Abstract:
A method, including: detecting a distance between a vehicle and an object. The method also includes determining, based on the distance between the vehicle and the object, that a path of travel of the vehicle presents a risk of collision between the vehicle and the object. The method also includes causing at least one of a wheel angle, a vehicle drivetrain, and vehicle braking to be changed to reduce the risk of collision.

Description:
BACKGROUND 
       [0001]    Automatic parking systems can maneuver a vehicle from a traffic lane into a parking spot, e.g., to perform parallel, perpendicular or angle parking. An automatic parking system aims to enhance driver comfort and safety in constrained environments where much attention and experience is required to steer the vehicle. The parking maneuver is typically achieved by coordinated control of the steering angle and speed, taking into account the vehicle&#39;s environment to achieve collision-free motion within the available space. For example, when parallel parking, a vehicle&#39;s automatic parking system can use ultrasonic sensors and cameras to locate a suitable parking space. The automatic parking system might operate the steering wheel of a vehicle, while a driver controls the acceleration, braking and shifting. 
         [0002]    When departing a parallel parking space and merging into to traffic, a vehicle requires clearance, i.e., enough space to clear any obstacles or vehicles in front of the exiting vehicle and to safely merge into traffic in a single forward move. Unfortunately, present mechanisms for determining clearance for exiting a parking space are lacking. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0003]      FIG. 1  illustrates a block diagram of an example vehicle with surround-view cameras linked to a human machine interface (HMI) and a chassis control system (CCS) computer. 
           [0004]      FIGS. 2A and 2B  illustrate an overhead view of the vehicle of  FIG. 1  about to exit a parallel parking spot between two parked vehicles and the vehicle&#39;s predicted path. 
           [0005]      FIGS. 3A and 3B  illustrate another overhead view of the vehicle of  FIG. 1  about to exit a parallel parking spot between two parked vehicles and the vehicle&#39;s predicted path. 
           [0006]      FIGS. 4A and 4B  illustrate another overhead view of the vehicle of  FIG. 1  about to exit a parallel parking spot between two parked vehicles and the vehicle&#39;s predicted path. 
           [0007]      FIGS. 5A and 5B  illustrate another overhead view of the vehicle of  FIG. 1  about to exit a parallel parking spot between two parked vehicles and the vehicle&#39;s predicted path. 
           [0008]      FIG. 6  illustrates an image on a Human Machine Interface (HMI) display of the vehicle of  FIG. 1 . 
           [0009]      FIG. 7  is an example of a process executed on a CCS computer to determine if a parallel parked vehicle can successfully leave a parking spot with a current steering wheel angle. 
           [0010]      FIG. 8  is an example of a process executed on a CCS computer in which the vehicle automatically exits a parking space. 
       
    
    
     DETAILED DESCRIPTION 
       [0011]    With reference to the Figures, wherein like numerals indicate like parts throughout the several views,  FIG. 1  illustrates a vehicle parking assistance system  50 . A vehicle  10 , which can be an autonomous vehicle or a semiautonomous vehicle, includes one or more cameras  54 ,  56 ,  58 , providing images of an environment around the vehicle  10  to a human machine interface (HMI)  52  display. The HMI  52  is one or more devices such as are known (e.g., a display, a speaker, a microphone, a touch screen, a keyboard, etc.) to allow for interactions between drivers and the vehicle  10 . The HMI  52  is communicatively coupled to an Electronic Control Unit (ECU)  60 . The ECU  60  is communicatively coupled to a chassis control system computer (CCSC)  62  and one or more distance sensor  50 . The ECU  60  and CCSC  62  each contain a processor to execute instructions from a memory. The memory also stores program parameters, variables, settings, etc. 
