Patent Publication Number: US-10768619-B1

Title: User interface for displaying internal state of autonomous driving system

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     The present application is a continuation of U.S. patent application Ser. No. 15/602,465, filed May 23, 2017, which is a continuation of U.S. patent application Ser. No. 15/344,007, filed Nov. 4, 2016, now issued as U.S. Pat. No. 10,082,789, which is a continuation of U.S. patent application Ser. No. 14/820,961, filed Aug. 7, 2015, now issued as U.S. Pat. No. 9,519,287, which is a continuation of U.S. patent application Ser. No. 14/445,493, filed Jul. 29, 2014 now issued as U.S. Pat. No. 9,134,729, which is a continuation of U.S. patent application Ser. No. 14/158,986 filed Jan. 20, 2014 now issued as U.S. Pat. No. 8,825,261, which is a continuation of U.S. patent application Ser. No. 13/788,552 filed Mar. 7, 2013 now issued as U.S. Pat. No. 8,670,891, which is a continuation of U.S. patent application Ser. No. 13/707,937 filed Dec. 7, 2012 now issued as U.S. Pat. No. 8,433,470, which is a continuation of U.S. patent application Ser. No. 13/567,428 filed Aug. 6, 2012 now issued as U.S. Pat. No. 8,352,110, which is a continuation of U.S. patent application Ser. No. 12/832,447 filed Jul. 8, 2010 now issued as U.S. Pat. No. 8,260,482, which is a continuation-in-part of U.S. patent application Ser. No. 12/769,252 filed Apr. 28, 2010, now issued as U.S. Pat. No. 8,346,426, the entire disclosures of which are hereby incorporated herein by reference. 
    
    
     BACKGROUND OF THE INVENTION 
     Field of the Invention 
     The invention relates generally to user interface applications for autonomous driving systems. More specifically, user interfaces for displaying the status of the autonomous driving system are provided. 
     Description of Related Art 
     Autonomous vehicles use various computing systems to transport passengers from one location to another. Some autonomous vehicles may require some initial input or continuous input from an operator, such as a pilot, driver, or passenger. Other systems, for example autopilot systems, may be used only when the system has been engaged, thus the operator may switch from a manual to an autonomous mode where the vehicle drives itself. These systems may be highly complicated and generally do not provide for a user friendly experience. 
     BRIEF SUMMARY OF THE INVENTION 
     A passenger in an automated vehicle may relinquish control of the vehicle to a control computer when the control computer has determined that it may maneuver the vehicle safely to a destination. The passenger may relinquish or regain control of the vehicle by applying different degrees of pressure, for example, on a steering wheel of the vehicle. The control computer may convey status information to a passenger in a variety of ways including by illuminating elements of the vehicle. The color and location of the illumination may indicate the status of the control computer, for example, whether the control computer has been armed, is ready to take control of the vehicle, or is currently controlling the vehicle. 
     One aspect of the invention provides a vehicle including a plurality of control apparatuses including a braking apparatus, an acceleration apparatus, and a steering apparatus; a geographic position component for determining the current geographic location of the vehicle; a force input apparatus for identifying the approximate location and degree of a force; memory for storing a detailed map information including roadway, traffic signal, and intersection information; and a processor. The processor is operable to receive location information from the geographic position component; receive input from the force input apparatus; determine, from location information received from the geographic position component and the stored map information, the current geographic location of the vehicle; determine, based on the current geographic location of the vehicle, whether the processor can control the plurality of control apparatuses safely; and determine, based on input received from the force input apparatus, whether the processor has permission to control the plurality of control apparatuses. 
