Abstract:
A method for transitioning vehicle control includes obtaining a one or more operator vehicle control inputs, analyzing the one or more operator vehicle control inputs to determine operator compliance with one or more autonomous vehicle control inputs that are actively controlling motion of a vehicle, and based on the analysis of the one or more operator vehicle control inputs, allowing an operator to assume manual control of the vehicle when the operator vehicle control inputs match the one or more autonomous vehicle control inputs to within a threshold value.

Description:
RELATED APPLICATIONS 
       [0001]    This application claims the benefit of U.S. Provisional Patent Application No. 62/101,421, entitled “Transitioning From Autonomous Vehicle Control To Operator Vehicle Control,” filed Jan. 9, 2015, the contents of which are hereby incorporated by reference in their entirety. 
     
    
     DESCRIPTION OF THE RELATED ART 
       [0002]    The development of automatically or autonomously controlled vehicles is continuing. An autonomously controlled vehicle is one that can be controlled by a computer or a computer-based control system with little or no manual operator input. When applied to a vehicle, such as an automobile, it is contemplated that it will be desirable to switch between manual operator control and autonomous control. This switching between manual operator control and autonomous control typically comprises two events: switching from operator control to autonomous control, and switching from autonomous control to operator control, with these two events having different challenges. Switching from operator control to autonomous control typically requires the autonomous control system to have the ability to confirm the ability to assume control of the vehicle in a safe and stable manner. This typically includes some type of automated verification system to confirm that the autonomous control system is capable of safely controlling the vehicle. 
         [0003]    In many ways, switching from autonomous control to manual operator control is more difficult than switching from manual operator control to autonomous control because it is difficult for the autonomous control system to verify that the operator has the ability to assume control of the vehicle in a safe and stable manner. 
         [0004]    Therefore, it would be desirable for an autonomous control system to be able to quickly and efficiently verify that the operator has the ability to assume control of the vehicle in a safe and stable manner and to then transition control to the operator. 
       SUMMARY 
       [0005]    Various implementations of systems, methods and devices within the scope of the appended claims each have several aspects, no single one of which is solely responsible for the desirable attributes described herein. Without limiting the scope of the appended claims, some prominent features are described herein. 
         [0006]    Details of one or more implementations of the subject matter described in this specification are set forth in the accompanying drawings and the description below. Other features, aspects, and advantages will become apparent from the description, the drawings, and the claims. Note that the relative dimensions of the following figures may not be drawn to scale. 
         [0007]    One aspect of the disclosure provides a method for transitioning vehicle control, the method including obtaining one or more operator vehicle control inputs, analyzing the one or more operator vehicle control inputs to determine operator compliance with one or more autonomous vehicle control inputs that are actively controlling motion of a vehicle, and based on the analysis of the one or more operator vehicle control inputs, allowing an operator to assume manual control of the vehicle when the one or more operator vehicle control inputs match the one or more autonomous vehicle control inputs to within a threshold value. 
         [0008]    Another aspect of the disclosure provides an apparatus for transitioning vehicle control, the apparatus including an operator tracking module configured to obtain one or more operator vehicle control inputs, and a comparison module configured to analyze the one or more operator vehicle control inputs to determine operator compliance with one or more autonomous vehicle control inputs that actively control motion of a vehicle, the comparison module configured to, based on the analysis of the one or more operator vehicle control inputs, allow an operator to assume manual control of the vehicle when the one or more operator vehicle control inputs match the one or more autonomous vehicle control inputs to within a threshold value. 
         [0009]    Another aspect of the disclosure provides a method for transitioning a vehicle from autonomous control to operator control, the method including autonomously controlling a vehicle, obtaining one or more operator vehicle control inputs, comparing the one or more operator vehicle control inputs against autonomous vehicle control inputs that are actively controlling motion of the vehicle to determine operator compliance with the one or more autonomous vehicle control inputs, and based on the determined operator compliance with the one or more autonomous vehicle control inputs that are actively controlling motion of the vehicle, transitioning vehicle control from autonomous control to operator control. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0010]    In the figures, like reference numerals refer to like parts throughout the various views unless otherwise indicated. For reference numerals with letter character designations such as “ 102   a ” or “ 102   b ”, the letter character designations may differentiate two like parts or elements present in the same figure. Letter character designations for reference numerals may be omitted when it is intended that a reference numeral encompass all parts having the same reference numeral in all figures. 