         [0012]    The ECU  60  generally includes an autonomous driving module  61  that comprises instructions for autonomously and/or semi-autonomously, i.e., wholly or partially without operator input, operating the vehicle  10 . The ECU  60  may be configured to account for collected images from the cameras  54 ,  56 ,  58  relating to a position of the vehicle  10  when the vehicle  10  is maneuvering by controlling the vehicle  10 , e.g., in determining an actual speed, path, an actual acceleration, deceleration, etc. The ECU  60  receives data from various sensor placed about the vehicle  10 , which can include a plurality of external object sensors (not shown) to detect a location of external objects, such as other vehicles, around the vicinity of the vehicle  10  itself and an acceleration pedal sensor (not shown), and a brake pedal sensor (not shown). Further, the ECU  60 , e.g., in the module  61 , generally includes instructions for communicating data, e.g., between the ECU  60  and the HMI  52 , the CCSC  62 , and the distance sensor  50 . 
         [0013]    The CCSC  62  monitors and/or controls the vehicle  10  suspension, steering and brakes for everyday driving tasks. The CCSC  62  collects information from wheel sensors (about suspension extension), steering sensors and acceleration sensors to calculate an optimized stiffness of the vehicle  10  ride. For example, the CCSC  62  works in the background and continuously monitors steering and vehicle direction. It compares the driver&#39;s intended direction (determined through the measured steering wheel angle) to the vehicle&#39;s actual direction (determined through measured lateral acceleration, vehicle rotation (yaw), and individual road wheel speeds). 
         [0014]    Cameras in the present example include a front grill camera  54 , a license plate camera  56 , and two side view cameras  58 . The ECU  60  combines images from the front grill camera  54 , the license plate camera  56 , and/or the side cameras  58  through image-stitching techniques or the like to produce a bird&#39;s-eye view of the vehicle  10 . The ECU  60  can then provide a moving image on the vehicle  10  HMI  52  display, such images additionally or alternatively including a vehicle  10  environment, e.g., surroundings such as parking lot lane markings, curbs, and adjacent cars, etc. Image stitching is a known technique of combining multiple images with overlapping fields of view to produce a segmented panorama and/or a high-resolution image. 
         [0015]      FIG. 2A  illustrates an overhead view of the vehicle  10  about to exit a parallel parking spot between two parked vehicles  14  on a roadway  13  with a curb  26 . A travelling vehicle  16  is travelling in a same direction as an intended direction of travel on the roadway of the vehicle  10 . An oncoming vehicle  18  is traveling in an opposite direction. The vehicle  10  future path of travel  12  is uncertain, i.e., there is a possibility that the vehicle  10  may not be able to clear the vehicle  14  in front of the vehicle  10  when exiting the parallel parking spot in a single forward maneuver. 
       Determining a Distance 
       [0016]    Known techniques may be used to obtain a measurement of distance between the vehicle  10  and the parked vehicle  14 , e.g., using the front camera  54 . For example, a plenoptic lens camera technique, such is known, which employs a single camera with multiple lenses with differing depth of fields, can determine the distance between the vehicle  10  and the parked vehicle  14 . Another known technique includes measuring of planar objects with a calibrated camera technique which captures an image of a known standard size, such as a vehicle license plate positioned on the parked vehicle  14 , and compares the image to the license plate&#39;s known dimension. Geometric calculations such as are known can be used to determine the distance between the front camera  54  and the vehicle  14  license plate. Other known camera distance measuring techniques that can be used include a stereo camera distance measuring technique and a depth of field—focal length technique, just to list a few. 
         [0017]    In addition, the vehicle  10  can have distance sensor  50  for collision avoidance systems which also can measure distance. For example, sensor  50  can include one or more of an ultrasound distance measuring device, a LIDAR distance measuring device, a laser distance finder, or a radar sensor array distance measuring device, just to list a few of the sensor  50  the vehicle  10  can use to determine the distance between itself and an object, such as the parked vehicle  14 . 
         [0018]    In addition to the distance between the vehicle  10  and the parked vehicle, a lateral distance L 1  or a regional lateral distance L 2 , as illustrated in  FIG. 2B , must be taken into consideration when egressing from the parking spot. The lateral distance L 1  is a distance from the curb  26  to a left rear corner  31  position of the parked vehicle  14 . The regional lateral distance L 2  is a distance from the curb  26  to a standard outer perimeter  33  distance of the parking spot and can vary from region to region. For example, in the United States of America the standard outer perimeter  33  average lateral distance L 2  is 2.5 meters, while in Europe, the average lateral distance L 2  is 2.2 meters. 
