GB2563902A

GB2563902A - Method and apparatus for use with vehicles having an autonomous driving mode

Info

Publication number: GB2563902A
Application number: GB1710425.8A
Authority: GB
Inventors: Thompson Simon; Millen Laura; White Stuart; Gemma Matthais Rebecca
Original assignee: Jaguar Land Rover Ltd
Current assignee: Jaguar Land Rover Ltd
Priority date: 2017-06-29
Filing date: 2017-06-29
Publication date: 2019-01-02
Anticipated expiration: 2037-06-29
Also published as: GB201710425D0; DE102018210226A1; GB2563902B

Abstract

A method 400 for use in a vehicle comprising an autonomous driving system (Fig.1, 160) for driving the vehicle in an autonomous mode of operation 410, wherein the vehicle is manually operable by a driver in a manual mode. The method displays 420, to the driver of the vehicle, a representation (Fig.3, 300; Fig.5, 500) of a driving environment in a vicinity of, or surrounding the vehicle when the vehicle is operable in the autonomous mode. It also displays 440, to the driver, an indication, with respect to the representation of the driving environment, of a transition location (Fig.5, 510) at which the vehicle will transition from the autonomous mode to the manual mode. The representation may comprise a representation of the path or lanes of travel of the vehicle, and may also indicate other nearby vehicles. The method may also comprise indicating a preparation location (Fig.5, 520) at which the driver should prepare to take over control of the vehicle.

Description

METHOD AND APPARATUS FOR USE WITH VEHICLES HAVING AN AUTONOMOUS DRIVING MODE

TECHNICAL FIELD

The present disclosure relates to an autonomous vehicle and particularly, but not exclusively, to a method and apparatus for use with vehicles having an autonomous driving mode. Aspects of the invention relate to a method, to a controller, and to a system, to computer software and to a vehicle.

BACKGROUND

The degree to which operation of a vehicle is automated has been classified into six discrete levels by SAE International, an association of experts in the automotive field. These SAE levels range from level zero, for vehicles having no significant autonomy, to level 5, which designates vehicles that are fully autonomous and in which no driver input is required. SAE level 3 autonomous vehicles are defined as vehicles in which an autonomous driving system can handle all aspects of driving, but with the expectation that a human driver will respond appropriately to a request to intervene in certain driving scenarios.

There are various reasons why the autonomous driving system may need to hand back control to the driver. For example, vehicle sensors upon which the autonomous driving system relies may be impaired by weather conditions, by dirt or by a fault, therefore compromising the ability of the driving system to sense its surroundings. Alternatively, the vehicle may enter a complex driving situation that the autonomous driving system is not capable of handling and so hand back of control to the driver is planned, for example leaving or joining a motorway.

It is an object of embodiments of the invention to at least mitigate one or more of the problems of the prior art.

SUMMARY OF THE INVENTION

Aspects and embodiments of the invention provide a method, a controller, a system, computer software and a vehicle as claimed in the appended claims.

According to an aspect of the present invention, there is provided a method for use in a vehicle comprising an autonomous driving system for driving the vehicle in an autonomous mode of operation, wherein the vehicle is manually operable by a driver in a manual mode, the method comprising displaying, to the driver of the vehicle, an indication of an environment of the vehicle when the vehicle is operable in the autonomous mode, and displaying, to the driver of the vehicle, an indication of a location with respect to the environment at which the vehicle will transition from the autonomous mode to the manual mode. Advantageously, the driver of the vehicle is provided a visual indication of the location from which they will be responsible for driving the vehicle.

The environment may be at least generally forward of the vehicle. Advantageously, the transition location will be forward of the vehicle.

The method may comprise determining whether the driver of the vehicle has taken control of the vehicle at the transition location. Advantageously, action may be taken if the driver has not taken control. Advantageously, control may be ceded to the driver if they have taken control.

According to an aspect of the present invention, there is provided a method for use in a vehicle comprising an autonomous driving system for driving the vehicle in an autonomous mode of operation, wherein the vehicle is manually operable by a driver in a manual mode, the method comprising displaying, to the driver of the vehicle, an autonomous-driving interface for monitoring the vehicle when the vehicle is operable in the autonomous mode, and displaying, to the driver of the vehicle, a manual-driving interface for driving the vehicle in the manual mode. Advantageously, an interface relevant to the current mode of operation is provided to the driver. Advantageously, the driver is kept informed about the operation of the vehicle by said interfaces.

According to an aspect of the present invention, there is provided a method for use in a vehicle comprising an autonomous driving system for driving the vehicle in an autonomous mode of operation, wherein the vehicle is manually operable by a driver in a manual mode, the method comprising displaying, to the driver of the vehicle, a representation of a driving environment in a vicinity of the vehicle when the vehicle is operable in the autonomous mode, and displaying, to the driver of the vehicle, an indication, with respect to the representation of the driving environment, of a transition location at which the vehicle will transition from the autonomous mode to the manual mode. Advantageously, the driver is able to better prepare to take control of the vehicle. Advantageously, the driver is visually informed about the location from which they will be responsible for control of the vehicle.

The environment may be that at least generally forward of the vehicle. Advantageously, the transition location will be forward of the vehicle.

The representation of the driving environment comprises a representation of a least a portion of a navigable path in the vicinity of the vehicle. Advantageously, the indication of the transition location is displayed with respect to the navigable path being followed by the vehicle.

When the navigable path is a roadway, the representation of the driving environment may comprise a representation of a layout of one or more driving lanes of a portion of the roadway. Advantageously, a realistic representation including the indication of the transition location is displayed to the driver.

The representation of the driving environment optionally comprises an indication of any secondary vehicles in the vicinity of the vehicle. Advantageously, the representation reflects the current situation of the vehicle including surrounding vehicles.

The method may comprise determining one or more attributes of the driving environment. The representation of the driving environment may be determined in dependence, at least in part, on the attributes of the driving environment. Advantageously, the representation may reflect said attributes of the driving environment, to provide a more realistic or accurate representation.

The determining one or more attributes of the driving environment optionally comprises determining, by sensing means associated with the vehicle, the one or more attributes. Advantageously, the sensing means may determine the one or more attributes with respect of the vehicle. The sensing means may be one or more sensing devices arranged about the vehicle.

The determining one or more attributes of the driving environment optionally comprises receiving data indicative of the one or more attributes. Advantageously, the data indicative of the one or more attributes may be provided from a remote source, such as another vehicle or traffic infrastructure.

The determining one or more attributes of the driving environment optionally comprises accessing a data store to obtain data indicative of the one or more attributes. Advantageously, accessing the data store may be relatively easily accomplished. The data store may advantageously be a repository of attribute data.

The method may comprise displaying a representation of the vehicle within the driving environment. Advantageously, the driver may more easily establish a location of the vehicle within the driving environment.

The representation of the driving environment is optionally displayed from a viewpoint relative to the representation of the vehicle. Advantageously, the representation of the driving environment is positioned with respect to the vehicle.

The method may comprise determining the location at which the vehicle will transition from the autonomous mode to the manual mode. Advantageously, the location may be determined according to one or more characteristics of the vehicle at a point of making the determination.

The indication of the transition location may comprise an indication displayed with respect to a navigable path upon which the vehicle is located. Advantageously, the driver is able to perceive the location of the transition.