           [0011]      FIG. 1  is a block diagram illustrating an exemplary embodiment of an operatorless capable vehicle in which a system for switching from autonomous vehicle control to operator vehicle control can be implemented. 
           [0012]      FIG. 2  is a diagram illustrating an exemplary embodiment of the operator interface of  FIG. 1 . 
           [0013]      FIG. 3  is a diagram illustrating an exemplary embodiment of a heads up display of  FIGS. 1 and 2 . 
           [0014]      FIG. 4  is a diagram illustrating an exemplary embodiment of a heads up display of  FIG. 1 . 
           [0015]      FIG. 5  is a flow chart illustrating an exemplary embodiment of a method for transitioning from autonomous vehicle control to operator vehicle control. 
           [0016]      FIG. 6  is a flow chart illustrating an exemplary embodiment of a method for executing the compare function of  FIG. 5 . 
       
    
    
     DETAILED DESCRIPTION 
       [0017]    The word “exemplary” is used herein to mean “serving as an example, instance, or illustration.” Any aspect described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other aspects. 
         [0018]    In this description, the term “application” may also include files having executable content, such as: object code, scripts, byte code, markup language files, and patches. In addition, an “application” referred to herein, may also include files that are not executable in nature, such as documents that may need to be opened or other data files that need to be accessed. 
         [0019]    As used in this description, the terms “component,” “database,” “module,” “system,” and the like are intended to refer to a computer-related entity, either hardware, firmware, a combination of hardware and software, software, or software in execution. For example, a component may be, but is not limited to being, a process running on a processor, a processor, an object, an executable, a thread of execution, a program, and/or a computer. By way of illustration, both an application running on a computing device and the computing device may be a component. One or more components may reside within a process and/or thread of execution, and a component may be localized on one computer and/or distributed between two or more computers. In addition, these components may execute from various computer readable media having various data structures stored thereon. The components may communicate by way of local and/or remote processes such as in accordance with a signal having one or more data packets (e.g., data from one component interacting with another component in a local system, distributed system, and/or across a network such as the Internet with other systems by way of the signal). 
         [0020]    As used herein, the term “vehicle” includes any type of vehicle that is typically controlled by an operator, and which may be controlled by an autonomous vehicle control system. By way of example, the term “vehicle” may include an automobile, a boat or ship, an airplane, or any other vehicle. 
         [0021]    As used herein, the term “operator” refers to an individual operating a vehicle. An operator may be a driver of an automobile, a captain or pilot of a boat, a captain or pilot of an airplane, or any other vehicle operator. 
         [0022]    As used herein, the terms “automated vehicle control” and “autonomous vehicle control” refer to any automated or autonomous vehicle control system that can operate a vehicle without operator input. 
         [0023]      FIG. 1  is a block diagram illustrating an exemplary embodiment of an operatorless capable vehicle (referred to below as “vehicle”)  100  in which a system for transitioning from autonomous vehicle control to operator vehicle control can be implemented. 
         [0024]    In an exemplary embodiment, the vehicle  100  comprises an autonomous vehicle control system  102  and an operator interface  170 . In an exemplary embodiment, the autonomous vehicle control system  102  comprises a processor  106  and a memory  104  operatively coupled together over a system bus  107 . The processor  106  can be a general purpose processor or a special purpose processor configured to execute instructions stored in the memory  104 . The processor  106  may also contain on-board memory (not shown), and may comprise distributed computing functionality. 
         [0025]    In an exemplary embodiment, the memory  104  may contain one or more sets of code or executable instructions or modules. In an exemplary embodiment, the memory  104  may comprise an autonomous vehicle control module  110 , an operator tracking module  111 , a compare module  109  and an operator feedback module  108 . Each of the autonomous vehicle control module  110 , the operator tracking module  111 , the compare module  109  and the operator feedback module  108  may comprise elements of hardware, software, or a combination of hardware and software configured to perform certain tasks as described herein. 