       Path of the Vehicle 
       [0019]      FIGS. 3A and 3B  illustrate an example of a first parallel parking egress scenario showing the predicted path of travel  12  of the vehicle  10  when a wheel angle  15  of the wheel  11  will not allow the vehicle  10  to exit the parking spot in a single forward maneuver. In this first parallel parking egress scenario, it is apparent that the vehicle  10  predicted path of travel  12  will cause the vehicle  10  to collide with the parked vehicle  14 . The predicted path of travel  12  is determined by the vehicle  10  ECU  60  using the wheel angle  15 , vehicle  10  dimensions (typically stored in a memory of the ECU  60 ), a distance between the vehicle  10  and the parked vehicle  14 , and either the L 1  or L 2  lateral distance, this distance being determined, e.g., as described above. For example, when the above distance measuring techniques determine the distance between the vehicle  10  and the parked vehicle  14  and can accurately determine the left rear corner  31  position of the parked vehicle  14 , the ECU  60  will use the lateral distance L 1  in the path calculations. If the distance measuring techniques cannot accurately determine the left rear corner  31 , the ECU  60  will use the regional lateral distance L 2 . A measurement of the wheel angle  15  by the CCSC  62  is sent to the ECU  60 . The wheel angle  15  is a measurement of the angle of the wheel  11  relative to a longitudinal axis  17  of the vehicle  10 , such measurement typically being available on a vehicle  10  Controller Area Network (CAN) bus or the like, as is known. 
         [0020]      FIGS. 4A and 4B  illustrate an example of a second parallel parking egress scenario showing the predicted path of travel  12  of the vehicle  10  with an increase of the wheel  11  wheel angle  15 . A successful egress of the vehicle  10  from the parallel parking spot is not clearly possible, but may be possible, in this illustration. 
         [0021]      FIGS. 5A and 5B  illustrate an example of a third parallel parking egress scenario showing the predicted path of travel  12  of the vehicle  10  with an even greater increase of the wheel  11  angle than in  FIGS. 4A and 4B . In the third scenario, it appears that the vehicle  10  will successfully maneuver out of the parallel parking spot in a single forward maneuver. 
         [0022]      FIG. 6  illustrates an example of a dashboard  28  of the vehicle  10 . The dashboard  28  includes a steering wheel  30 , an HMI  52  with a bezel  19  located around the HMI  52  perimeter. The HMI  52  is shown in this example displaying an overhead, or birds-eye, view of the vehicle  10 , and elements of a surrounding environment, including a curb  26 , a front vehicle  14 , and a displayed path of travel  12 . As discussed above, the HMI  52  provides a moving image of the vehicle  10  in relation to the surrounding objects by showing the surrounding objects and the vehicle  10  path of travel  22 . For example, the driver will see his or her vehicle  10 , the curb  26 , and the front vehicle  24 , along with vehicle  10  path of travel  22  when he or she is performing the egress maneuver. 
       HMI and Egressing 
       [0023]    When the wheel angle  15  is not sufficient for the vehicle  10  to clear the front vehicle  24  in a single forward maneuver, e.g., as in the first example scenario discussed above, the front vehicle  14 , the vehicle  10 , and the displayed path of travel  12  appears on the HMI  52  display in a manner to warn the driver of the inadequate clearance, e.g., in red, in flashing text, images, and/or graphics, and/or some other manner. Additionally or alternatively, an aural alarm, such as a chime or a warbling tone, can be sent from the HMI  52  as a warning to the driver of a possible collision. The ECU  60  can also send messages to limit the power sent to the vehicle  10  drivetrain or to apply braking to slow or stop the vehicle  10  when attempting to egress the parking spot without suitable forward clearance. Moreover, if the vehicle  10  has a steering system computer (SSC) (not shown), the SSC can assist the driver and turn the wheels  11  to an angle which allows the vehicle  10  to egress the parking spot, and/or the SSC can autonomously perform an egress maneuver for the vehicle  10  while monitoring the vehicle  10  position if the driver chooses an autonomous park exit mode. 