The indication of the transition location may be displayed with respect to a lane of the roadway comprising the representation of the vehicle. Advantageously, the driver is able to perceive the location of the transition with respect to the lane.

The indication of the transition location optionally comprises a graphically differentiated section of the navigable path. Advantageously, the graphical differentiation is observable by the driver.

The method optionally comprises displaying an indication of a preparation location with respect to the transition location within the representation of the driving environment. Advantageously, the driver may be prompted to prepare for driving the vehicle.

The preparation location may be indicative of a location at which the driver should prepare, or begin to prepare, to drive the vehicle in the manual mode. Advantageously, the driver may be caused to increase their perception of the vehicle’s situation at the preparation location.

The method optionally comprises displaying, to the driver of the vehicle when the vehicle is operable in the manual mode, an interface for driving the vehicle in the manual mode. Advantageously, the driver is provided with relevant information for driving the vehicle.

According to an aspect of the present invention, there is provided a controller for a vehicle comprising an autonomous driving system for driving the vehicle in an autonomous mode of operation, wherein the vehicle is manually operable by a driver in a manual mode, the controller comprising output means for outputting data to a display means to cause the display means to display information to a driver of a vehicle, processing means communicably coupled to the output means, wherein the processing means is arranged to determine a location at which the vehicle will transition from the autonomous mode to the manual mode and to control the output means to output data to cause the display means to display a representation of a driving environment in a vicinity of the vehicle when the vehicle is operable in the autonomous mode, and an indication, with respect to the representation of the driving environment, of a transition location at which the vehicle will transition from the autonomous mode to the manual mode.

The controller as described above, wherein: the output means is an electrical output of the controller for providing an electrical signal; the display means is at least one display device; and the processing means is one or more processors or electronic processing devices.

The processing means is optionally arranged to control the output means to output data to cause the display means to display a representation of at least a portion of a navigable path in the vicinity of the vehicle.

When the navigable path is a roadway, the processing means may be arranged to control the output means to output data to cause the display means to display a representation of a layout of one or more driving lanes of the portion of the roadway in the vicinity of the vehicle.

The controller may comprise input means for receiving data indicative of a location of the any other vehicles in the vicinity of the vehicle. The input means is, in some embodiments, an electrical input for receiving an electrical signal indicative of the data.

The processing means may be arranged to control the output means to output data to cause the display means to display an indication of the any other vehicles in the vicinity of the vehicle.

The processing means is optionally arranged to control the output means to output data to cause the display means to display a representation of the vehicle within the driving environment.

The processing means may be arranged to control the output means to output data to cause the display means to display the representation of the driving environment from a viewpoint relative to the representation of the vehicle.

The indication of the transition location optionally comprises an indication displayed with respect to a navigable path upon which the vehicle is located.

When navigable path is a roadway, the indication of the transition location may be displayed with respect to a lane of the roadway comprising the representation of the vehicle.

The indication of the transition location comprises a graphically differentiated section of the navigable path. A system, comprising the controller as described above and a display means for displaying information to a driver of the vehicle.

According to an aspect of the present invention, there is provided a method for use in a vehicle comprising an autonomous driving system for driving the vehicle in an autonomous mode of operation, wherein the vehicle is manually operable by a driver in a manual mode, the method comprising displaying, to the driver of the vehicle, a representation of a driving environment in a vicinity of the vehicle and an indication of a current location of the vehicle with respect to the driving environment, when the vehicle is operable in the autonomous mode, displaying, to the driver of the vehicle, an indication, with respect to the representation of the driving environment, of a transition location at which the vehicle will transition Trom tne autonomous mode to tne manual mode, and displaying, to tne driver ot the vehicle when the vehicle is operable in the manual mode, an interface for driving the vehicle in the manual mode.

The method may comprise displaying an indication of a preparation location with respect to the transition location within the representation of the driving environment.

According to an aspect of the present invention, there is provided a controller for a vehicle comprising an autonomous driving system for driving the vehicle in an autonomous mode of operation, wherein the vehicle is manually operable by a driver in a manual mode, the controller comprising output means for outputting data to a display means to cause the display means to display information to a driver of a vehicle, processing means communicably coupled to the output means, wherein the processing means is arranged to cause the output means to output data to cause the display means to display a representation of a driving environment in a vicinity of the vehicle when the vehicle is operable in the autonomous mode, and an indication, with respect to the representation of the driving environment, of a transition location at which the vehicle will transition from the autonomous mode to the manual mode.

According to an aspect of the present invention, there is provided a method for use in a vehicle comprising an autonomous driving system for driving the vehicle in an autonomous mode of operation, wherein the vehicle is manually operable by a driver in a manual mode, the method comprising outputting an indication, to the driver of the vehicle, that the vehicle is to transition from the autonomous mode to the manual mode, determining one or more actions to be performed by the driver of the vehicle after the transition from the autonomous mode to the manual mode, and outputting an indication, to the driver of the vehicle, of the one or more actions whilst the vehicle is operating in the autonomous mode. Advantageously, the driver is provided with information about the one or more actions in advance. Advantageously, the driver is advised about the one or more upcoming actions before the vehicle is operative in the manual mode, thereby giving the driver greater time to prepare.

The method may comprise displaying, to the driver of the vehicle, an indication of a transition location at which the vehicle will transition from the autonomous mode to the manual mode.

The method optionally comprises displaying, to the driver of the vehicle when the vehicle is operable in the manual mode, a manual-driving interface for driving the vehicle in the manual mode.

The method may comprise displaying, to the driver of the vehicle when the vehicle is operable in the autonomous mode, an autonomous-driving interface for monitoring the vehicle in the autonomous mode.

Optionally the autonomous driving interface comprises a representation of a driving environment in a vicinity of the vehicle.

The indication of the one or more actions to be performed by the driver of the vehicle may be displayed in relation to the autonomous-driving interface.

The indication of the one or more actions to be performed by the driver of the vehicle optionally comprises a graphic representation. Advantageously, a graphic representation may be more easily recognised.

The one or more actions comprise one or more of a change of lane, a change of navigable path or roadway, a change of speed of the vehicle, and a steering action. Advantageously, the driver is advised about a range of different actions which are upcoming.

The determining one or more attributes of the driving environment optionally comprises determining, by sensing means associated with the vehicle, the one or more attributes. Advantageously, the sensing means may determine the one or more attributes with respect of the vehicle. The sensing means may be one or more sensing devices associated with the vehicle.

The one or more actions may be determined by receiving data indicative of the one or more attributes. Advantageously, the data indicative of the one or more actions may be provided from a remote source, such as another vehicle or traffic infrastructure.

The one or more actions may be determined by accessing a data store to obtain data indicative of the one or more attributes. Advantageously, accessing the data store may be relatively easily accomplished. The data store may advantageously be a repository of such data.

The representation of the driving environment optionally comprises a representation of a least a portion of a navigable path in the vicinity of the vehicle.