         [0026]    In an exemplary embodiment, the operator interface  170  comprises an output element  171  configured to provide output communications to an operator of the vehicle  100 , and an input element  177  configured to provide inputs to the autonomous vehicle control system  102 . The output element  171  may comprise a heads up display (HUD)  172 , a visual element  174 , a haptic element  175 , and an audible element  176 . The HUD  172  can be configured to display, project or otherwise place into the visual path of an operator information related to the vehicle  100 . In an exemplary embodiment, the HUD  172  can be configured to visually communicate to an operator the manner in which the operator may be mimicking or tracking the performance of the autonomous vehicle control system  102  as the autonomous vehicle control system  102  is controlling the operation of the vehicle. 
         [0027]    Similarly, the visual element  174  and the audible element  176  can be configured to visually and audibly communicate to an operator the manner in which the operator may be mimicking or tracking the performance of the autonomous vehicle control system  102  as the autonomous vehicle control system  102  is controlling the operation of the vehicle. The haptic element  175  may provide haptic feedback to an operator to communicate the manner in which the operator may be mimicking or tracking the performance of the autonomous vehicle control system  102  as the autonomous vehicle control system  102  is controlling the operation of the vehicle. 
         [0028]    The input element  177  may comprise a camera  178 , a sensor interface  179  and a safety belt module  181 . In an exemplary embodiment, the camera  178  may comprise one or more still or video cameras configured to observe an operator of the vehicle  100  and communicate this information to the operator tracking module  111 . In an exemplary embodiment, the sensor interface  179  can be configured to receive information from one or more sensors on the vehicle  100  and communicate the state of the sensors to the operator tracking module  111 . In an exemplary embodiment, the safety belt module  181  can be configured to receive information from one or more safety systems on the vehicle  100  and communicate the state of the safety systems to the operator tracking module  111 . An output of the input element  177 , including the outputs from the sensor interface  179 , are provided to the operator tracking module  111  over connection  189 . 
         [0029]    The vehicle  100  comprises vehicle systems  114  and vehicle controls  141 . The vehicle systems  114  may comprise the actual vehicle systems, such as the accelerator  115 , the brake  116 , the steering  117 , the clutch  118 , and other systems  119 . In an exemplary embodiment, the vehicle systems  114  are the actual vehicle systems, not the controls for those systems. For example, the accelerator  115  may comprise the powertrain of the vehicle  100  that is responsible for propulsion. Similarly, the brake  116  may comprise the braking system of the vehicle responsible for slowing and stopping the vehicle  100 . 
         [0030]    Sensors  121  are associated with each of the vehicle systems  114 . For example, a sensor  122  is associated with the accelerator  115 , a sensor  124  is associated with the brake  116 , a sensor  126  is associated with the steering  117 , a sensor  127  is associated with the clutch  118 , and a sensor  128  is associated with the other systems  119 . Each of the sensors  121  can be configured to determine and communicate the state of its respective vehicle system to a control by wire system (referred to as a drive by wire system in the context of an automobile)  112 . The control by wire system  112  receives electronic control inputs from various vehicle controls, and provides signals used to operate the vehicle systems  114 , generally through actuators  131 . For example, an actuator  132  is associated with the sensor  122  and the accelerator  115 . In an exemplary embodiment, the actuator  132  receives a control signal from the control by wire system  112  and provides a signal that causes the accelerator  115  to control the speed of the vehicle  100 . The associated sensor  122  monitors both the vehicle system (the accelerator  115  in this example), and the actuator  132  and provides information to the sensor interface  179  (connection not shown in  FIG. 1 ). Similarly, an actuator  134  is associated with the sensor  124  and the brake  116 . In an exemplary embodiment, the actuator  134  receives a control signal from the control by wire system  112  and provides a signal that causes the brake  116  to control the slowing and/or stopping of the vehicle  100 . The associated sensor  124  monitors both the vehicle system (the brake  116  in this example), and the actuator  134  and provides information to the sensor interface  179 . Similarly, an actuator  136  is associated with the sensor  126  and the steering  117 . In an exemplary embodiment, the actuator  136  receives a control signal from the control by wire system  112  and provides a signal that causes the steering  117  to control the direction of the vehicle  100 . The associated sensor  126  monitors both the vehicle system (the steering  117  in this example), and the actuator  136  and provides information to the sensor interface  179 . Similarly, an actuator  137  is associated with the sensor  127  and the clutch  118 . In an exemplary embodiment, the actuator  137  receives a control signal from the control by wire system  112  and provides a signal that causes the clutch  118  to engage or disengage drive power to the vehicle  100 . The associated sensor  127  monitors both the vehicle system (the clutch  118  in this example), and the actuator  137  and provides information to the sensor interface  179 . Similarly, an actuator  138  is associated with the sensor  128  and the other systems  119 . 