         [0024]    In the second scenario discussed above, it appears that the vehicle  10  path of travel may come dangerously close to and/or collide with the vehicle  14 . In this scenario, the displayed path of travel  22  can show up on the display in a manner to warn the driver, e.g., using a predicted path color, such as a yellow color and/or flashing text, graphics, images, etc. Additionally or alternatively, an aural alarm, such as a chime or a warbling tone can be sent from the HMI  52  as a warning to the driver to proceed with caution. Additionally, when calculating the path of travel  12  using either the lateral distance L 1  or the regional lateral distance L 2 , the ECU  60  may limit the power on a transmission&#39;s drivetrain or apply braking to  10  to slow or stop the vehicle  10  when the path of travel  12  comes substantially close to the parked vehicle  14 , e.g., within a predetermined distance such as five centimeters or less, two centimeters or less, etc., and/or when the risk of collision between the vehicle  10  and the front vehicle  14  exceeds a predetermined threshold, e.g., a  10  per cent likelihood. As like above, the vehicle  10  SSC can turn-assist the driver, i.e., turn the wheels  11  to an angle which allows the vehicle  10  to egress the parking spot, or alternatively, the SSC can perform the egress maneuver. 
         [0025]    In the third scenario discussed above, the wheel angle  15  is even greater as compared to the first two scenarios, and the vehicle  10  path of travel  22  permits the vehicle  10  to easily egress the parallel parking spot and merge into the roadway  13  in front of the travelling vehicle  16  in a single forward motion. The displayed path of travel  22  can appear on the HMI  52  in a manner so as to not indicate a possible danger situation, e.g., in a green color without an aural alarm. 
         [0026]    As discussed above concerning the first two scenarios, the driver of the vehicle  10  can increase the wheel angle  15  to decrease a turning radius of the vehicle  10 . With a smaller turning radius the vehicle  10  path of travel  12  may avoid the collision with the vehicle  14  or remove any uncertainty in successfully egressing the parallel parking spot in a single forward maneuver. For example, with reference to  FIG. 3 , if the HMI  52  is indicating a path of travel  12  that will result in a collision with the front vehicle  14 , by turning the steering wheel  30  further to a left direction the wheel angle  15  increases. A new measurement of the wheel angle  15  by the CCSC  62  is sent to the ECU  60  and the vehicle  10  predicted path of travel  12  is updated on the HMI  52  display. The vehicle  10  predicted path of travel  12  on the HMI  52  can change from being red (danger) to yellow (caution). As the steering wheel  30  is turned even further to the left direction, the vehicle  10  predicted path of travel  12  may further change to green or some other HMI  52  indication of no or minimal danger, indicating a non-collision egress is possible. However, if the steering wheel has reached an extreme left limit and the wheel angle  15  is not sufficient for a single forward egress maneuver, the driver of the vehicle  10  may have to deploy additional maneuvering techniques. For example, the driver may have to back up the vehicle  10  while turning the steering wheel  30  in the opposite direction (to the right) to acquire more distance between the vehicle  10  and the vehicle  14 . 
         [0027]      FIG. 7  illustrates an example process  100  that may be executed by the processor of the ECU  60 , e.g., according to instructions retrieved from the ECU  60  memory, to determine the distance between the vehicle  10  and the vehicle  14 , and using the wheel angle  88 , determine and display the vehicle  10  predicted path of travel  12  on the HMI  52 . 
         [0028]    The process  100  begins in a block  110 , in which the distance between the vehicle  10  and the vehicle  14  is determined. For example, the distance can be determined by imaging techniques and/or using distance measuring sensor  50 , as discussed above. 
         [0029]    Next, in a block  115 , an external object, such as the vehicle  14  left rear corner  31  position is determined. For example, the left rear corner  31  can be obtained from images from the front grill camera  54  and/or the distance sensor  50 . Alternatively, the average lateral distance L 2  can be substituted for left rear corner  31  position. For example, if the measuring sensor  50  cannot determine the left rear corner  31  position, the ECU  60  can use the regional lateral distance L 2  for the left corner position. 
         [0030]    Next, in a block  120 , the wheel angle  15  is sent from the CCSC  62  to the ECU  60 . 
         [0031]    Next, in a block  125 , the predicted path of travel  12  is computed based upon the wheel angle  15 . 
