TECHNICAL FIELD

[0001] The present disclosure generally relates to autonomous vehicles and, more particularly, to virtual reality autonomous driving takeover.

BACKGROUND

[0002] In general, autonomous vehicles are vehicles that are capable of sensing the environment and navigating without human input. Autonomous vehicles can detect the surrounding using a variety of sensors, and data provided by the sensors can be used by a control system of the autonomous vehicle to navigate and maneuver the vehicle appropriately. For instance, an autonomous vehicle may be equipped with a stationary camera, which is fixed in terms of position and orientation with respect to the vehicle, to provide live video feed to a remote operator who may need to take over control of the autonomous vehicle under certain circumstances (e.g., during an autonomous system failure of the vehicle or when a driver of the vehicle becomes unable to operate the vehicle). However, as the camera is fixed in place and thus cannot alter the line of vision, the remote operator does not have a real-life perspective from the driver's seat as if driving the autonomous vehicle from the driver's seat.

BRIEF DESCRIPTION OF THE DRAWINGS

[0003] Non-limiting and non-exhaustive embodiments of the present disclosure are described with reference to the following figures, wherein like reference numerals refer to like parts throughout the various figures unless otherwise specified. [0004] FIG. 1 is a diagram depicting an example scenario in which embodiments in accordance with the present disclosure may be utilized.

[0005] FIG. 2 is a block diagram depicting an example apparatus in accordance with an embodiment of the present disclosure.

[0006] FIG. 3 is a flowchart depicting an example process in accordance with an embodiment of the present disclosure.

[0007] FIG. 4 is a flowchart depicting an example process in accordance with an embodiment of the present disclosure.

DETAILED DESCRIPTION

[0008] In the following description, reference is made to the accompanying drawings that form a part thereof, and in which is shown by way of illustrating specific exemplary embodiments in which the disclosure may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the concepts disclosed herein, and it is to be understood that modifications to the various disclosed embodiments may be made, and other embodiments may be utilized, without departing from the scope of the present disclosure. The following detailed description is, therefore, not to be taken in a limiting sense.

[0009] FIG. 1 illustrates an example scenario 100 in which embodiments in accordance with the present disclosure may be utilized. To address the aforementioned issue with a remote operator taking over an autonomous vehicle, the present disclosure proposes techniques, schemes, processes and apparatus pertaining to virtual reality autonomous vehicle takeover. Under a proposed scheme, as shown in scenario 100, a vehicle 110 may be equipped, configured, installed or otherwise provided with a control system that includes a processor 115, a front- facing camera 112, a rear-facing camera 117 and a wireless transceiver 118. In some embodiments, vehicle 110 may be a fully-autonomous vehicle. Alternatively, vehicle 110 may be a vehicle capable of operating in a manual mode (e.g., operated by a human driver) and in an autonomous mode without human intervention under normal conditions.

[0010] Under scheme 100, a user 150 may utilize a virtual reality-based controller 120 to take over control of vehicle 110. Virtual reality-based controller 120 may include a headset 122 and a computing apparatus 125 communicatively coupled to headset 122. Computing apparatus 125 may include a processor 128, which may control the operations of virtual reality -based controller 120. User 150 may wear headset 122 and communicate with and control operations (e.g., steering and/or speed) of vehicle 110 via a wireless communication. In some embodiments, data transmitted and received via the wireless communication may be in accordance with in accordance with a User Datagram Protocol (UDP). In some embodiments, the wireless communication may be established directly between computing apparatus 125 and wireless transceiver 118 of vehicle 110. Alternatively or additionally, the wireless communication may be established indirectly between computing apparatus 125 and wireless transceiver 118 of vehicle 110 via one or more wired and/or wireless networks (represented by a network 130 in FIG. 1) and a wireless station 135.