     In one example, the processor is operable to control the plurality of control apparatuses when the current geographic location of the vehicle corresponds to a roadway of the detailed roadway map. In another example, the vehicle also includes a light emitting apparatus and the processor is also operable to illuminate the light emitting apparatus if the processor has determined that the processor has permission to control the control apparatuses. In another example the force input apparatus is associated with a threshold value, and the processor is further operable to determine that the processor has permission if a force input on the force input apparatus is less than the threshold value. In another example, the processor is also operable to control the control apparatuses if the processor has determined that the processor has permission to control the control apparatuses. In one alternative, the vehicle also includes a light emitting apparatus and the processor is also programmed to illuminate the light emitting apparatus while the processor is controlling the control apparatuses. In another alternative, the processor is also configured to determine, based on the current geographic location of the vehicle, whether the processor can no longer control the control apparatuses safely; and discontinue the controlling of the control apparatuses if the processor can no longer control the control apparatuses safely. In this regard, the vehicle may also include a light emitting apparatus and the processor may also be operable to illuminate the light emitting apparatus if the processor discontinues the controlling of the control apparatuses because the processor can no longer control the control apparatuses safely. In another alternative, the force input apparatus is associated with a threshold value and the processor is further operable to discontinue control of the control apparatuses if a force input on the force input apparatus is greater than the threshold value. In another alternative, the vehicle also includes a light emitting apparatus and the processor is also operable to illuminate the light emitting apparatus in a first color if the processor can control the plurality of control apparatuses safely and the processor is not controlling the control apparatuses; control the control apparatuses and illuminate the light emitting apparatus in a second color if the processor has determined that the processor has permission to control the control apparatuses; and illuminate the light emitting apparatus in a third color if the processor discontinues the controlling of the control apparatuses because the processor can no longer control the control apparatuses safely. 
     Another aspect of the invention provides a method for controlling a plurality of control apparatuses of a vehicle including a braking apparatus, an acceleration apparatus, and a steering apparatus. The method includes receiving location information from a geographic position component for determining a current geographic location of the vehicle; receiving input from a force input apparatus identifying an approximate location and degree of a force; determining, from the location information received from the geographic position component and detailed map information, the current geographic location of the vehicle, the detailed map information including roadway, traffic signal and intersection information; determining, based on the current geographic location of the vehicle, whether a processor is operable to control the plurality of control apparatuses safely; determining, based on input received from the force input apparatus, whether the processor has permission to control the plurality of control apparatuses; and controlling the control apparatuses if the processor has permission to control the control apparatuses. 
     In one example, the force input apparatus is associated with a force threshold value and determining that the processor has permission is based on whether a force input on the force input apparatus is less than the threshold value. In another example, the method also includes illuminating a light emitting apparatus if the processor is not operable to control the control apparatuses safely. In another example, the method also includes illuminating a light emitting apparatus while the processor is controlling the control apparatuses. In another example, if the processor is not operable to control the control apparatuses safely, then discontinuing the controlling of the control apparatuses by the processor. 
     A further aspect of the invention provides a computer including memory for storing map information and a processor. The processor is operable to receive location information from a geographic position component which determines a current geographic location of the vehicle; receive input from a force input apparatus which identifies an approximate location and degree of a force; determine, from the location information received from the geographic position component and the stored map information, the current geographic location of the vehicle; determine, based on the current geographic location of the vehicle, whether the processor is operable to control a plurality of control apparatuses safely; and determine, based on input received from the force input apparatus, whether the processor has permission to control the plurality of control apparatuses. 
     In one example, the plurality of control apparatuses control an automobile. In another example, the plurality of control apparatuses control a boat. In another example, the plurality of control apparatuses control an airplane. In another example, the processor is also operable to illuminate light emitting apparatus in a first color if the processor is operable to control the plurality of control apparatuses safely and the processor is not currently controlling the control apparatuses; control the control apparatuses if the processor has determined that the processor has permission to control the control apparatuses and illuminate the light emitting apparatus in a second color; and illuminate the light emitting apparatus in a third color if the processor discontinues the controlling of the control apparatuses because the processor can no longer control the control apparatuses safely. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a functional diagram of a system in accordance with an aspect of the invention. 
         FIG. 2  is an exemplary design of the interior of an autonomous vehicle in accordance with an aspect of the invention. 
         FIG. 3  is a view of the interior of an exemplary vehicle in accordance with an aspect of the invention. 