According to an aspect of the present invention, there is provided a controller for a vehicle comprising an autonomous driving system for driving the vehicle in an autonomous mode of operation, wherein the vehicle is manually operable by a driver in a manual mode, the controller comprising output means for outputting data to a display means to cause the display means to display information to a driver of a vehicle, processing means communicably coupled to the output means, wherein the processing means is arranged to determine that the vehicle is to transition from the autonomous mode to the manual mode and one or more actions to be performed by the driver of the vehicle after a transition from the autonomous mode to the manual mode and to control the output means to output data to cause the display means to display an indication that the vehicle is to transition from the autonomous mode to the manual mode, and an indication of the one or more actions to be performed by the driver of the vehicle whilst the vehicle is operative in the autonomous mode.

The processing means is optionally arranged to control the output means to output data to cause the display means to display an indication of a transition location at which the vehicle will transition from the autonomous mode to the manual mode.

The processing means may be arranged to control the output means to output data to cause the display means to display a manual-driving interface for driving the vehicle in the manual mode when the vehicle is operative in the manual mode,.

The processing means may be arranged to control the output means to output data to cause the display means to display an autonomous-driving interface for monitoring the vehicle when the vehicle is operable in the autonomous mode.

The autonomous driving interface may comprise a representation of a driving environment in a vicinity of the vehicle.

The indication of the one or more actions to be performed by the driver of the vehicle are optionally displayed in relation to the autonomous-driving interface.

The indication of the one or more actions to be performed by the driver of the vehicle may comprise a graphic representation.

The one or more actions may comprise one or more of a change of lane, a change of navigable path or roadway, a change of speed of the vehicle and a steering action.

The one or more actions are optionally determined in dependence on one or more of an output of a sensing means associated with the vehicle, map data, received data, and a determined location of the vehicle.

The representation of the driving environment may comprise a representation of a least a portion of a navigable path in the vicinity of the vehicle.

According to an aspect of the present invention, there is provided a system, comprising the controller described above and a display means for displaying information to a driver of the vehicle.

According to an aspect of the present invention, there is provided a method for use in a vehicle comprising an autonomous driving system for driving the vehicle in an autonomous mode of operation, wherein the vehicle is manually operable by a driver in a manual mode, the method comprising displaying, to the driver of the vehicle when the vehicle is operable in the autonomous mode, an autonomous-driving interface for monitoring the vehicle in the autonomous mode, wherein the autonomous driving interface comprises a representation of a driving environment in a vicinity of the vehicle, determining that the vehicle is to transition from the autonomous mode to the manual mode and a transition location at which the vehicle will transition from the autonomous mode to the manual mode, displaying, with respect to the representation of the driving environment, an indication of the transition location, determining one or more actions to be performed by the driver of the vehicle after the transition from the autonomous mode to the manual mode, and outputting, to the driver of the vehicle whilst the vehicle is operating in the autonomous mode, an indication of the one or more actions, and displaying, to the driver of the vehicle when the vehicle is operable in the manual mode, a manual-driving interface for driving the vehicle in the manual mode.

According to an aspect of the present invention, there is provided computer software which, when executed by a computer, is arranged to perform a method according to an aspect of the invention. The computer software may be stored on a computer readable medium. The computer software may be tangibly stored on a computer readable medium. The computer readable medium may be non-transitory.

According to an aspect of the present invention, there is provided vehicle arranged to perform a method as described above, and / or comprising a controller as described above or a system as described above.

Within the scope of this application it is expressly intended that the various aspects, embodiments, examples and alternatives set out in the preceding paragraphs, in the claims and/or in the following description and drawings, and in particular the individual features thereof, may be taken independently or in any combination. That is, all embodiments and/or features of any embodiment can be combined in any way and/or combination, unless such features are incompatible. The applicant reserves the right to change any originally filed claim or file any new claim accordingly, including the right to amend any originally filed claim to depend from and/or incorporate any feature of any other claim although not originally claimed in that manner.

BRIEF DESCRIPTION OF THE DRAWINGS

One or more embodiments of the invention will now be described by way of example only, with reference to the accompanying drawings, in which:

Figure 1 shows a system according to an embodiment of the invention;

Figure 2 shows a vehicle according to an embodiment of the invention;

Figure 3 shows a representation of a driving environment according to an embodiment of the invention;

Figure 4 shows a method according to an embodiment of the invention;

Figure 5 shows an autonomous-driving interface according to an embodiment of the invention;

Figure 6 shows a further representation of the autonomous-driving interface according to an embodiment of the invention;

Figure 7 shows a notification according to an embodiment of the invention;

Figure 8 shows a manual-driving interface according to an embodiment of the invention;

Figure 9 illustrates a method according to another embodiment of the invention; and

Figures 10 to 12 show further representations of the autonomous-driving interface according to embodiments of the invention;

DETAILED DESCRIPTION

Figure 1 illustrates a system 100 according to an embodiment of the invention. The system comprises a control means 110, a display means 120, driver-monitoring means 130, sensing means 140 and vehicle control means 150. The system 100 is for use with a vehicle. The vehicle may be a land-going vehicle 200 such as illustrated in Figure 2. The vehicle 200 may be a wheeled vehicle 200. It will also be appreciated that embodiments may be useful with other types of vehicle such as watercraft and aircraft.

The vehicle 200 comprises autonomous driving means 160 for driving the vehicle in an autonomous mode of operation. The autonomous driving means 160 may be referred to as an autonomous driving system 160 for driving the vehicle 200 in the autonomous mode. The vehicle 200 is also manually operable by a driver in a manual mode of operation. The manual mode of operation may correspond to level 0 as defined by SAE International (RTM), such as in J3016 or other equivalent standard. The autonomous mode of operation may correspond to level 3 or above as defined by SAE International such as in J3016 or other equivalent standard. In the autonomous mode of operation, the autonomous driving system 160 may handle substantially all of the driving tasks required by the vehicle 200. However the autonomous driving system 160 may require that the driver intervene to an appropriate request i.e. the driver may be provided with a request to drive the vehicle in the manual mode of operation.

The control means 110 is a controller 110 according to an embodiment of the invention. The controller may be a control device according to an embodiment of the invention. In some embodiments, the control device comprises electronic circuitry. The controller 110 comprises output means 115. The output means 115 is arranged to, in use, provide a signal 125 to the display means 120. The output means 115 may thus comprise an electrical output of the controller 110 for providing the signal 125. The signal 125 may represent data which is provided to the display means 120 to cause the display means 120 to visually display information. The signal 125 may be referred to as a display control signal 125. The controller 110 comprises processing means 112 which may be in the form of one or more processors 112 or electronic processing devices. The processing means 112 is arranged to control the output means 115. In some embodiments, the one or more processors execute instructions which may be in the form of computer software. The instructions may be stored in a memory means accessible to the processing means 112, such as forming part thereof although not specifically illustrated. The processing means 112 is communicably coupled with the output means 115. The processing means 112 is arranged to cause the output means 115 to output data to cause the display means 120 to display information, as will be explained.

The display means 120 is arranged to display information to at least a driver of the vehicle 200 in dependence on the received signal 125. The display means 120 is arranged to visually output information to the driver of the vehicle. The display means 120 may display information to other occupants of the vehicle. The display means 120 may comprise at least one display device 120. The display device 120 may display information thereon in some embodiments. However in other embodiments the display device 120 may be arranged to display information on another surface such as an at least semi-reflective surface in the form of a head-up display (HUD). The other surface may be one or more interior surfaces of the vehicle. The display device 120 may project an image onto the surface, such as the semi-reflective surface or the interior surface(s) such that the image is displayed thereon. The display means 120 is arranged to receive the data from the processing means 112 in the form of the display control signal 125 via the output means 115 and to display information corresponding thereto.