[0011] Camera 112 may be capable of capturing one or more streams of video images of a front view of vehicle 110, which may be viewed by user 150 wearing headset 122. Similarly, camera 117 may be capable of capturing one or more streams of video images of a rear view of vehicle 110, which may be viewed by user 150 wearing headset 122. Camera 112 may be mounted on a gimbal mount 114 which allows three-dimensional (3D) movement of camera 112. Gimbal mount 114 may be, for example, custom-made by 3D printing. In some embodiments, vehicle 110 may also include one or more actuators 116 and associated servos (not shown) that are capable of adjusting the position of camera 112 by turning, pivoting and/or rotating gimbal mount 114. That is, the one or more actuators 116 may be communicatively coupled to processor 115 to receive signals from processor 115 to adjust the position and/or orientation of camera 112 accordingly.

[0012] Processor 115 may receive one or more streams of video images from each of camera 112 and camera 117. Processor 115 may transmit, via wireless transceiver 118, the one or more streams of video images to processor 128 of computing apparatus 125, which may enable virtual reality viewing of the video images by user 150 on headset 122. Thus, user 150 may remotely view real-time video feed from the perspective of camera 112 and camera 117, as if user 150 were the driver of vehicle 110, to remotely take over or control operations of vehicle 110 using a driver setup, a vehicle interior setup, a steering while, one or more gear knobs and/or a pedal set of the virtual reality-based controller 120. For simplicity, the driver setup, vehicle interior setup, steering while, one or more gear knobs and pedal set of the virtual reality-based controller 120 are not shown in FIG. 1. Upon receiving user input from user 150, processor 128 may provide a maneuvering signal to processor 115 to control a steering of vehicle 110, a speed of vehicle 110, or both.

[0013] Headset 122 may be equipped, configured or otherwise provided with one or more components (e.g., accelerometer(s) and/or gyroscope(s)) capable of sensing movements and motions of headset 122 to sense and provide signal(s) indicative of a roll 124, a pitch 126, a yaw 128, or a combination thereof with respect to the position of headset 122 (and head of user 150). Upon receiving such signal(s) from headset 122, processor 128 may detect a change in the position and/or motion of headset 122, and may provide a camera adjustment signal to processor 115 to adjust, via the one or more actuators 114, a position of camera 112 (e.g., a roll, a pitch, a yaw, or a combination thereof) in response to the detection. Real-time audio, microphone(s) and/or button(s) may be provided in or on headset 122 to allow user 150 to initiate a pop-up of a rear-view video feed from camera 117 in a corner of a display of headset 122.

[0014] With real-time video feed from camera 112 (and camera 117), headset 122 allows user 150 to see a view of camera 112 (and camera 117) in a virtual reality setting as if user 150 were actually driving vehicle 110. As the position of headset 122 is captured without relation to a mounted sensor, user 150 may be able to reset camera 110 to a default position (e.g., front- facing pose). For instance, processor 128 may receive a user input for resetting or otherwise returning camera 110 to its default position and, accordingly, may provide a reset signal to processor 115 to adjust a position of camera 112 to point camera 112 in a front-facing direction with respect to vehicle 110 according to the reset signal.

[0015] Under certain circumstances, such as under a condition of a failure of an autonomous driving system of vehicle 110 and/or inability of a human driver of vehicle 110 to operate vehicle 110, processor 115 may determine that such a condition with respect to vehicle 110 exists. Consequently, processor 115 may notify processor 128 about the condition. In response to receiving such notification, user 150 may remotely take over the control of vehicle 110 via the virtual reality-based controller 120. For instance, user 150 may provide, via processor 128, a maneuvering signal to control one or more operations of vehicle 110 (e.g., steering and/or speed thereof).

[0016] FIG. 2 illustrates an example apparatus 200 in accordance with an embodiment of the present disclosure. Apparatus 200 may perform various functions related to techniques, schemes, methods and systems described herein pertaining to virtual reality autonomous driving takeover, including those described above with respect to scenario 100 as well as those described below with respect to process 300 and process 400. Apparatus 200 may be implemented in vehicle 110 in scenario 100 to effect various embodiments in accordance with the present disclosure. That is, in some embodiments, apparatus 200 may be an example implementation of the control system of vehicle 110. Apparatus 200 may include one, some or all of the components shown in FIG. 2. Apparatus 200 may also include one or more other components not be pertinent to various embodiments of the present disclosure and, thus, such component(s) is/are not shown in FIG. 2 and a description thereof is not provided herein in the interest of brevity.