         [0032]    Next, in a block  130 , the HMI  52  displays the path of travel  12  of the vehicle  10 , the vehicle  10  itself and any surrounding objects. For example, the HMI displays the vehicle  10 , the vehicle  10  path of travel  12 , the front vehicle  14 , and the curb  26 . 
         [0033]    Next in a block  135 , the ECU  60  determines a collision status, i.e., whether the vehicle  10  will strike the front vehicle  14 , come substantially close, e.g., within a predetermined distance, to the vehicle  14 , or likely not strike the vehicle  14  when egressing the parallel parking spot in a single forward motion. The ECU  60  can take into account the wheel angle  15 , the measured distance between the vehicle  10  and the front vehicle  14 , and the physical dimensions of the vehicle  10 , and the vehicle  14  left rear corner  31  position or the standard outer perimeter distance, when determining a possible collision status. 
         [0034]    Next, in a block  140 , the process  100  determines if the collision status indicates an imminent collision, and if so, the process  100  continues to in a block  145 , else the process  100  continues to in a block  147 . 
         [0035]    In the block  145 , which may follow in the block  140 , the ECU  60  sends a notification message to the HMI  52  to notify the driver of the imminent collision. For example, the HMI  52  can emit a warning sound, a chime or a voice alerting the driver. The process continues to in a block  150 . 
         [0036]    In the  150 , the process determines if the vehicle  10  is in motion, the process continues to in a block  155 , else the process returns to in the block  145 . 
         [0037]    In the block  155 , the ECU  60  can send instructions to limit the power sent to the vehicle  10  transmission&#39;s drivetrain and/or to apply braking to slow or stop the vehicle  10  to prevent the collision with the vehicle  14 . In other words, the ECU can limit a maximum-permissible-speed of the vehicle  10  regardless of an accelerator pedal position. The process  100  continues to in the block  160 . 
         [0038]    In the block  160 , which may follow in the blocks  152 ,  154  or  155 , the ECU  60  sends a notification message to the HMI  52  to notify the driver of the imminent collision. For example, the HMI  52  can emit a warning sound, a chime or a voice alerting the driver. If equipped with the steering system computer (SSC), the vehicle  10  can turn the wheels  11  to an angle which allows the vehicle  10  to egress the parking spot, and/or alternatively the SSC can autonomously perform the egress maneuver while the ECU  60  monitors the vehicle  10  position. Following the block  145 , the process continues in the block  150 . 
         [0039]    In the block  147 , which may follow in the block  140 , the process further decides if the path of travel  12  distance between the vehicle  10  and the front vehicle  14  is going to substantially close or not substantially close, e.g., within a predetermined distance of the vehicle  14 . For example, substantially close can be 2.54 centimeters or less, depending on factors such as measurement precision capabilities of distance measuring equipment. The more accurate the distance measuring equipment, in general, the greater the reliability of a potential collision estimate. The determined distance should be greater than a precision with which distance measuring equipment can be used to measure and/or predict distances. If the path of travel  12  is substantially close, the process continues to in a block  152 , else the process continues to in a block  154 . 
         [0040]    In the block  152 , which may follow in the block  147 , the process notifies the driver of a possible impending collision status. For example, the HMI  52  can emit a warning sound, a chime or a voice alerting the driver. In addition, if the vehicle  10  is equipped with the steering system computer (SSC), the SSC can turn the wheels  11  to an angle which allows the vehicle  10  to successfully egress the parking spot, and/or alternatively the SSC can autonomously perform the egress maneuver while the ECU  60  continuously monitors the vehicle  10  position. Then the process  100  continues in the block  160 . 
         [0041]    In the block  154 , which may follow in the block  147 , the process may notify the driver the path of travel  12  will not cause the vehicle  10  to collide with the vehicle  14 . Then the process  100  continues to in the block  165 . 
         [0042]    In the block  160 , which may follow in the blocks  152 ,  154  or  155 , the ECU  60  can change or update the manner of displaying the path of travel  12  on the HMI  52 , e.g., a one or more colors on the display may be modified to indicate an alert condition, or lack thereof, as described above. For example, the path of travel  12  can change from green to red, indicating a potential danger with the vehicle  10  forward maneuver, the HMI  52  can display a yellow path of travel indicating caution, or a green path of travel indicating it is safe to proceed. 