The driver monitoring means 130 is arranged to determine a state of the driver of the vehicle 200. The driver monitoring means 130 may comprise one or more input devices arranged to receive an input from the driver. The input may be explicitly provided to the driver monitoring means 130, such as a button press, activation of a graphically displayed control, voice signal or gesture intentionally provided by the driver to the driver monitoring means 130. Thus the driver monitoring means 130 may comprise one or more input devices for receiving the input. The input devices may comprise one or more buttons, touch-sensitive display screens, cameras, microphones etc. The driver monitoring means 130 may be arranged to passively determine aspects of the driver’s behaviour, such as a state of the driver i.e. driving the vehicle 200, ready or prepared to drive the vehicle 200, an activity, such as reading or sleeping, being carried out by the driver of the vehicle 200. The driver monitoring means 130 may comprise one or more devices for determining the aspects of the driver’s behaviour, such as microphones or cameras. In use, the driver monitoring means 130 may output driver data indicative of the state of the driver. The data may be provided in the form of a driver monitoring signal 135 which is received at an input means 116 of the controller 110. The input means 116 may be a first input means 116 for receiving the driver monitoring signal 135.

The sensing means 140 and vehicle control means 150 may form the autonomous driving system referred to above, generally denoted as reference numeral 160. It will be appreciated that the autonomous driving system 160 may comprise a further control means (not shown) for controlling the autonomous driving of the vehicle 200.

The sensing means 140 is arranged to, in use, determine a driving environment in a vicinity of the vehicle. The driving environment comprises one or more features in the vicinity of the vehicle 200. The driving environment may comprise one or more of at least a portion of a navigable path or roadway in the vicinity of the vehicle, a layout of one or more driving lanes of the portion of a roadway in the vicinity of the vehicle, any other vehicles in the vicinity of the vehicle, road furniture such as signs, barriers etc., in the vicinity of the vehicle 200. The navigable path may correspond to any route or path which may be followed by the vehicle 200, such as an off-road path or track suitable for being followed by the vehicle 200 i.e. a byway or similar. Thus the sensing means 140 is arranged to operatively determine a presence of, and location of, features in the vicinity of the vehicle forming the driving environment. The sensing means 140 is arranged to operatively output driving environment data indicative of the driving environment of the vehicle 200. The driving environment data may be provided in the form of a driving environment signal 145 which is received at an input means 117 of the controller 110. The input means 117 may be a second input means 117 for receiving the driving environment signal 145.

The sensing means 140 may comprise one or more sensing devices 140. In some embodiments the one or more sensing devices 140 comprise a plurality of sensing devices 140. At least some of the sensing devices 140 may be arranged to receive radiation from the features of the driving environment. The one or more sensing devices 140 may comprise at least one camera 140. The at least one camera may be arranged to view the driving environment of the vehicle and to output image data corresponding thereto. The image data may be received by one or more image processors of the sensing means 140. The one or more image processors may be arranged to recognise the features of the driving environment, such as edges of the roadway, lane markings defining the layout of the one or more driving lanes, the other vehicles in the vicinity of the vehicle 200 and the road furniture. It will be appreciated that other features may also be recognised.

The sensing means 140 may comprise one or more emitter-receiver devices arranged to emit radiation and to receive radiation reflected from the driving environment, in particular from the one or more features in the vicinity of the vehicle 200. Such devices may comprise a light detection and ranging (LIDAR) device, for example. The one or more emitter-receiver devices may be arranged to determine a range or distance to the one or more features in the vicinity of the vehicle 200. A processing means associated therewith may store range information corresponding to each feature in a memory means. In some embodiments, a point cloud may be formed in the memory means which is indicative of a plurality of points in the driving environment and a distance to each of the points.

The vehicle control means 150 is arranged to, in use, control at least some aspects of the vehicle 200. In particular, the vehicle control means 150 is arranged to control movement of the vehicle. The vehicle control means 150 may control or provide steering input to the vehicle 200. The vehicle control means 150 may control or provide motive input to the vehicle 200, such as control of accelerator and braking functions of the vehicle 200. In this way, the vehicle control means 150 is arranged to drive the vehicle in the autonomous mode of operation. The vehicle control means 150 may comprise a processing means such as one or more processing devices arranged to output vehicle control data for providing instructions to one or more sub-systems of the vehicle in control of one or more of steering, braking, acceleration and gear control functions of the vehicle 200 in order to drive the vehicle in the autonomous mode. The vehicle control means 150 may operate in dependence on the driving environment data output by the sensing means 140. The vehicle control means 150 may also operate in dependence on map data indicative of paths, such as roadways, navigable by the vehicle 200. Information indicative of the movement of the vehicle may be provided to the controller 110 as a driving control signal 155. The driving control signal may be received at an input means 118 of the controller 110. The input means 118 may be a third input means 118 for receiving the driving control signal 155.

In operation, in the autonomous mode, the vehicle 200 is able to drive autonomously in dependence, at least partly, on the driving environment data provided by the sensing means 140. In the autonomous mode, the vehicle control means 150 is operative to control the driving of the vehicle to navigate the driving environment to a destination which may have been indicated by one of the occupants of the vehicle. In the autonomous mode, the controller 110 may receive the driver data. In some embodiments, the controller 110 is configured to interrupt the autonomous mode of operation of the vehicle 200 if the state of driver is one or more predetermined states, such as sleeping. Furthermore, a signal may be provided from the autonomous driving system 160 indicative of a request to transition from the autonomous mode to the manual mode at an upcoming point in time, as will be explained. The controller 110 may operate responsive to the signal, as will be explained, to provide the driving with an indication of the upcoming transition and to assist the driver in gaining awareness of a current driving situation of the vehicle 200.

In the autonomous mode, the controller 110 is arranged to receive the driving environment data and to control the display device 120 to display a representation of the driving environment to the driver of the vehicle 200. Therefore, in some embodiments, the representation of the driving environment is at least in part based on measurements of the driving environment around the vehicle 200. The controller 110 may determine the representation of the driving environment at least in part on the map data referred to above. Even though the driver of the vehicle 200 is not actively driving the vehicle 200 in the autonomous mode, provision of the representation of the driving environment allows the driver to maintain at least some awareness of the vehicle 200 and its surroundings in the autonomous mode.

Figure 3 illustrates a representation of the driving environment 300 according to an embodiment of the invention. The representation of the driving environment 300 provides an autonomous-driving interface for monitoring the vehicle 200 in the autonomous mode. The representation 300 is displayed by the display device 120 to at least the driver of the vehicle 200. As illustrated in Figure 3 the representation of the driving environment 300 is a perspective view. The perspective view is shown displayed in Figure 3 from a viewpoint located outside of the vehicle 200. The viewpoint of the representation is associated with the vehicle 200. That is, the viewing position moves in association with the vehicle 200. In particular, in some embodiments, the representation is a representation of the driving environment as generally perceived by the driver of the vehicle 200, as will be explained.