[0017] Apparatus 200 may include at least a processor 210, which may include a control circuit 212 and a communication circuit 214. Processor 210 may be implemented in the form of one or more single-core processors, one or more multi-core processors, or one or more complex instruction set computing (CISC) processors. Thus, even though a singular term "a processor" is used herein to refer to processor 210, processor 210 may include multiple processors in some embodiments and a single processor in other embodiments in accordance with the present disclosure. In another aspect, processor 210 may be implemented in the form of hardware (and, optionally, firmware) with electronic components including, for example and without limitation, one or more transistors, one or more diodes, one or more capacitors, one or more resistors and/or one or more inductors that are configured and arranged to achieve specific purposes in accordance with the present disclosure. In other words, in at least some embodiments, processor 210 is a special-purpose machine specifically designed, arranged and configured to perform specific tasks including virtual reality autonomous driving takeover in accordance with various embodiments of the present disclosure. Processor 210 may be an example implementation of processor 115 of vehicle 110.

[0018] In some embodiments, apparatus 200 may include a front-facing camera 220 and a rear-facing camera 225 each capable of capturing one or more streams of video images. Each of camera 220 and camera 225 may be communicatively coupled to processor 210 to provide video signals of one or more streams of video images captured by camera 220 and camera 225. In some embodiments, camera 220 may be mounted on a gimbal mount (e.g., gimbal mount 114) which allows 3D movement of camera 220. In some embodiments, apparatus 200 may also include one or more actuators 250(1) - 250(N) that are capable of adjusting the position of camera 220 by turning, pivoting and/or rotating the gimbal mount on which camera 220 is mounted. That is, the one or more actuators 250(1) - 250(N) may be communicatively coupled to processor 210 to receive signals from processor 210 to adjust the position and/or orientation of camera 220 accordingly.

[0019] In some embodiments, apparatus 200 may include a wireless transceiver 230 communicatively coupled to processor 210. Wireless transceiver 230 may be capable of establishing wireless communications with one or more networks (e.g., network 130) and/or a remote controller (e.g., virtual reality-based controller 120). In some embodiments, the wireless transceiver 230 may be capable of transmitting and receiving data in accordance with the UDP.

[0020] In some embodiments, apparatus 200 may include a vehicle control interface 240 communicatively coupled to processor 210 such that processor 210 may autonomously control, operate or otherwise maneuver the vehicle (e.g., vehicle 110) without human input, control and/or intervention. Vehicle control interface 240 may communicate with necessary mechanical, electrical, pneumatic and/or hydraulic components of the vehicle for the control and/or maneuvering of the vehicle. Thus, upon receiving signals and/or commands from processor 210, vehicle control interface 240 may actuate, activate, control and/or operate one or more parts of the vehicle (e.g., to drive and maneuver the vehicle).

[0021] In some embodiments, communications between two of more components of apparatus 200 may be wireless communications in accordance with suitable protocol(s), standard(s) and/or specification(s). For instance, the communications between processor 210 and one or more of camera 220, camera 225, wireless transceiver 230, vehicle control interface 240 and the one or more actuators 250(1) - 250(N) may be based on one or more Wi-Fi technologies in accordance with the Institute of Electrical and Electronics Engineers (IEEE) 802.11 standards. Additionally or alternatively, other wireless technologies such as Bluetooth, Near-Field Communication (NFC), infrared and/or ultrasound may be utilized.

[0022] Communication circuit 214 may be capable of establishing, via the wireless transceiver 230, a wireless communication with a remote controller (e.g., processor 128 of computing apparatus 125 of virtual reality -based controller 120). Communication circuit 214 may be capable of receiving a maneuvering signal from the remote controller. Control circuit 212 may be capable of providing, via the wireless transceiver 230, the stream of video images captured by camera 220 to the remote controller. Control circuit 212 may also be capable of controlling, via the vehicle control interface 240, a steering of the vehicle (e.g., vehicle 110), a speed of the vehicle, or both, according to the maneuvering signal.