         FIG. 4  is a view of the interior of an exemplary vehicle in accordance with an aspect of the invention. 
         FIG. 5  is a view of the interior of an exemplary vehicle in accordance with an aspect of the invention. 
         FIG. 6  is a view of the interior of an exemplary vehicle in accordance with an aspect of the invention. 
         FIG. 7  is a view of the interior of an exemplary vehicle in accordance with an aspect of the invention. 
         FIG. 8  is a view of the interior of an exemplary vehicle in accordance with an aspect of the invention. 
         FIG. 9  is a view of the interior of an exemplary vehicle in accordance with an aspect of the invention. 
         FIG. 10  is a view of the interior of an exemplary vehicle in accordance with an aspect of the invention. 
         FIG. 11  is a view of the interior of an exemplary vehicle in accordance with an aspect of the invention. 
         FIG. 12  is a view of the interior of an exemplary vehicle in accordance with an aspect of the invention. 
         FIGS. 13A-C  illustrate various states of an autonomous vehicle in accordance with aspects of the invention. 
         FIG. 14  is a view of the interior of an exemplary vehicle in accordance with an aspect of the invention. 
         FIG. 15  is a view of the interior of an exemplary vehicle in accordance with an aspect of the invention. 
         FIG. 16  is a view of the interior of an exemplary vehicle in accordance with an aspect of the invention. 
     
    
    
     DETAILED DESCRIPTION 
     Aspects, features and advantages of the invention will be appreciated when considered with reference to the following description of exemplary embodiments and accompanying figures. The same reference numbers in different drawings may identify the same or similar elements. Furthermore, the following description is not limiting; the scope of the invention is defined by the appended claims and equivalents. 
     As shown in  FIG. 1 , an autonomous driving system  100  in accordance with one aspect of the invention includes a vehicle  101  with various components. The vehicle may be any type of vehicle including, but not limited to, cars, trucks, motorcycles, busses, boats, airplanes, trams, golf carts, trains, and trolleys. The vehicle may have one or more computers, such as computer  110  containing a processor  120 , memory  130  and other components typically present in general purpose computers. 
     The memory  130  stores information accessible by processor  120 , including instructions  132  and data  134  that may be executed or otherwise used by the processor  120 . The memory  130  may be of any type capable of storing information accessible by the processor, including a computer-readable medium, or other medium that stores data that may be read with the aid of an electronic device, such as a hard-drive, memory card, ROM, RAM, DVD or other optical disks, as well as other write-capable and read-only memories. Systems and methods may include different combinations of the foregoing, whereby different portions of the instructions and data are stored on different types of media. 
     The instructions  132  may be any set of instructions to be executed directly (such as machine code) or indirectly (such as scripts) by the processor. For example, the instructions may be stored as computer code on the computer-readable medium. In that regard, the terms “instructions” and “programs” may be used interchangeably herein. The instructions may be stored in object code format for direct processing by the processor, or in any other computer language including scripts or collections of independent source code modules that are interpreted on demand or compiled in advance. Functions, methods and routines of the instructions are explained in more detail below. 
     The data  134  may be retrieved, stored or modified by processor  120  in accordance with the instructions  132 . For instance, although the system and method is not limited by any particular data structure, the data may be stored in computer registers, in a relational database as a table having a plurality of different fields and records, XML documents or flat files. The data may also be formatted in any computer-readable format. By further way of example only, image data may be stored as bitmaps comprised of grids of pixels that are stored in accordance with formats that are compressed or uncompressed, lossless (e.g., BMP) or lossy (e.g., JPEG), and bitmap or vector-based (e.g., SVG), as well as computer instructions for drawing graphics. The data may comprise any information sufficient to identify the relevant information, such as numbers, descriptive text, proprietary codes, references to data stored in other areas of the same memory or different memories (including other network locations) or information that is used by a function to calculate the relevant data. 