         [0031]    The vehicle controls  141  are also coupled to the control by wire system  112  through the sensors  151 . The vehicle controls  141  are the control systems that receive the control inputs from an operator. For example, the accelerator  142  can be the accelerator pedal of the vehicle  100  that is configured to be operated by the operator&#39;s foot. Similarly, the brake  144  can comprise the brake pedal of the vehicle  100  that is configured to be operated by the operator&#39;s foot. Similarly, the steering wheel  146  can be the steering wheel of the vehicle  100  that is configured to be operated by the operator&#39;s hands; the clutch  147  can be the clutch pedal of the vehicle  100  that is configured to be operated by the operator&#39;s foot; and the other control  148  can be any other vehicle control. 
         [0032]    The sensor  152  is associated with the accelerator  142 , the sensor  154  is associated with the brake  144 , the sensor  156  is associated with the steering wheel  146 , the sensor  157  is associated with the clutch  147  and the sensor  158  is associated with the other controls  148 . The sensors  151  provide a respective control input to the control by wire system to translate the operator-provided vehicle controls to the actual vehicle systems  114 . 
         [0033]    Sensors  161  are also associated with respective vehicle controls  141 . The sensor  162  is associated with the accelerator  142 , the sensor  164  is associated with the brake  144 , the sensor  166  is associated with the steering wheel  146 , the sensor  167  is associated with the clutch  147  and the sensor  168  is associated with the other controls  148 . 
         [0034]    The vehicle  100  also comprises an operator input module  182 , a vehicle control interface  184  and an automated system input module  186 . In an exemplary embodiment, the operator input module  182  represents the manual operator inputs provided to the vehicle  100  when the vehicle is under manual operator control, or when the vehicle is under autonomous control and manual operator inputs are being compared against the autonomous control inputs to determine the manner in which a manual operator is mimicking the autonomous vehicle control prior to the autonomous vehicle control module  110  relinquishing control to a manual operator. As such, the operator input module  182  is operatively coupled to the vehicle controls  141  over connection  196 , is operatively coupled to the sensors  161  over connection  194 , and is operatively coupled to the compare module  109  over connection  188 . In an exemplary embodiment, the sensors  161  receive respective inputs from the operator input module  182  and provide an output to the sensor interface  179  (connection not shown in  FIG. 1 ). 
         [0035]    The vehicle control interface  184  is operatively coupled to the control by wire system  112  over connection  197 , and is operatively coupled to the operator input module  182  over connection  191 , and to the automated system input module  186  over connection  192 . The vehicle control interface  184  is also operatively coupled to the autonomous vehicle control module  110  over connection  199 . 
         [0036]    Autonomous Mode 
         [0037]    When the vehicle  100  is operating in autonomous mode, the autonomous vehicle control module  110  controls the vehicle  100  by sending control signals to the vehicle control interface  184 , which in turn provides control signals to the control by wire system  112 . The control by wire system  112  provides the inputs to the vehicle systems  114  through the actuators  131  and the sensors  121  to autonomously operate the vehicle  100 . The automated system input module  186  monitors the control by wire system  112  over connection  198  and provides information as to how the vehicle is performing over connection  192  to the vehicle control interface  184 . The vehicle control interface  184  provides this information over connection  199  to the autonomous vehicle control system  110 , which also provides this information to the compare module  109 . 
         [0038]    Transition from Autonomous Mode to Manual Mode 
         [0039]    When the vehicle  100  is operating in autonomous mode and it is desirable to switch to manual operator mode, the autonomous vehicle control module  110  continues to control the vehicle  100  as described above. However, as an operator begins engaging the vehicle controls  141 , the operator input module  182 , together with the sensors  161  begin sensing, recording and providing the manual inputs to the sensor interface  179  over connection  195 . Moreover, the sensor interface  179 , the camera  178  and the safety belt module  181  also provide inputs to the operator tracking module  111 . 