[0023] In some embodiments, in providing the stream of video images, processor 210 may be capable of providing, via the wireless transceiver 230, the stream of video images in accordance with the UDP. Likewise, in receiving the maneuvering signal, processor 210 may be capable of receiving, via the wireless transceiver 230, the maneuvering signal in accordance with the UDP.

[0024] In some embodiments, control circuit 212 may be capable of determining that a condition with respect to the vehicle exists and notifying, via the wireless transceiver 230, the remote controller about the condition. In some embodiments, processor 210 may receive the maneuvering signal from the remote controller in response to notifying the remote controller about the condition. In some embodiments, the condition may include a failure of an autonomous system of the vehicle, inability of a human driver of the vehicle to operate the vehicle, or both.

[0025] In some embodiments, communication circuit 214 may be capable of receiving, via the wireless transceiver 230, a camera adjustment signal from the remote controller. Accordingly, control circuit 212 may be capable of controlling the one or more actuators 250(1) - 250(N) to adjust the position of camera 220 according to the camera adjustment signal. In some embodiments, in controlling the one or more actuators 250(1) - 250(N) to adjust the position of camera 220, control circuit 212 may be capable of adjusting a roll, a pitch, a yaw, or a combination thereof with respect to the position of camera 220.

[0026] In some embodiments, communication circuit 214 may be receiving, via the wireless transceiver 230, a reset signal from the remote controller. Accordingly, control circuit 212 may be capable of controlling the one or more actuators 250(1) - 250(N) to adjust the position of camera 220 to point camera 220 in a front-facing direction with respect to the vehicle according to the reset signal.

[0027] FIG. 3 illustrates an example process 300 in accordance with an embodiment of the present disclosure. Process 300 may include one or more operations, actions, or functions shown as blocks such as 310, 320, 330, 340, 350, 360, 370, 380, 390 and 395. Although illustrated as discrete blocks, various blocks of process 300 may be divided into additional blocks, combined into fewer blocks, or eliminated, depending on the desired implementation. Process 300 may be implemented in scenario 100 and/or by apparatus 200. For illustrative purposes and without limitation, the following description of process 300 is provided in the context of scenario 100. Process 300 may begin with block 310.

[0028] At 310, process 300 may involve processor 115 of vehicle 110 establishing a wireless communication with a remote controller (e.g., computing apparatus 125). Process 300 may proceed from 310 to 320.

[0029] At 320, process 300 may involve processor 115 providing a stream of video images captured by a camera of the vehicle (e.g., camera 112 of vehicle 110) to the remote controller. Process 300 may proceed from 320 to 330.

[0030] At 330, process 300 may involve processor 115 receiving a maneuvering signal from the remote controller. Process 300 may proceed from 330 to 340.

[0031] At 340, process 300 may involve processor 115 controlling a steering of vehicle 110, a speed of vehicle 110, or both, according to the maneuvering signal. Process 300 may proceed from 340 to 350, 370 and/or 390.

[0032] At 350, process 300 may involve processor 115 determining that a condition with respect to vehicle 110 exists. In some embodiments, the condition may include a failure of an autonomous system of the vehicle, inability of a human driver of the vehicle to operate the vehicle, or both. Process 300 may proceed from 350 to 360. [0033] At 360, process 300 may involve processor 115 notifying the remote controller about the condition. In some embodiments, the receiving of the maneuvering signal may be a result of processor 115 notifying the remote controller about the condition.

[0034] At 370, process 300 may involve processor 115 receiving a camera adjustment signal from the remote controller. Process 300 may proceed from 370 to 380.

[0035] At 380, process 300 may involve processor 115 controlling one or more actuators 116 to adjust a position of camera 112 according to the camera adjustment signal. In some embodiments, in controlling the one or more actuators 116 to adjust the position of camera 112, process 300 may involve processor 115 adjusting a roll, a pitch, a yaw, or a combination thereof with respect to the position of camera 112.