     The processor  120  may be any conventional processor, such as processors from Intel Corporation or Advanced Micro Devices. Alternatively, the processor may be a dedicated device such as an ASIC. Although  FIG. 1  functionally illustrates the processor, memory, and other elements of computer  110  as being within the same block, it will be understood by those of ordinary skill in the art that the processor and memory may actually comprise multiple processors and memories that may or may not be stored within the same physical housing. For example, memory may be a hard drive or other storage media located in a housing different from that of computer  110 . Accordingly, references to a processor or computer will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. 
     Computer  110  may all of the components normally used in connection with a computer such as a central processing unit (CPU), memory (e.g., RAM and internal hard drives) storing data  134  and instructions such as a web browser, an electronic display  142  (e.g., a monitor having a screen, a small LCD touch-screen or any other electrical device that is operable to display information), and user input (e.g., a mouse, keyboard, touch-screen and/or microphone). 
     Computer  110  may also include a geographic position component  144  to determine the geographic location of the device. For example, computer  110  may include a GPS receiver to determine the device&#39;s latitude, longitude and/or altitude position. Other location systems such as laser-based localization systems, inertial-aided GPS, or camera-based localization may also be used. 
     Computer  110  may also include other features, such as an accelerometer, gyroscope or other acceleration device  146  to determine the direction in which the device is oriented. By way of example only, the acceleration device may determine its pitch, yaw or roll (or changes thereto) relative to the direction of gravity or a plane perpendicular thereto. In that regard, it will be understood that a computer&#39;s provision of location and orientation data as set forth herein may be provided automatically to the user, other computers, or both. 
     Computer  110  may also include an object detection component  148  to detect and identify the location and movement (e.g. relative speed) of objects such as other vehicles, obstacles in the roadway, traffic signals, signs, etc. The detection system may include lasers, sonar, radar, cameras or any other such detection methods. For example, the object detector may include an imaging device to identify the state of a particular traffic signal as yellow or another color. In use, computer  110  may use this information to instruct the braking system of the vehicle to apply the brakes. 
     Data  134  may include various types of information used by computer  110 . Detailed map information  136  may include maps identifying lane lines, intersections, speed limits, traffic signals, buildings, signs, or other such information. For example, as will be described in more detail below, computer  110  may access detailed map information  136  in order to determine whether computer  110  is in a location from which it may competently control aspects particular aspects of vehicle  101  such as direction of travel, speed, acceleration, etc. 
     Computer  110  may also control status indicators  138 , in order to convey the status of computer  110  to a passenger of vehicle  101 . For example, computer  110  may use visual or audible cues to indicate whether computer  110  has been armed and is in control of the various systems of vehicle  101 , whether there are any errors, whether computer  110  has been disarmed, etc. The various examples below describe visual cues which include either text on an electronic display, illuminated portions of vehicle  101 , or both, although it will be understood that various other methods of indications may also be used. 
     Computer  110  may include, or be capable of receiving information from, one or more touch sensitive input apparatuses  140 . For example, computer  110  may receive input from a user input apparatus and use this information to determine whether a passenger is contacting, such as by holding or bumping, a particular portion of vehicle  110 . The touch sensitive input apparatuses may be any touch sensitive input device capable of identifying a force, for example a force resistance tape may be calibrated to accept or identify a threshold pressure input (such as 10 grams of pressure) or a range of pressures (such as 5-20 grams of pressure). 
     In one example, computer  110  may be an autonomous driving computing system capable of communicating with a vehicle&#39;s internal computer such as computer  160 . Computer  160  may be configured similarly to computer  110 , for example, including a processor  170 , memory  172 , instructions  174 , and data  176 . Computer  110  may send and receive information from the various systems of vehicle  101 , for example the braking  180 , acceleration  182 , signaling  184 , and navigation  186  systems in order to control the movement, speed, etc. of vehicle  101 . In addition, when engaged, computer  110  may control some or all of these functions of vehicle  101  and thus be fully or merely partially autonomous. It will be understood that although various systems and computers  110  and  160  are shown within vehicle  101 , these elements may be external to vehicle  101  or physically separated by large distances. 