The representation of the driving environment 300 shown in Figure 3 comprises a representation 310 of the vehicle 200 within the driving environment 300. The representation of the vehicle 200 will hereinafter be referred to as a primary vehicle 310. Thus, the perspective view is from the viewpoint outside of the primary vehicle 200. The viewpoint may be immediately behind the representation of the primary vehicle 200 in some embodiments. Therefore, the representation of the driving environment 300 encompasses the primary vehicle 200 in some embodiments. The processing means 112 of the controller 110 may control the output means 115 to output data to cause the display device 120 to display the representation 310 of the primary vehicle 200 within the driving environment 300. The processing means 112 of the controller 110 may control the output means 115 to output data to cause the display device 120 to display the representation of the driving environment 300 from the viewpoint relative to the representation 310 of the primary vehicle 200.

The representation of the driving environment 300 in some embodiments comprises a horizon 305 which is a predetermined distance ahead of the representation 310 of the primary vehicle 200. Therefore the representation of the driving environment 300 in some embodiments comprises a predetermined distance of the driving environment between the primary vehicle 310 and the horizon 305.

The representation of the driving environment 300 comprises an indication of a least a portion of a roadway 320 in the vicinity of the primary vehicle 310. As illustrated in Figure 3, the indication of the roadway 320 may comprise an indication of first and second peripheral edges of the roadway 320, wherein the first and second peripheral edges may be right and left hand edges of a carriageway of the roadway 320. It will be understood that carriageway is a one-way portion of a multi-lane roadway. Thus the roadway 320 may comprise a second carriageway in an opposing direction which is not shown in the representation 300.

The representation of the driving environment 320 comprises an indication of a layout of one or more driving lanes of the portion of a roadway in the vicinity of the vehicle. The representation of Figure 3 comprises three driving lanes 331,332, 333. It will be appreciated that this is an example and that the representation may comprise other numbers of driving lanes. Each driving lane is defined between first and second graphical markers 341, 342.

For some lanes, such as first lane 331 and third lane 333 the graphical markers may comprise the indication of at least one of the first and second peripheral edges of the roadway 320 or carriageway. Graphical markers in the form of lane markings 341, 342 may also be provided to denote a division of the driving lanes 331, 332, 333 within the carriageway. The layout of the roadway may be indicated utilising other graphical markers, such as arrows, hatched lines etc.

In some embodiments representation of the driving environment 300 comprises an indication of any secondary vehicles 350 in the vicinity of the primary vehicle 310. The representation of Figure 3 comprises three secondary vehicles 350. It will be appreciated that this is an example and that the representation may comprise other numbers of secondary vehicles 350. Each secondary vehicle 350 is shown at a position relative to the primary vehicle 310. The controller 110 may receive data indicative of the location of the secondary vehicles 350 in the vicinity of the primary vehicle 310. The processing means 112 of the controller 110 may control the output means 115 to output data to cause the display device 120 to display the indication of the location of the secondary vehicles 350 in the vicinity of the primary vehicle 310.

When the primary vehicle 200 is operative in the autonomous mode it is sometimes necessary for the primary vehicle 200 to transfer to the manual mode of operation. In some embodiments, the autonomous driving system 160 is arranged to issue a request to the driver to switch the primary vehicle 200 to the manual operating mode so that the driver assumes control and drives the primary vehicle 200 in the ordinary manner. It may be necessary to switch to the manual mode of operation when, for example, the controller 110 determines that a specific driving situation has been, or is about to be, encountered that the autonomous driving system 160 is not designed to handle, and for which it is therefore planned for the autonomous driving system 160 to hand control back to the driver. Such situations may include leaving or joining a motorway, for example. It will be appreciated that embodiments of the invention are not limited in this respect.

In some situations, the necessity to transfer to the manual mode may be determined by the controller 110 in advance, such as at least 10 seconds in advance, at least 20 seconds or around 30 seconds in advance. Therefore, in some embodiments, a transfer of control of the primary vehicle 200 to the manual mode is relatively long in comparison to a transfer of control to the manual mode which may be necessary in response to, for example, an emergency situation.

Embodiments of the present invention are operative to provide the driver of the primary vehicle 200 an indication, with respect to the representation of the driving environment 300, of a transition location at which the primary vehicle 200 will transition from the autonomous mode of operation to the manual mode of operation. As the representation of the driving environment 300 is a representation of the driver’s view, the driver is able to better appreciate when, and the location, at which the primary vehicle 200 will switch to the manual mode. Thus, the driver may be better prepared to assume control of the primary vehicle 200 in the manual mode.

Figure 4 illustrates a method 400 according to an embodiment of the invention. The method 400 is for use in the primary vehicle 200 which comprises an autonomous driving system 160 for driving the vehicle in an autonomous mode of operation, and wherein the primary vehicle 200 is also manually operable by a driver in a manual mode of operation. The method 400 may be performed by the system 100 shown in Figure 1, although it will be appreciated that embodiments of the method 400 may be performed by other systems.

The method 400 comprises a step 410 of operating the primary vehicle 200 in the autonomous mode. During step 410, the primary vehicle 200 is driven, or controlled, by the autonomous driving system 160. As noted above, the autonomous mode of operation may correspond to level 3 or above as defined by SAE International.

In step 420, a representation of a driving environment 300 in the vicinity of the primary vehicle 200 is displayed by the display device 120. The representation 300 is displayed in step 420 when the primary vehicle 200 is operating in the autonomous mode. The representation of the driving environment 300 may be as described above with reference to Figure 3. The representation of the driving environment 300 allows the driver, even when not manually driving the vehicle 200, to appreciate a current driving situation of the primary vehicle 200 i.e. to monitor the primary vehicle 200 whilst operating autonomously. For example, the driver may appreciate one or more secondary vehicles 350 in the vicinity of the primary vehicle 200.

In step 420, the processing means 112 may be arranged to cause the output means 115 to output data in the form of the display control signal 125 to cause the display device 120 to display the representation of the driving environment 300 whilst the primary vehicle 200 is operating in the autonomous mode. The processing means 112 may be arranged to cause, in step 420, the output means 115 to output data to cause the display device 120 to display an indication of a least a portion of a roadway 320 in the vicinity of the primary vehicle 200.

The processing means 112 may be arranged to cause the output means 115 to output data to cause the display device 120 to display an indication of a layout of one or more driving lanes 331, 332, 333 of the roadway 320 in the vicinity of the primary vehicle 200. In some embodiments, the processing means 112 is arranged to cause the output means 115 to output data to cause the display device 120 to display an indication of any secondary vehicles 350 in the vicinity of the primary vehicle 200.

In step 430, it is determined whether it is necessary for the primary vehicle to transition, or switch, from the autonomous mode of operation to the manual mode of operation. For example, step 430 may comprise a determination of whether a driving situation is encountered which is unexpected or unsupported by the autonomous driving system 160. If it is determined not to be necessary to transition to the manual mode, the method returns to step 410 i.e. the primary vehicle 200 remains in the autonomous mode of operation. If, however, it is determined to be necessary to transition to the manual mode, the method 300 moves to step 440.