[0036] At 390, process 300 may involve processor 115 receiving a reset signal from the remote controller. Process 300 may proceed from 390 to 395.

[0037] At 395, process 300 may involve processor 115 controlling one or more actuators to adjust a position of camera 112 to point camera 112 in a front-facing direction with respect to vehicle 110 according to the reset signal.

[0038] In some embodiments, the providing of the stream of video images, the receiving of the maneuvering signal, or both, may be done in accordance with the UDP.

[0039] FIG. 4 illustrates an example process 400 in accordance with an embodiment of the present disclosure. Process 400 may include one or more operations, actions, or functions shown as blocks such as 410, 420, 430, 440, 450, 460, 470 and 480. Although illustrated as discrete blocks, various blocks of process 400 may be divided into additional blocks, combined into fewer blocks, or eliminated, depending on the desired implementation. Process 400 may be implemented in scenario 100 and/or by apparatus 200. For illustrative purposes and without limitation, the following description of process 400 is provided in the context of scenario 100. Process 400 may begin with block 410.

[0040] At 410, process 400 may involve processor 128 of a virtual reality -based controller 120 establishing a wireless communication with a control system of a vehicle (e.g., processor 115 of vehicle 110). Process 400 may proceed from 410 to 420.

[0041] At 420, process 400 may involve processor 128 receiving a stream of video images captured by a camera associated with vehicle 1 10 (e.g., camera 112 of vehicle 110). Process 400 may proceed from 420 to 430.

[0042] At 430, process 400 may involve processor 128 creating a virtual reality view (e.g., on headset 122 for user 120) from a perspective of a driver of vehicle 110 based at least in part on the stream of video images. Process 400 may proceed from 430 to 440.

[0043] At 440, process 400 may involve processor 128 providing a maneuvering signal to processor 115 of the control system to control a steering of vehicle 110, a speed of vehicle 110, or both. Process 400 may proceed from 440 to 450 and/or 470.

[0044] At 450, process 400 may involve processor 128 detecting a change in position of headset 122 associated with virtual reality-based controller 120. Process 400 may proceed from 450 to 460.

[0045] At 460, process 400 may involve processor 128 providing a camera adjustment signal to processor 115 of the control system to adjust a position of camera 112 associated with vehicle 110 responsive to the detecting.

[0046] At 470, process 400 may involve processor 128 receiving a user input (e.g., from user 150). Process 400 may proceed from 470 to 480. [0047] At 480, process 400 may involve processor 128, responsive to receiving the user input, providing a reset signal to processor 115 of the control system to adjust a position of camera 112 to point camera 112 in a front-facing direction with respect to vehicle 110 according to the reset signal.

[0048] In some embodiments, the receiving of the stream of video images, the providing of the maneuvering signal, or both, is in accordance with the UDP.

[0049] In some embodiments, in providing the maneuvering signal to the control system, process 400 may involve processor 128 receiving a notification from processor 115 of the control system indicating an existence of a condition with respect to vehicle 110. Moreover, process 400 may involve processor 128 providing the maneuvering signal to processor 115 of the control system in response to receiving the notification.

[0050] In some embodiments, the condition may include a failure of an autonomous system of the vehicle, inability of a human driver of the vehicle to operate the vehicle, or both.

[0051] In the above disclosure, reference has been made to the accompanying drawings, which form a part hereof, and in which is shown by way of illustration specific implementations in which the present disclosure may be practiced. It is understood that other implementations may be utilized and structural changes may be made without departing from the scope of the present disclosure. References in the specification to "one embodiment," "an embodiment," "an example embodiment," etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is submitted that it is within the knowledge of one skilled in the art to affect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.

[0052] Implementations of the systems, apparatuses, devices, and methods disclosed herein may comprise or utilize a special purpose or general-purpose computer including computer hardware, such as, for example, one or more processors and system memory, as discussed herein. Implementations within the scope of the present disclosure may also include physical and other computer-readable media for carrying or storing computer-executable instructions and/or data structures. Such computer-readable media can be any available media that can be accessed by a general purpose or special purpose computer system. Computer- readable media that store computer-executable instructions are computer storage media (devices). Computer-readable media that carry computer-executable instructions are transmission media. Thus, by way of example, and not limitation, implementations of the present disclosure can comprise at least two distinctly different kinds of computer-readable media: computer storage media (devices) and transmission media.