       FIG. 2  depicts an exemplary design of the interior of an autonomous vehicle. The autonomous vehicle may include all of the features of a non-autonomous vehicle, for example: a steering apparatus, such as steering wheel  210 ; a navigation display apparatus, such as navigation display  215 ; and a gear selector apparatus, such as gear shifter  220 . 
     Vehicle  101  may include one or more user input devices for inputting information into the autonomous driving computer  110 . For example, a user, such as passenger  290 , may input a destination, (e.g. 123 Oak Street), into the navigation system using touch screen  217  or inputs  219 . In another example, a user may input a destination by identifying the destination audibly (e.g. by stating “De young museum” as in the example of  FIGS. 2 and 3 ). 
     Vehicle  101  may display information to a passenger in a number of ways. For example, vehicle  101  may be equipped with a display  225  for displaying information relating to computer  110 . Vehicle  101  may also include a status indicating apparatus, such as status bar  230 , to indicate the current status of vehicle  101 . In the example of  FIG. 2 , status bar  230  displays “D” and “2 mph” indicating that the vehicle is presently in drive mode and is moving at 2 miles per hour. As will be described in more detail below various other audible and visual indicators may also be employed. 
     The navigation system may generate a route between the present location of the vehicle and the destination. As shown in  FIG. 3 , after identifying the destination, navigation display  215  may indicate that a route has been identified. Once the user has selected the identified route, the navigation system may begin the route guidance, for as shown in  FIG. 4 . 
     When the passenger is ready to relinquish some level of control to the autonomous driving computing system or control computer, the user may arm the control computer. For example, the passenger may press a button to arm computer  110 . In another example, shown in  FIG. 4 , the passenger may arm computer  110  by manipulating a lever such as gear shifter  220  into a particular position. 
     In response to the engagement action, various elements of vehicle  101  may indicate that the control computer is now armed. For example, as shown in  FIG. 5 , display  225  may light up or display text indicating that computer  110  has been armed. Computer  110  may also provide audio indicating the same (e.g. “autonomous driving mode is engaged” or “cruise mode is engaged”). After arming computer  110 , passenger  290  may return his or her hands to steering wheel as shown in  FIG. 6 . 
     Once the control computer has been engaged, it must determine whether it may competently control aspects of the vehicle. For example, computer  110  may not be able to control aspects of vehicle  101  safely if vehicle  101  is at a particular location which computer  110  is unable to identify based on the geographic location of vehicle  101 , if vehicle  101  is at a particular location which is not sufficiently defined or described by detailed map  136 , or if computer  110  detects a large number of obstacles in the vicinity of vehicle  101 . As shown in  FIG. 7 , vehicle  101  is located in a parking lot which, for example, computer  110  is unable to navigate. Thus, computer  110  may display text information indicating the same on status bar  230  (e.g. “Not available”). 
     Once the vehicle begins to move to new a location, the control computer may re-evaluate whether it may competently control aspects of the vehicle and display this information accordingly. For example, as shown by indicator bar  230  of  FIG. 8 , vehicle  101  has moved onto a roadway, computer  110  has initially determined it is unable to competently control aspects of vehicle  101 . As shown in  FIG. 9 , once computer  110  has determined that it is able to competently control aspects of vehicle  101 , indicator bar  230  may indicate that computer  110  is in the “ready” state or is able to take control of aspects of vehicle  101 . 
     The control computer may use additional visual indicators to display the status of the control computer to a passenger. For example, computer  110  may illuminate surfaces of vehicle  101  in a particular color (or various shades of the color) to indicate the status of computer  110 . Where computer  110  is ready to take control of various aspects of vehicle  101 , steering wheel portions  950  and  955  as well as indicator bar  230  may illuminate gradually in a particular color, a first color. The illumination may be immediately intense or alternatively gradually increase in intensity. 