         [0040]    The operator tracking module  111  receives inputs from the input element  177  regarding the manual inputs provided by the operator. The operator tracking module  111  also provides this information to the compare module  109 . In this manner, the compare module  109  receives the automated inputs used to autonomously operate the vehicle  100  by the autonomous vehicle control system  110 , and also receives the manual inputs provided to the vehicle  100  by the manual operator attempting to mimic the autonomous vehicle control. However, at this time, the manual inputs provided to the vehicle  100  by the manual operator are not being used to actually control the vehicle  100 , but instead, are directed to the compare module  109  for comparison against the autonomous vehicle control inputs. 
         [0041]    The compare module  109  compares the manner in which the manual inputs provided by the manual operator are mimicking, or copying the automated inputs provided to the vehicle  100  by the autonomous vehicle control system  110 , and provides an output to the operator feedback module  108 . Depending on the manner in which the manual inputs provided by the manual operator are mimicking, or copying the automated inputs provided by the autonomous vehicle control system  110 , the operator feedback module  108  provides an output over connection  187  to the output module  171 . For example, if the manual inputs provided by the manual operator are not mimicking, or copying the automated inputs provided by the autonomous vehicle control system  110  to within a predetermined threshold, then one or more of the HUD  172 , visual element  174 , haptic element  175  and the audible element  176  can be used to communicate to the manual operator that the manual operator is not following the automated inputs at a level and accuracy at which control of the vehicle  100  can be transitioned to the manual operator. Conversely, if the manual inputs provided by the manual operator are mimicking, or accurately copying the automated inputs provided by the autonomous vehicle control system  110  to within the predetermined threshold, then one or more of the HUD  172 , visual element  174 , haptic element  175  and the audible element  176  can be used to communicate to the manual operator that the manual operator is following the automated inputs at a level and accuracy at which control of the vehicle  100  can be transitioned to the manual operator. 
         [0042]      FIG. 2  is a diagram illustrating an exemplary embodiment of the operator interface of  FIG. 1 . Elements of the operator interface can be integrated into a vehicle. For example, an operator interface for an automobile may include, cameras  204  and  211 , lights  207  and  208 , a speaker  209 , and a HUD  220 . In an exemplary embodiment, the cameras  204  and  211 , lights  207  and  208 , speaker  209 , and the HUD  220  are shown relative to a vehicle windshield  202  and a vehicle seat  234 . A steering wheel  231  may include sensors  222  and  224  to sense the position of and contact with the steering wheel  231  of an operator&#39;s hands. An accelerator pedal  226  may include a sensor  227  to sense the position and/or pressure of the user&#39;s foot on the accelerator pedal  226 . Similarly, a brake pedal  228  may include a sensor  229  to sense the position and/or pressure of the user&#39;s foot on the brake pedal  228 . A seat belt buckle and sensor  236  may be implemented to sense whether the operator has their seat belt buckled. A haptic feedback element  233 , such as, for example only, a vibratory element, may be located in the seat  234  to provide haptic feedback to the operator. More or fewer of the elements shown in  FIG. 2 , and other elements, may be implemented, depending on application. 
         [0043]      FIG. 3  is a diagram  300  illustrating an exemplary embodiment of a heads up display of  FIGS. 1 and 2 . In an exemplary embodiment, the operator feedback module  108  ( FIG. 1 ) may generate control signals that cause the HUD  220  to display an image of a road  302  having travel lanes  304  and  306 . In this exemplary embodiment, the travel lane  306  can be the direction of travel of the vehicle  100  and the travel lane  304  may be for vehicles traveling in the opposite direction. An image of an automobile  320  may be displayed on the HUD  220  in the lane  306 . In an exemplary embodiment, the image  320  represents the vehicle  100  traveling in the lane  306  being autonomously controlled by the autonomous vehicle control module  110  ( FIG. 1 ) represented by the image of the automobile  320 . An image of an automobile  322  may also be displayed on the HUD  220 . In an exemplary embodiment, the image  322  represents the vehicle  100  being manually controlled by an operator seeking to transition the vehicle  100  from autonomous control to manual control. The image of the automobile  322  straddling the centerline  305  indicates that the manual user inputs are insufficient to cause the vehicle  100  to mimic the control of the vehicle  100  provided by the autonomous vehicle control module  110  ( FIG. 1 ) indicating that transitioning from autonomous control to manual control should not be permitted. In such a situation, visual and/or audible feedback can be communicated to the operator from the operator feedback module  108  ( FIG. 1 ) alerting the operator that they are not adequately controlling the vehicle  100  in such a way that the autonomous vehicle control module  110  would transition control to the manual operator. In this exemplary embodiment, visual operator feedback providing a corrective warning is provided to the operator on the HUD  220  in the form of a flashing arrow  310  informing the operator that they should control the vehicle  100  so as to cause the vehicle  100  to move to the right, that is, away from the centerline  305  and toward the center of the travel lane  306 . In this exemplary embodiment, the operator feedback module  108  ( FIG. 1 ) causing the non-flashing arrow  312  to flash would inform the operator to control the vehicle  100  to move to the left. 