         [0043]    The process  100  continues to in a block  165 , in which the process determines if the forward maneuver is complete. If the forward maneuver is complete, the process  100  ends, else the process  100  returns to in the block  110 . 
         [0044]    At each iteration of the process  100 , a distance between the vehicle  10  and the vehicle  12  continually diminishes as the vehicle  10  moves forward. However, the distance is constantly being determined from data from the cameras  54   56   58 , and the sensor  50 , and is constantly taken into account in the block  110 . 
         [0045]      FIG. 8  illustrates an example process  200  that may be executed by the ECU  60 , according to instructions retrieved from the ECU  60  memory, to assist the operator by automatically controlling the vehicle  10  to exit out of the parking space while placing speed limits on the vehicle  10 . 
         [0046]    The process  200  begins in a block  205 , in which the ECU  60  informs to the operator of the vehicle  10  that an egress maneuver is initiated. For example, the ECU  60  can send an aural and visual message to the HMI  52 . In addition, the ECU  60  may send a message to the CCSC  62  to shake a steering wheel to further confirm the vehicle  10  is in a park out assist mode of operation. 
         [0047]    In a block  210 , which may be reached from in the block  205  or in a block  217 , the ECU  60  receives signals from distance sensor  50  and cameras  54 ,  56 ,  58 , such as those described with respect to  FIG. 1 . In addition, the ECU  60  is in communication with the CCSC  62 , which monitors and controls the movement of the vehicle  10 . 
         [0048]    In the block  215 , the ECU  60  determines if the vehicle  10  can successfully egress the parking spot. For example, based on the distance between the vehicle  10  and objects behind, ahead, and to the side of the vehicle  10 , the ECU  60  can command the vehicle  10  to move, steer and accelerate out of the parking space when it is clear to do so. The process continues in a block  220 , else the vehicle returns to in the block  210 . 
         [0049]    In the block  217 , which may follow in the block  215 , the ECU  60  will send a message to the operator of the vehicle  10  that egress is not possible at this time. For example, a tree limb may have fallen in front of the vehicle  10  which requires the operator to remove the tree limb from the path of travel before the egress can be continue. 
         [0050]    In a block  220 , which may follow in the block  215 , the vehicle  10  begins to accelerate away from the parking space and a limit is placed on the maximum permissible speed and/or on the maximum permissible rate of change of speed (acceleration). This limit can alter based on the difference between the vehicle  10  and the detected external objects, such as vehicle  14 , which is in front of vehicle  10 . While the operator depresses the accelerator pedal, indicating a desired acceleration to propel the vehicle  10  away from the parking space, the ECU  60  will permit a limited acceleration; the limit on the speed and/or acceleration is based on how far away the external objects are. 
         [0051]    When the egress is initiated, an intended direction of travel is determined by the ECU  60 , and the steering wheel and acceleration of the vehicle  10  can be accordingly controlled. As an object along this path or within a “buffer zone” about the vehicle  10  becomes closer, the speed and/or acceleration of the vehicle  10  is automatically limited accordingly. For example, the vehicle  10  may be allowed to reach 4 kph based on the distance between the vehicle  10  and the vehicle  14  ahead being several meters. This distance may decrease between the two vehicles as the vehicle  10  accelerates away from the parking space during the park out maneuver. As the distance decreases to 1.5 m, the ECU  60  may limit the maximum permissible speed to 1.5 kph. Of course, when the vehicle  10  “clears” the vehicle  14  while moving away from the parking space, the maximum permissible speed may increase again accordingly. 
         [0052]    This maximum permissible speed/acceleration may increase and decrease according to a linear relation with respect to the distance between the vehicle  10  and the vehicle  14 . Of course, other non-linear relationships may exist. For example, a curved relationship may exist such that the maximum permissible speed/acceleration reduces at a faster rate as the distance decreases. 