[0053] Computer storage media (devices) includes RAM, ROM, EEPROM, CD-ROM, solid state drives ("SSDs") (e.g., based on RAM), Flash memory, phase-change memory ("PCM"), other types of memory, other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store desired program code means in the form of computer-executable instructions or data structures and which can be accessed by a general purpose or special purpose computer.

[0054] An implementation of the devices, systems, and methods disclosed herein may communicate over a computer network. A "network" is defined as one or more data links that enable the transport of electronic data between computer systems and/or modules and/or other electronic devices. When information is transferred or provided over a network or another communications connection (either hardwired, wireless, or any combination of hardwired or wireless) to a computer, the computer properly views the connection as a transmission medium. Transmissions media can include a network and/or data links, which can be used to carry desired program code means in the form of computer-executable instructions or data structures and which can be accessed by a general purpose or special purpose computer. Combinations of the above should also be included within the scope of computer- readable media.

[0055] Computer-executable instructions comprise, for example, instructions and data which, when executed at a processor, cause a general purpose computer, special purpose computer, or special purpose processing device to perform a certain function or group of functions. The computer executable instructions may be, for example, binaries, intermediate format instructions such as assembly language, or even source code. Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the described features or acts described above. Rather, the described features and acts are disclosed as example forms of implementing the claims.

[0056] Those skilled in the art will appreciate that the present disclosure may be practiced in network computing environments with many types of computer system configurations, including, an in-dash vehicle computer, personal computers, desktop computers, laptop computers, message processors, hand-held devices, multi-processor systems, microprocessor-based or programmable consumer electronics, network PCs, minicomputers, mainframe computers, mobile telephones, PDAs, tablets, pagers, routers, switches, various storage devices, and the like. The disclosure may also be practiced in distributed system environments where local and remote computer systems, which are linked (either by hardwired data links, wireless data links, or by any combination of hardwired and wireless data links) through a network, both perform tasks. In a distributed system environment, program modules may be located in both local and remote memory storage devices.

[0057] Further, where appropriate, functions described herein can be performed in one or more of: hardware, software, firmware, digital components, or analog components. For example, one or more application specific integrated circuits (ASICs) can be programmed to carry out one or more of the systems and procedures described herein. Certain terms are used throughout the description and claims to refer to particular system components. As one skilled in the art will appreciate, components may be referred to by different names. This document does not intend to distinguish between components that differ in name, but not function.

[0058] It should be noted that the sensor embodiments discussed above may comprise computer hardware, software, firmware, or any combination thereof to perform at least a portion of their functions. For example, a sensor may include computer code configured to be executed in one or more processors, and may include hardware logic/electrical circuitry controlled by the computer code. These example devices are provided herein purposes of illustration, and are not intended to be limiting. Embodiments of the present disclosure may be implemented in further types of devices, as would be known to persons skilled in the relevant art(s).

[0059] At least some embodiments of the present disclosure have been directed to computer program products comprising such logic (e.g., in the form of software) stored on any computer useable medium. Such software, when executed in one or more data processing devices, causes a device to operate as described herein. [0060] While various embodiments of the present disclosure have been described above, it should be understood that they have been presented by way of example only, and not limitation. It will be apparent to persons skilled in the relevant art that various changes in form and detail can be made therein without departing from the spirit and scope of the present disclosure. Thus, the breadth and scope of the present disclosure should not be limited by any of the above-described exemplary embodiments, but should be defined only in accordance with the following claims and their equivalents. The foregoing description has been presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the present disclosure to the precise form disclosed. Many modifications and variations are possible in light of the above teaching. Further, it should be noted that any or all of the aforementioned alternate implementations may be used in any combination desired to form additional hybrid implementations of the present disclosure.