         [0044]      FIG. 4  is a diagram  400  illustrating an exemplary embodiment of a heads up display of  FIG. 1 . In an exemplary embodiment, the operator feedback module  108  ( FIG. 1 ) may generate control signals that cause the HUD  220  to display an image of a road  402  having travel lanes  404  and  406 . In this exemplary embodiment, the travel lane  406  can be the direction of travel of the vehicle  100  and the travel lane  404  may be for vehicles traveling in the opposite direction. An image of an automobile  420  may be displayed on the HUD  220  in the lane  406 . In an exemplary embodiment, the image  420  represents the vehicle  100  traveling on the lane  406  being autonomously controlled by the autonomous vehicle control module  110  ( FIG. 1 ). An image of an automobile  422  may also be displayed on the HUD  220 . In an exemplary embodiment, the image  422  represents the vehicle  100  being manually controlled by an operator seeking to transition the vehicle  100  from autonomous control to manual control. In the embodiment shown in  FIG. 4 , the operator has acted in response to the flashing arrow  310  ( FIG. 3 ) such that the image of the automobile  422  is no longer straddling the centerline  405  and indicates that the manual user inputs are now sufficient to cause the vehicle  100  to more closely mimic the control of the vehicle  100  provided by the autonomous vehicle control module  110  ( FIG. 1 ) to within a threshold within which control of the vehicle may be transitioned from the autonomous vehicle control module  110  ( FIG. 1 ) to the operator. In this exemplary embodiment, neither the arrow  410  nor the arrow  412  is flashing. In this exemplary embodiment, visual operator feedback is now provided to the operator on the HUD  220  in the form of a flashing indicator  414  informing the operator that they are now allowed to switch the vehicle  100  to manual control. Although the example of  FIGS. 3 and 4  uses steering as the only input, it should be mentioned that any number of control factors may be analyzed by the compare module  109  in determining whether manual operator input is sufficient to control the vehicle. For example, the HUD  220  may include an “increase speed” indicator  326  and  426  as a visual warning to the operator that they are not driving fast enough, and may include a “decrease speed” indicator  328  and  428  as a visual warning to the operator that they are driving too fast. Other indicators are also possible. 
         [0045]      FIG. 5  is a flow chart illustrating an exemplary embodiment of a method for transitioning from autonomous vehicle control to operator vehicle control. The blocks in the method  500  can be performed in or out of the order shown. In an exemplary embodiment, the method  500  described in  FIG. 5  can be performed by an instance of the autonomous vehicle control system  102  of  FIG. 1 . 
         [0046]    In block  502 , the vehicle is placed in or is previously located in autonomous driving mode. 
         [0047]    In block  504 , the operator requests to assume manual control of the vehicle  100 . Alternatively, in block  506 , the autonomous vehicle control system  102  alerts the operator that they should assume manual control of the vehicle  100 . 
         [0048]    In block  508 , the operator places their hands on the steering wheel, foot on the accelerator, brake, etc. 
         [0049]    In block  510 , the operator actuates the controls to “mimic” or “match” the automated control inputs provided by the autonomous vehicle control module  110  ( FIG. 1 ). 