     Once control computer is able to control the vehicle competently, the passenger may relinquish control. For example, passenger  290  may release his or her hands from steering wheel  210 . Various touch sensitive input apparatuses  140  which may be disposed, for example, around or within steering wheel  210  may be used to identify the amount of pressure on the steering wheel. If there is no more input or the input is below a particular pressure threshold, computer  110  may determine that passenger  290  has released steering wheel  210 . Based on the information from the touch sensitive input apparatuses, computer  110  may begin to control various aspects of vehicle  101  as shown in  FIG. 10 . 
     As the control computer&#39;s changes, the control computer may again use various visual and audio indicators to convey this information to a passenger. For example, computer  110  may cause indicator bar  230 , steering wheel portions  950  and  955 , portions of display  215 , and/or even portions of steering wheel  210  to illuminate in a second color, different from the first color. Computer  110  may also inform the passenger of the change using audio cues. 
     Once the indicators are illuminated such that they indicate that control computer is in control of aspects of the vehicle, for example those functions required for safely driving the vehicle between locations, the user may now enjoy other pursuits. For example, as shown in  FIG. 11 , passenger  290  is able to use a cellular phone without fear that the distraction will take away from the safety of the trip. The indicators, such as indicator box  230  and portions of steering wheel  210 , allow the passenger to feel safe in the knowledge that computer  110  is in control of the vehicle. 
     If the passenger identifies an emergency situation, the passenger may take control of the vehicle immediately. For example, passenger  290  may see an obstacle which computer  110  has not identified, such as a bicyclist or road construction. Without first disarming computer  110 , passenger  290  may grip the steering wheel to return computer  110  to “ready mode” as shown in  FIG. 9 . The impact of passenger  290 &#39;s hand or hands on steering wheel  210  may be received by the various touch sensitive input apparatuses  140  of steering wheel  210 . Computer  110  may receive this information, determine that the passenger would like to take control, and return to ready mode. This allows the user to feel confident that he or she may take control of vehicle  101  instantaneously. 
     In order to prevent returning the control computer to ready mode in every case of contact, the touch sensitive input apparatuses may be calibrated to prevent accidental transferring control from the control computer to the passenger. As shown in  FIG. 12 , passenger  290  may accidentally bump steering wheel  210  and place computer  110  into ready mode. However, it could be dangerous to allow computer  110  to relinquish control to the passenger, for example if the passenger is actually asleep or not paying attention. Thus, the touch sensitive inputs may only accept certain types of input. For example, the contact may be required to be in a particular location along steering wheel  210 , for example, the top or bottoms surface of steering wheel  210  or both. In another example, the contact may be required to be over a particular time or pressure threshold as described above. In a further example, the user may be required to contact the steering wheel with two hands rather than one. Alternatively, the touch sensitive inputs may always send the inputted information to computer  110  which may determine whether the required contact or contacts have been met. 
     Control computer may use pressure sensing devices at other locations of the vehicle in order to determine whether the passenger is ready or able to relinquish or regain control. For example, touch sensitive input apparatuses  140  may also (or alternatively) be located on the brake and/or acceleration pedals. If computer  110  has been armed and the passenger applies some threshold pressure to the pedals, computer  110  may enter ready mode. Thus, if computer  110  is controlling vehicle  101  and passenger  290  applies the brakes, computer  110  will return to ready mode. Or if the passenger has released the steering wheel, but continues to apply pressure to the pedals, computer  110  may continue in ready mode, but request that the passenger grip the steering wheel. 
     In the event of an emergency situation identified by the control computer, it may immediately convey this information to the passenger in a variety of ways. For example, if computer  110  is no longer able to control vehicle  101  safely, the illuminated indicators described above may change to a third color, to inform the user of the immediate need to take control of the steering wheel. Computer  110  may also send audio alerts to passenger  290  stating that there is an emergency and the passenger is required to take control of the steering wheel. 
     Because of the changes in the status, for example between  FIGS. 9 and 10 , it would be beneficial to illuminate these elements in different colors to indicate the differing statuses of the control computer. Thus, the change in the illumination may clearly convey the change in the status of computer  110 . As shown in  FIG. 13 , computer  110  may use various color cues to identify the status of vehicle  101 . 