The method 400 comprises, in step 440, determining a location at which the primary vehicle 200 will transition from the autonomous mode to the manual mode, hereinafter transition location. It will be appreciated that the transition location is a geographic location with respect to the primary vehicle 200. Step 400 may comprise calculating the transition location based on a current speed, and intended future speed, of the primary vehicle 200. In some embodiments, the transition will occur after a predetermined period of time which, as noted above, may be at least 10 seconds in advance, at least 20 seconds or around 30 seconds. Thus the transition location may be calculated based on the speed of the vehicle 200 and the predetermined period of time. Furthermore, in some embodiments, the transition location may be determined based on a need for the primary vehicle 200 to change lanes prior to the transition location, for example due to the presence of any secondary vehicles 350 in a current lane of the roadway.

Step 450 comprises displaying an indication of the transition location i.e. the location at which the primary vehicle 200 will transition from the autonomous mode to the manual mode.

Figures 5 and 6 illustrate a representation of the driving environment 500 of the primary vehicle 200 according to an embodiment of the invention. Figures 5 and 6 show the same representation at different points in time i.e. with Figure 6 being at a later point in time than Figure 5.

The representation of the driving environment 500 comprises an indication of the transition location 510. The representation of the driving environment 500 comprises a representation 530 of the primary vehicle 200. The indication of the transition location 510 is displayed with respect to the representation 530 of the primary vehicle 200. The indication of the transition location 510 is a graphical indicator of the geographic location at which the primary vehicle 200 will transition, or switch, from the autonomous mode to the manual mode. The indication of the transition location 510 comprises an indication displayed with respect to a lane 540 of a roadway 505 within which the representation 530 of the primary vehicle 200 is currently located. In particular, in some embodiments, the indication of the transition location 510 is displayed with respect to the lane 540 of the roadway 505 comprising the representation 530 of the primary vehicle 200.

As shown in Figures 5 and 6, in some embodiments the indication of the transition location 510 comprises graphical marker which may be, in some embodiments, a semi-hoop or archway over a current lane 540 of the roadway 505 i.e. a lane 540 of the roadway 505 in which the primary vehicle 200 is currently located. It will be appreciated that the indication may be provided in other ways using graphical indicators other than that shown.

As can be particularly appreciated from Figure 6, the indication of the transition location 510 comprises one or more graphically differentiated sections 520, 610 of roadway 505 in some embodiments. The one or more graphically differentiated sections 520, 610 of the roadway 505 may be one or more graphically differentiated sections 520, 610 of the current lane 540 of the roadway 505. In other words, where there are a plurality of graphically differentiated sections, these may be successive sections of the current lane 540. In some embodiments, the one or more graphically differentiated sections 520, 610 of the roadway 505 may be sections of the roadway 505 one or both of preceding 520 or following 610 the transition location 510.

Step 450 may comprise, in some embodiments displaying an indication of a preparation location 520. The preparation location 520 is a location at which the driver of the primary vehicle 200 should at least begin to prepare to assume control of the primary vehicle 200. The preparation location 520 may, in some embodiments, be a preparation region 520 as illustrated in the embodiment shown in Figures 5 and 6. The preparation region 520 is a region or geographical area 520 within which the driver of the primary vehicle 200 should at least begin to prepare to assume control of the primary vehicle 200. The preparation location or region 520 may be located prior to the transition location 510. As illustrated in Figure 6, the preparation region 520 is entered by the primary vehicle 530 before the primary vehicle 530 reaches the transition location 510. Therefore the preparation region 520 may be a first graphically differentiated section 520 of the roadway 505, as described above.

In some embodiments, the preparation location 520 is indicated with a first graphical indication or differentiation and the transition location 510 is indicated with a second graphical indication. In some embodiments, the preparation location is indicated as a first section 520 of the current lane 540 of the roadway 505 prior to the transition location 510, where the first section is indicated with a first graphical indication. The first graphical indication may be one or more of a first colour, first shading or first highlighting. In some embodiments, the transition location 510 is associated with a second section 610 of the current lane 540 of the roadway 505 following the transition location 510, where the second section 610 is indicated with a second graphical indication. The second graphical indication may be one or more of a second colour, second shading or second highlighting. Therefore the second section is a second graphically differentiated section of the roadway 505. In some embodiments, the first and second sections 520, 610 are indicated in first and second, different, colours. The first and second sections 520, 610 may be immediately adjacent or abutting sections of the current lane 540 of the roadway 505, divided by the transition location 510. In some embodiments, the first section i.e. the preparation region 520 is provided to inform or advise the driver of the primary vehicle 200 to prepare to assume control of the primary vehicle 200, the section 610 is provided to warn the driver that they should assume control of the primary vehicle 200 immediately.

In step 460 it is determined whether the primary vehicle 200 has reached the transition location 510. That is, step 460 may comprise determining whether a geographic location of the primary vehicle 200 substantially corresponds to the geographic location of the transition location 510. If not, i.e. that the location of the primary vehicle 200 is prior to the transition location 510, then the method 400 returns to step 450 where the indication of the transition location 510 is displayed. If the location of the primary vehicle 200 is substantially equal to the transition location 510, then the method 400 moves to step 470.

In some embodiments step 460 may comprise determining whether the primary vehicle 200 has reached the preparation location 520, or is within the preparation region 520. If the vehicle has reached the preparation location 520, or is within the preparation region 520, step 460 may comprise determining whether the driver has provided an input indicative of the driver preparing to drive the vehicle. If the driver has not provided the input, the method 400 may output a notification to the driver to prepare to drive the primary vehicle 200. For example, step 460 may comprise displaying a graphical indication that the driver should prepare to drive the vehicle. The input may be provided to the controller 110 from the driver monitoring means 130. The input may be provided by the driver monitoring signal 135. The driver monitoring means 130 may be arranged to determine whether the driver of the primary vehicle 200 has made contact with, or taken hold of, one or more controls of the primary vehicle 200 such as a steering wheel thereof.

In step 470, the primary vehicle 200 transitions to be operative in the manual mode. As noted above, the manual mode may correspond to level 0 as defined by SAE International. In some embodiments, it is determined whether the driver has provided the input indicative of the driver assuming control of the primary vehicle 200 i.e. driving the vehicle. The determination may be made after the vehicle has reached the transition location 510. If the driver has not provided the input, the method 400 may output a notification to the driver. The notification may be indicative of it being necessary for the driver to immediately take control of the primary vehicle 200.

An example notification is shown in Figure 7. The notification 710 in Figure 7 is in the form of a high-impact notification. The high-impact notification 710 is one which is arranged to be noticed by the driver, such that the driver assumes control of the vehicle 200 in response thereto. The high-impact notification may be highly illuminated i.e. bright, or have a high-contrast to impact upon the driver. If the driver does not assume control of the vehicle 200 within a predetermined period of time from output of the notification 710, the vehicle 200 may be caused to perform one or more actions, such as stopping or coasting to a stop in the absence of driver control.

In step 470 a manual-driving interface 800, an embodiment of which is shown in Figure 8 is output. The manual-driving interface is provided for driving the vehicle 200 in the manual mode. The manual driving interface 800 comprises information useful for the driver to drive the vehicle in the manual mode, such as an indication of a current speed of the vehicle and, in some embodiments, an indication of a current fuel level and/or battery charge level of the vehicle. It will be appreciated that the manual-driving interface may comprise other information.

