. The method may further comprise rendering, at the HMI, a graphical user interface (GUI) based on the selection of the at least one hybrid vehicle, and receiving, at the HMI, one or more commands. The one or more commands may be configured to dictate an operation of one or more hybrid vehicles of the selection of the at least one hybrid vehicle. According to an exemplary embodiment, the method may further comprise receiving, at another instance of the HMI, a command to switch an operator of the at least one hybrid vehicle to another operator. The other instance of the HMI may comprise a processor and a memory. According to an exemplary embodiment, the method may further comprise switching control of the at least one hybrid vehicle to the other operator. According to an exemplary embodiment, the switching control of the at least one hybrid vehicle to the other operator may be contingent upon satisfaction of a control hierarchy for establishing operator control. According to an exemplary embodiment, the method may further comprise receiving, at the HMI, a selection of a different hybrid vehicle of the at least one hybrid vehicle. According to an exemplary embodiment, the receiving, at the HMI, the one or more commands may comprise receiving the one or more commands via one or more of: a motion control device; a display device; a data input device; and an audio device. According to an exemplary embodiment, the method may further comprise updating the selection of the at least one hybrid vehicle to the different hybrid vehicle, and updating the GUI based on the selection of the different hybrid vehicle. According to an exemplary embodiment, the updating the selection of the at least one hybrid vehicle may be contingent upon satisfaction of a control hierarchy for establishing operator control. According to an object of the present disclosure, a system for operating a hybrid vehicle is provided. The system may comprise at least one hybrid vehicle. Each hybrid vehicle, of the plurality of hybrid vehicles, may be configured to perform wheeled and walking locomotion. The system may comprise a HMI, comprising a processor and a memory. The processor may be configured to receive, at the HMI, a selection of at least one hybrid vehicle of the plurality of hybrid vehicles, render, at the HMI, a graphical user interface (GUI) based on the selection of the at least one hybrid vehicle, and receive, at the HMI, one or more commands. The one or more commands may be configured to dictate an operation of one or more hybrid vehicles of the selection of the at least one hybrid vehicle. According to an exemplary embodiment, each hybrid vehicle, of the plurality of hybrid vehicles, may comprise a chassis, a plurality of leg-wheel components coupled to the chassis, wher