US-12617379-B2 - Vehicle operation with operator monitoring

Abstract

A system including a computer having a processor and a memory. The memory includes instructions executable by the processor to determine an operator reengagement score based on sensor data including multiple perception factors and multiple controllability factors. An operator reengagement delay is adjusted based on the operator reengagement score and a vehicle component is actuated upon expiration of the operator reengagement delay.

Inventors

• Alexandra Taylor
• Kevin Wegienka
• ALI HASSANI
• Justin Miller
• Gerald H. Engelman

Assignees

• FORD GLOBAL TECHNOLOGIES, LLC

Dates

Publication Date

20260505

Application Date

20231129

Claims (20)

1. 1 . A system, comprising: a computer that includes a processor and a memory, the memory including instructions executable by the processor to: determine an operator reengagement score based on sensor data including multiple perception factors and multiple controllability factors, wherein the instructions to determine the operator reengagement score include one or both of (a) instructions to multiply each of the multiple perception factors by a corresponding perception weight, and then multiply the weighted perception factors together and (b) instructions to multiply each of the multiple controllability factors by a corresponding controllability weight, and then multiply the weighted controllability factors together; adjust an operator reengagement delay based on the operator reengagement score; and actuate a vehicle component upon expiration of the operator reengagement delay.
2. 2 . The system of claim 1 , wherein the perception factors include one or more of path confidence, road type, and adjacent vehicles.
3. 3 . The system of claim 1 , wherein the controllability factors include one or more of lateral acceleration, road curvature, speed relative to limit, and operator engagement.
4. 4 . The system of claim 1 , wherein the instructions to adjust the operator reengagement delay include instructions to change the operator reengagement delay in proportion to a change in the operator reengagement score between a minimum delay and a maximum delay.
5. 5 . The system of claim 1 , wherein the instructions to adjust the operator reengagement delay include instructions to set the operator reengagement delay to zero when the operator reengagement score is below a threshold value.
6. 6 . The system of claim 5 , wherein the instructions further include instructions to receive an indication that spoofing is detected and in response to the indication set the operator reengagement delay to the minimum delay.
7. 7 . The system of claim 1 , wherein the instructions to determine the operator reengagement score include instructions to multiply the weighted perception factors and the weighted controllability factors together.
8. 8 . The system of claim 1 , wherein the perception weights and the controllability weights are determined empirically.
9. 9 . The system of claim 1 , wherein the instructions to adjust the operator reengagement delay include instructions to change the operator reengagement delay in proportion to a change in the operator reengagement score between a minimum delay and a maximum delay.
10. 10 . The system of claim 1 , wherein the vehicle component is an operator reengagement indicator.
11. 11 . The system of claim 1 , wherein the vehicle component is a vehicle brake.
12. 12 . A method, comprising: determining an operator reengagement score based on sensor data including multiple perception factors and multiple controllability factors, wherein determining the operator reengagement score includes one or both of (a) multiplying each of the multiple perception factors by a corresponding perception weight, and then multiplying the weighted perception factors together and (b) multiplying each of the multiple controllability factors by a corresponding controllability weight, and then multiplying the weighted controllability factors; adjusting an operator reengagement delay based on the operator reengagement score; and actuating a vehicle component upon expiration of the operator reengagement delay.
13. 13 . The method of claim 12 , wherein adjusting the operator reengagement delay includes changing the operator reengagement delay in proportion to a change in the reengagement score between a minimum delay and a maximum delay.
14. 14 . The method of claim 12 , wherein the vehicle component is an operator reengagement indicator.
15. 15 . The method of claim 12 , further comprising receiving an indication that spoofing is detected and in response to the indication setting the delay to the minimum delay.
16. 16 . The method of claim 15 , wherein adjusting the operator reengagement delay includes setting the delay to zero when the reengagement score is below a threshold value.
17. 17 . A system, comprising: a computer that includes a processor and a memory, the memory including instructions executable by the processor to: determine an operator reengagement score based on sensor data including multiple perception factors and multiple controllability factors; adjust an operator reengagement delay based on the operator reengagement score, wherein the instructions to adjust the operator reengagement delay include instructions to change the operator reengagement delay in proportion to a change in the operator reengagement score between a minimum delay and a maximum delay; and actuate a vehicle component upon expiration of the operator reengagement delay.
18. 18 . The system of claim 17 , wherein the instructions to determine the operator reengagement score include instructions to multiply each of the multiple perception factors by a corresponding perception weight, and then multiply the weighted perception factors together.
19. 19 . The system of claim 17 , wherein the instructions to determine the operator reengagement score include instructions to multiply each of the multiple controllability factors by a corresponding controllability weight, and then multiply the weighted controllability factors together.
20. 20 . The system of claim 17 , wherein the instructions to determine the operator reengagement score include instructions to: multiply each of the multiple perception factors by a corresponding perception weight; multiply each of the multiple controllability factors by a corresponding controllability weight; and multiply the weighted perception factors and the weighted controllability factors together.