         [0050]    In block  512 , audio and/or visual and/or haptic feedback and/or indicators (which in an exemplary embodiment may be similar to those in a video game) provide the operator with visual, audible and haptic feedback as to whether their motions are closely approximating those of the autonomous vehicle control module  110  to within a predefined threshold. This could take the form of active control feedback, a heads-up display (HUD), lights, chimes, haptic feedback, etc. These prompts continue to provide feedback to the operator as to the areas of manual control (steering, accelerator, etc.) that do not adequately match the inputs of the autonomous vehicle control module  110  to within a predefined threshold. 
         [0051]    In block  514 , it is determined whether the operator is adequately following the inputs of the autonomous vehicle control module  110  to within a threshold. If the operator is not adequately following the inputs of the autonomous vehicle control module  110 , the process returns to block  512  and the operator continues to receive feedback. The predefined threshold to be measured may comprise one or more measurable parameters such as vehicle location, speed, direction, etc. For example, referring to  FIGS. 3 and 4 , the predefined threshold may be the accuracy with which the manual operator controls the vehicle to be within the travel lane  306  and  406  and away from the centerline  305  and  405 . Moreover, the predefined threshold may change or vary based on various changing conditions, such as changing ambient conditions, changing road conditions, changing weather conditions, or other changing conditions. For example, the predefined threshold may be different on a clear day than on a rainy night. 
         [0052]    If it is determined in block  514  that the operator is adequately following the inputs of the autonomous vehicle control module  110  to within the threshold, then, in block  516 , an audio and/or visual and/or haptic confirmation may alert the operator that they can transition to manual mode. 
         [0053]    In block  518 , the operator switches to manual mode by way of a verbal confirmation, button press, etc., and assumes manual control of the vehicle. 
         [0054]      FIG. 6  is a flow chart illustrating an exemplary embodiment of a method for executing the compare function of  FIG. 5 . The blocks in the method  600  can be performed in or out of the order shown. The method  600  described in  FIG. 6  can be performed by an instance of the autonomous vehicle control system  102  of  FIG. 1 . 
         [0055]    In blocks  602 ,  604  and  606 , the operator tracking module  111  ( FIG. 1 ) receives camera/visual input (block  602 ), sensor input (block  604  and safety input (block  606 ) from the input module  177 . 
         [0056]    In block  608 , the autonomous vehicle control module  110  provides automated system input to the compare module  109 . 
         [0057]    In block  610 , the compare module  109  compares the automated system input against the manual operator input. 
         [0058]    In block  612 , it is determined whether the operator is adequately following the inputs of the autonomous vehicle control module  110  to within the threshold. If the operator is not adequately following the inputs of the autonomous vehicle control module  110  to within the threshold, the process proceeds to block  616  where the operator feedback module  108  provides audio and/or visual and/or haptic feedback alerting the operator that they are not adequately following the automated control inputs. 
         [0059]    If it is determined in block  612  that the operator is adequately following the inputs of the autonomous vehicle control module  110  to within the threshold, then, in block  614 , an audio and/or visual and/or haptic confirmation alerts the operator that they can transition to manual mode. 
         [0060]    In block  618 , the operator switches to manual mode by way of a verbal confirmation, button press, etc., and assumes manual control of the vehicle. 
         [0061]    In view of the disclosure above, one of ordinary skill in programming is able to write computer code or identify appropriate hardware and/or circuits to implement the disclosed invention without difficulty based on the flow charts and associated description in this specification, for example. Therefore, disclosure of a particular set of program code instructions or detailed hardware devices is not considered necessary for an adequate understanding of how to make and use the invention. The inventive functionality of the claimed computer implemented processes is explained in more detail in the above description and in conjunction with the FIGS. which may illustrate various process flows. 
         [0062]    In one or more exemplary aspects, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored on or transmitted as one or more instructions or code on a computer-readable medium. Computer-readable media include both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that may be accessed by a computer. By way of example, and not limitation, such computer-readable media may comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that may be used to carry or store desired program code in the form of instructions or data structures and that may be accessed by a computer. 
         [0063]    Also, any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (“DSL”), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. 
         [0064]    Disk and disc, as used herein, includes compact disc (“CD”), laser disc, optical disc, digital versatile disc (“DVD”), floppy disk and Blu-Ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media. 
         [0065]    Although selected aspects have been illustrated and described in detail, it will be understood that various substitutions and alterations may be made therein without departing from the spirit and scope of the present invention, as defined by the following claims.