Figure 9 illustrates a method 900 according to an embodiment of the invention. The method 900 is for use in the primary vehicle 200 which comprises an autonomous driving system 160 for driving the vehicle in an autonomous mode of operation, and wherein the primary vehicle 200 is also manually operable by a driver in a manual mode of operation. The method 900 may be performed by the system 100 shown in Figure 1, although it will be appreciated that embodiments of the method 900 may be performed by other systems. The method 900 provides information to the driver of the primary vehicle 200 regarding one or more actions to be performed by the driver of the primary vehicle 200 after a transition from the autonomous mode to the manual mode, as will be explained.

The method 900 comprises a step 910 of operating the primary vehicle 200 in the autonomous mode. During step 910, the primary vehicle 200 is driven, or controlled, by the autonomous driving system 160. As noted above, the autonomous mode of operation may correspond to level 3 or above as defined by SAE International.

In step 920, a representation of a driving environment 300 in the vicinity of the primary vehicle 200 is displayed by the display device 120. The representation 300 is displayed in step 920 when the primary vehicle 200 is operating in the autonomous mode. The representation of the driving environment 300 provides an autonomous-driving interface for monitoring the vehicle 200 in the autonomous mode. The representation of the driving environment 300 may be as described above with reference to Figure 3. The representation of the driving environment 300 allows the driver, even when not manually driving the vehicle 200, to appreciate a current driving situation of the primary vehicle 200 i.e. to monitor the primary vehicle 200 whilst operating autonomously. For example, the driver may appreciate one or more secondary vehicles 350 in the vicinity of the primary vehicle 200.

In step 920, the processing means 112 may be arranged to cause the output means 115 to output data in the form of the display control signal 125 to cause the display device 120 to display the representation of the driving environment 300 whilst the primary vehicle 200 is operating in the autonomous mode. The representation may be as illustrated in Figure 3 and described above, repeat description of which will be omitted for clarity. The processing means 112 may be arranged to cause, in step 920, the output means 115 to output data to cause the display device 120 to display an indication of a least a portion of a roadway 320 in the vicinity of the primary vehicle 200.

In step 930, it is determined whether it is necessary for the primary vehicle 200, to transition, or switch, from the autonomous mode of operation to the manual mode of operation. For example, step 930 may comprise a determination of whether a driving situation is encountered which is unexpected or unsupported by the autonomous driving system 160. If it is determined not to be necessary to transition to the manual mode, the method returns to step 910 i.e. the primary vehicle 200 remains in the autonomous mode of operation. If, however, it is determined to be necessary to transition to the manual mode, the method 900 moves to step 940.

The method 900 comprises, in step 940, determining a location at which the primary vehicle 200 will transition from the autonomous mode to the manual mode, hereinafter transition location 510. It will be appreciated that the transition location 510 is a geographic location with respect to the primary vehicle 200. Step 940 may comprise calculating the transition location 510 based on a current speed, and intended future speed, of the primary vehicle 200. In some embodiments, the transition will occur after a predetermined period of time which, as noted above, may be at least 10 seconds in advance, at least 20 seconds or around 30 seconds. Thus the transition location may be calculated based on the speed of the vehicle 200 and the predetermined period of time. Furthermore, in some embodiments, the transition location may be determined based on a need for the primary vehicle 200 to change lanes prior to the transition location, for example due to the presence of any secondary vehicles 350 in a current lane of the roadway.

Although not shown in Figure 9, the method 900 may comprise any of steps 450-470 as described above in conjunction with Figures 5-8. Figures 10 to 12 show further embodiments of autonomous-driving interface 1000 which use reference numerals consistent with Figures 5-8 and the reader is directed to the description above for explanation where not provided. For example, Figures 10 to 12 illustrate the location of the transition location 510 as described above. The indication of the transition location 510 provides the driver of the vehicle 200 with an indication or notification that the vehicle 200 is to transition from the autonomous mode to the manual mode. Figures 10 to 12 show the same representation of the autonomous driving interface 1000 at different points in time i.e. with Figure 11 being at a later point in time than Figure 10.

The method 900 comprises, in step 950 determining one or more post-transition actions (PTA). The PTA is an action to be performed by the driver of the vehicle 200, after the transition from the autonomous mode to the manual mode of operation. That is, the one or more PTAs are one or more actions or operations of the vehicle 200 which need to be manually performed by the driver of the vehicle 200, as the one or more PTAs will occur after the vehicle has become operative in the manual mode. The one or more PTAs may comprise one or more of a change of lane of the vehicle 200, a change of navigable path or roadway i.e. the vehicle is to change from an existing navigable path or roadway to another navigable path or roadway i.e. via a junction or other interconnection, a change of speed of the vehicle, such as may be caused by the vehicle entering a section of roadway having a different speed limit, or encountering one or more features of a navigable path or roadway which are unsuitable for a current speed of the vehicle 200, or a steering action needing to be provided by the driver, such as to control the vehicle around one more features of a navigable path or roadway.

The one or more actions may be determined in dependence on one or more of an output of the sensing means 140 associated with the vehicle 200, on map data accessible to the vehicle, for example stored in a data storage means accessible to the controller 110 either locally to the vehicle 200 or remotely i.e. cloud-stored map data, received data which may be, for example, provided from sensing means associated with another vehicle, and a determined location of the vehicle i.e. based on received wireless signals from which the location of the vehicle 200 may be determined, such as GPS or GLONASS signals. The determined location of the vehicle 200 may be used in combination with the map data.

In the example autonomous-driving interface 1000 illustrated in Figures 10 to 12, the PTA is a change of roadway 505, specifically a requirement to take a junction from the current roadway 505 to another roadway, which may be, for example, in the illustrated example a slip-road or off-ramp from the current roadway 505, although embodiments of the invention are not restricted in this respect.

Step 960 comprises outputting an indication, to the driver of the primary vehicle 200, of the one or more PTAs. The indication is output whilst the primary vehicle 200 is operative in the autonomous mode. That is, the indication is output prior to the transition of the vehicle 200 to the manual mode. The indication may be output audibly, as a haptic indication and/or output visually. In some embodiments, as illustrated in Figures 10 to 12, the indication 1010 of the one or more PTAs is displayed to the driver of the primary vehicle 200. The indication 1010 is displayed with respect to the autonomous driving interface 1000. The indication 1010 may be a graphical indication i.e. a displayed graphical icon 1010 indicative of the one or more PTAs. In some embodiments, an indication, such as an icon 1010, is displayed for each respective PTA. In some embodiments, a plurality of PTAs may be determined in step 950 and an indication 1010 provided for each upcoming PTA. Each indication 1010 provides information to the driver of the primary vehicle 200 about an operation of the primary vehicle 200 which need to be dealt with, or handled, by the driver of the primary vehicle 200 when the primary vehicle 200 has transitioned to the manual mode of operation. After the transition, the driver may be provided with the manual-driving interface 800 such as shown in Figure 8 and described above.

It can be appreciated from the above that embodiments of the present invention may improve driver awareness of a transition from the autonomous mode of operation of a vehicle to the manual mode of operation. Furthermore, some embodiments of the invention may assist the driver in increasing their state of awareness of driving tasks that must be handled after the transition to the manual mode of operation.