Description

BACKGROUND Vehicles, e.g., in the context of advanced driver assist systems (ADAS) or the like, employ some form of steering wheel engagement verification. Many ADAS features are hands-on and designed to assist in longitudinal and lateral control, e.g., lane-centering, while an operator's hands are on the steering wheel. Furthermore, hands-free features can encounter scenarios that call for operator reengagement. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of an example vehicle. FIG. 2 is a process flow diagram illustrating an example process for determining an operator reengagement score. FIG. 3A is a process flow diagram illustrating an example process for adjusting operator reengagement timing. FIG. 3B is a process flow diagram illustrating an alternative example process for adjusting operator reengagement timing. DETAILED DESCRIPTION This disclosure provides techniques for using perception and controllability context as input to an operator reengagement timing strategy included in controlling vehicle features and/or systems. Perception factors can include path confidence, road type, and adjacent vehicles and controllability factors can include lateral acceleration, road curvature, speed relative to limit, and operator engagement, for example. A computer can include programming to determine an operator reengagement score based on sensor data including the perception factors and the controllability factors. An operator reengagement delay that provides input to control one or more vehicle features and/or systems can be adjusted based on the reengagement score. For example, the operator reengagement delay can be changed in proportion to a change in the reengagement score between a minimum delay and a maximum delay. Upon expiration of the operator reengagement delay the computer can execute programming to actuate features and/or systems, for example, a notification for the operator to place one or more hands in contact with the steering wheel. In an example, when conditions allow, e.g., low-speeds and straight road, the operator reengagement delay can be increased. In other circumstances, e.g., curved roads and increased speed, the operator reengagement delay can be reduced or set to zero, triggering an immediate reengagement notification or actuation of other vehicle components, such as a vehicle braking system. Disclosed herein is a system including a computer having a processor and a memory. The memory includes instructions executable by the processor to determine an operator reengagement score based on sensor data including multiple perception factors and multiple controllability factors. The instructions can include instructions to adjust an operator reengagement delay based on the operator reengagement score and actuate a vehicle component upon expiration of the operator reengagement delay. The instructions to determine the operator reengagement score can include instructions to multiply each of the multiple perception factors by a corresponding perception weight, and then multiply the weighted perception factors together. The perception factors can include one or more of path confidence, road type, and adjacent vehicles. The instructions to determine the operator reengagement score can include instructions to multiply each of the multiple controllability factors by a corresponding controllability weight, and then multiply the weighted controllability factors together. The controllability factors can include one or more of lateral acceleration, road curvature, speed relative to limit, and operator engagement. The instructions to adjust the operator reengagement delay can include instructions to change the operator reengagement delay in proportion to a change in the operator reengagement score between a minimum delay and a maximum delay. The instructions to adjust the operator reengagement delay can include instructions to set the operator reengagement delay to zero when the operator reengagement score is below a threshold value. The instructions can further include instructions to receive an indication that spoofing is detected and in response to the indication set the operator reengagement delay to the minimum delay. The instructions to determine the operator reengagement score can include instructions to multiply each of the multiple perception factors by a corresponding perception weight, multiply each of the multiple controllability factors by a corresponding controllability weight, and multiply the weighted perception factors and the weighted controllability factors together. The perception weights and the controllability weights can be determined empirically. The instructions to adjust the operator reengagement delay can include instructions to change the operator reengagement delay in proportion to a change in the operator reengagement score between a minimum delay and a maximum delay. The actuated vehicle component can be an operator reengagement indicator. The actuated vehicle