         [0053]    In a block  225 , a gradual increase in maximum permissible speed and/or acceleration is permitted as the vehicle  10  exits the parking space. As the vehicle  10  exits the parking space and the distance from the vehicle  10  to the vehicle  14  increase, the speed of the vehicle  10  may be permitted to gradually increase to reflect the accelerator pedal position. In other words, the difference between an amount of demanded acceleration (based on accelerator pedal position) and an actual commanded acceleration reduces during the gradual permitted acceleration. 
         [0054]    A transition between the limited maximum permissible speed and/or acceleration to the removal of such limits may be completed over a tunable distance between the vehicle  10  and the vehicle  14 . In other words, the transition from being speed-limited to non-speed-limited can occur as the distance between the vehicle  10  to the vehicle  14  increases towards a certain programmable distance. Alternative to, or in combination with, accomplishing the transition over a tunable distance (e.g., 6 meters), the transition can also occur over some tunable time value (e.g., 3 seconds). 
         [0055]    In a block  230 , the ECU  60  provides an audible and/or visual instruction to the operator via the HMI  52  to take control of the steering wheel. Such an instruction can also be in response to a clear path existing in front of the vehicle  10  in the traffic lane that the vehicle  10  has turned onto. Once the operator takes control of the steering wheel, as determined by a signal received from a steering wheel torque sensor connected to the CCSC  52 , the vehicle  10  will relinquish control of the vehicle  10  to the operator. 
         [0056]    As used herein, the adverb “substantially” modifying an adjective means that a shape, structure, measurement, value, calculation, etc. may deviate from an exact described geometry, distance, measurement, value, calculation, etc., because of imperfections in materials, machining, manufacturing, sensor measurements, computations, processing time, communications time, etc. 
         [0057]    Computing devices such as those discussed herein generally each include instructions executable by one or more computing devices such as those identified above, and for carrying out blocks or steps of processes described above. Computer executable instructions may be compiled or interpreted from computer programs created using a variety of programming languages and/or technologies, including, without limitation, and either alone or in combination, Java™, C, C++, C#, Visual Basic, Java Script, Perl, HTML, PHP, etc. In general, a processor (e.g., a microprocessor) receives instructions, e.g., from a memory, a computer readable medium, etc., and executes these instructions, thereby performing one or more processes, including one or more of the processes described herein. Such instructions and other data may be stored and transmitted using a variety of computer readable media. A file in a computing device is generally a collection of data stored on a computer readable medium, such as a storage medium, a random access memory, etc. 
         [0058]    A computer readable medium includes any medium that participates in providing data (e.g., instructions), which may be read by a computer. Such a medium may take many forms, including, but not limited to, non-volatile media, volatile media, etc. Nonvolatile media include, for example, optical or magnetic disks and other persistent memory. Volatile media include dynamic random access memory (DRAM), which typically constitutes a main memory. Common forms of computer readable media include, for example, a floppy disk, a flexible disk, hard disk, magnetic tape, any other magnetic medium, a CD ROM, DVD, any other optical medium, punch cards, paper tape, any other physical medium with patterns of holes, a RAM, a PROM, an EPROM, a FLASH EEPROM, any other memory chip or cartridge, or any other medium from which a computer can read. 
         [0059]    With regard to the media, processes, systems, methods, etc. described herein, it should be understood that, although the steps of such processes, etc. have been described as occurring according to a certain ordered sequence, such processes could be practiced with the described steps performed in an order other than the order described herein. It further should be understood that certain steps could be performed simultaneously, that other steps could be added, or that certain steps described herein could be omitted. In other words, the descriptions of systems and/or processes herein are provided for the purpose of illustrating certain embodiments, and should in no way be construed so as to limit the disclosed subject matter. 
         [0060]    Accordingly, it is to be understood that the above description is intended to be illustrative and not restrictive. Many embodiments and applications other than the examples provided would be apparent to those of skill in the art upon reading the above description. The scope of the invention should be determined, not with reference to the above description, but should instead be determined with reference to claims appended hereto and/or included in a non-provisional patent application based hereon, along with the full scope of equivalents to which such claims are entitled. It is anticipated and intended that future developments will occur in the arts discussed herein, and that the disclosed systems and methods will be incorporated into such future embodiments. In sum, it should be understood that the disclosed subject matter is capable of modification and variation.