It will be appreciated that embodiments of the present invention can be realised in the form of hardware, software or a combination of hardware and software. Any such software may be stored in the form of volatile or non-volatile storage such as, for example, a storage device like a ROM, whether erasable or rewritable or not, or in the form of memory such as, for example, RAM, memory chips, device or integrated circuits or on an optically or magnetically readable medium such as, for example, a CD, DVD, magnetic disk or magnetic tape. It will be appreciated that the storage devices and storage media are embodiments of machine-readable storage that are suitable for storing a program or programs that, when executed, implement embodiments of the present invention. Accordingly, embodiments provide a program comprising code for implementing a system or method as claimed in any preceding claim and a machine readable storage storing such a program. Still further, embodiments of the present invention may be conveyed electronically via any medium such as a communication signal carried over a wired or wireless connection and embodiments suitably encompass the same.

All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and/or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations where at least some of such features and/or steps are mutually exclusive.

Each feature disclosed in this specification (including any accompanying claims, abstract and drawings), may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. Thus, unless expressly stated otherwise, each feature disclosed is one example only of a generic series of equivalent or similar features.

The invention is not restricted to the details of any foregoing embodiments. The invention extends to any novel one, or any novel combination, of the features disclosed in this specification (including any accompanying claims, abstract and drawings), or to any novel one, or any novel combination, of the steps of any method or process so disclosed. The claims should not be construed to cover merely the foregoing embodiments, but also any embodiments which fall within the scope of the claims.

Claims

1. A method for use in a vehicle comprising an autonomous driving system for driving the vehicle in an autonomous mode of operation, wherein the vehicle is manually operable by a driver in a manual mode, the method comprising: displaying, to the driver of the vehicle, a representation of a driving environment in a vicinity of the vehicle when the vehicle is operable in the autonomous mode; and displaying, to the driver of the vehicle, an indication, with respect to the representation of the driving environment, of a transition location at which the vehicle will transition from the autonomous mode to the manual mode.

2. The method of claim 1, wherein the representation of the driving environment comprises a representation of a least a portion of a navigable path in the vicinity of the vehicle.

3. The method of claim 2, wherein the navigable path is a roadway and the representation of the driving environment comprises a representation of a layout of one or more driving lanes of a portion of the roadway.

4. The method of claim 1,2 or 3, wherein the representation of the driving environment comprises an indication of any secondary vehicles in the vicinity of the vehicle.

5. The method of any preceding claim, comprising determining one or more attributes of the driving environment, wherein the representation of the driving environment is determined in dependence, at least in part, on the attributes of the driving environment.

6. The method of claim 5, wherein the determining one or more attributes of the driving environment comprises one or more of: determining, by sensing means associated with the vehicle the one or more attributes; receiving data indicative of the one or more attributes; and/or accessing a data store to obtain data indicative of the one or more attributes.

7. The method of any preceding claim, comprising displaying a representation of the vehicle within the driving environment.

8. The method of claim 7, wherein the representation of the driving environment is displayed from a viewpoint relative to the representation of the vehicle.

9. The method of any preceding claim comprising determining the location at which the vehicle will transition from the autonomous mode to the manual mode.

10. The method of any preceding claim, wherein the indication of the transition location comprises an indication displayed with respect to a navigable path upon which the vehicle is located.

11. The method of claim 10, when dependent upon claim 3, wherein the indication of the transition location is displayed with respect to a lane of the roadway comprising the representation of the vehicle.

12. The method of claim 10 or 11, wherein the indication of the transition location comprises a graphically differentiated section of the navigable path.

13. The method of any preceding claim, comprising displaying an indication of a preparation location with respect to the transition location within the representation of the driving environment.

14. The method of claim 13, wherein the preparation location is indicative of a location at which the driver should prepare to drive the vehicle in the manual mode.

15. The method of any preceding claim, comprising displaying, to the driver of the vehicle when the vehicle is operable in the manual mode, an interface for driving the vehicle in the manual mode.

16. A controller for a vehicle comprising an autonomous driving system for driving the vehicle in an autonomous mode of operation, wherein the vehicle is manually operable by a driver in a manual mode, the controller comprising: output means for outputting data to a display means to cause the display means to display information to a driver of a vehicle; processing means communicably coupled to the output means, wherein the processing means is arranged to determine a location at which the vehicle will transition from the autonomous mode to the manual mode and to control the output means to output data to cause the display means to display: a representation of a driving environment in a vicinity of the vehicle when the vehicle is operable in the autonomous mode; and an indication, with respect to the representation of the driving environment, of a transition location at which the vehicle will transition from the autonomous mode to the manual mode.

17. The controller of claim 16, wherein the processing means is arranged to control the output means to output data to cause the display means to display a representation of at least a portion of a navigable path in the vicinity of the vehicle.

18. The controller of claim 17, wherein the navigable path is a roadway and the processing means is arranged to control the output means to output data to cause the display means to display a representation of a layout of one or more driving lanes of the portion of the roadway in the vicinity of the vehicle.

19. The controller of claim 16, 17 or 18, comprising: input means for receiving data indicative of a location of one or more other vehicles in the vicinity of the vehicle.

20. The controller of claim 19, wherein the processing means is arranged to control the output means to output data to cause the display means to display an indication of the one or more other vehicles in the vicinity of the vehicle.

21. The controller of any of claims 16 to 20, wherein the processing means is arranged to control the output means to output data to cause the display means to display a representation of the vehicle within the representation of the driving environment.

22. The controller of claim 21, wherein the processing means is arranged to control the output means to output data to cause the display means to display the representation of the driving environment from a viewpoint relative to the representation of the vehicle.

23. The controller of any of claims 16 to 22, wherein the indication of the transition location comprises an indication displayed with respect to navigable path upon which the vehicle is located.

24. The controller of claim 23, when dependent upon claim 17 or 18, wherein the navigable path is a roadway and the indication of the transition location is displayed with respect to a lane of the roadway comprising the representation of the vehicle.

25. The controller of claim 23 or 24, wherein the indication of the transition location comprises a graphically differentiated section of the navigable path.

26. A system, comprising the controller of any of claims 16 to 25 and a display means for displaying information to a driver of the vehicle.

27. A method for use in a vehicle comprising an autonomous driving system for driving the vehicle in an autonomous mode of operation, wherein the vehicle is manually operable by a driver in a manual mode, the method comprising: displaying, to the driver of the vehicle, a representation of a driving environment in a vicinity of the vehicle and an indication of a current location of the vehicle with respect to the driving environment, when the vehicle is operable in the autonomous mode; displaying, to the driver of the vehicle, an indication, with respect to the representation of the driving environment, of a transition location at which the vehicle will transition from the autonomous mode to the manual mode; and displaying, to the driver of the vehicle when the vehicle is operable in the manual mode, an interface for driving the vehicle in the manual mode.

28. The method of claim 27, comprising displaying an indication of a preparation location with respect to the transition location within the representation of the driving environment.

29. Computer software which, when executed by a computer, is arranged to perform a method according to any of claims 1 to 15 or 27 to 28.

30. The computer software of claim 29 stored on a computer readable medium.

31. A vehicle arranged to perform the method of any of claims 1 to 15 or 27 to 28, and / or comprising the controller of any of claims 16 to 25 or the system of claim 26.