       FIG. 13A  is a summary exemplary colors and status indicators where computer  110  has been armed. If the passenger is gripping the steering wheel and applying, or not applying, a force on the brake or acceleration pedal, computer  110  may be in ready mode and the illumination may be blue in color as shown in blocks  1360  and  1362 . If the passenger releases the grip on the steering wheel, but continues to apply pressure on one of the pedals, computer  110  may continue in ready mode and the illumination may be blue in color as shown in block  1364 . Computer  110  may also display and/or sound text requesting that the passenger grip the wheel as described above. Where the passenger has released the steering wheel, is not applying a force on a pedal, and computer  110  has actually taken control, the illumination may be green in color as shown in block  1366 . 
       FIG. 13B  is a summary exemplary colors and status indicators where computer  110  has been armed, but computer  110  is unable to take control (or continue controlling) vehicle  101 . If the passenger is gripping the steering wheel and applying, or not applying, a force on the brake or acceleration pedal, computer  110  may display text indicating that it is “not available” and no illumination may be used as shown in blocks  1370  and  1372 . If the passenger releases the grip on the steering wheel, but continues to apply pressure on one of the pedals, computer  110  may display text indicating that it is “not available” and no illumination may be used as shown in block  1374 . Computer  110  may also display and/or sound text requesting that the passenger grip the wheel as described above. If the passenger has released the steering wheel, is not applying a force on a pedal and computer  110  was not previously in control, computer  110  may again display and/or sound text requesting that the passenger grip the wheel as described above as shown in block  1376 . If the passenger has released the steering wheel, is not applying a force on a pedal and computer  110  was previously in control, the illumination may be red, indicating the emergency situation as shown in block  1377 . Again computer  110  may display and/or sound text requesting that the passenger take control of the vehicle. 
       FIG. 13C  indicates exemplary colors and status indicators where computer  110  has not been armed. If computer  110  has not been armed, computer  110  need not determine whether there is any pressure or contact on the steering wheel or pedals. Thus, no illumination is required in any of blocks  1380 ,  1382 ,  1384 , or  1386  as the status of computer  110  is always “off.” 
     It will be understood that the particular combinations of color and elements selected for illumination are merely exemplary and there is no limit to the number of combinations which may be utilized. 
     The passenger may also disarm the control computer while the vehicle is moving. For example, as shown in  FIG. 14 , when passenger  290  is ready to disarm computer  110 , the passenger may place his or her hands on steering wheel  210  and gear shifter  220 . Moving the gear shifter  220  into another mode as shown in  FIG. 15 , such as drive, may disarm computer  110 . Thus, as shown in  FIGS. 15 and 16 , status bar  230  may now display “D” indicating that computer  110  is no longer armed and vehicle  101  is in drive. In addition, the illumination of indicator bar  230 , steering wheel portions  950 ,  955 , portions of display  215 , and portions of steering wheel  210  may fade out, for example, to black, further indicating that computer  110  is no longer armed. 
     The control computer may be configured to take control of various aspects of the vehicle to various degrees. For example, computer  110  may take complete control of the systems of vehicle  101  and control all aspects necessary to do so, such as braking, signaling, and acceleration systems. In another example, computer  110  may only control the position of vehicle  101 , such as by maintaining vehicle  101 &#39;s position within a lane of traffic. 
     The control computer may also to determine whether the driver is able to control the vehicle and, if not, take emergency control. For example, computer  110  may be used as a safety mechanism to protect passenger  290 . In addition to receiving inputs from the touch sensitive inputs, Computer  110  may use cameras to scan the passenger&#39;s eyes and/or other features. If computer  110  determines that the eyes are closed or the body is slumped over (e.g. the passenger is sleeping or under the influence of drugs or alcohol), computer  110  may take emergency control of vehicle  101  and use audible alerts to wake or otherwise get the attention of the driver. 
     As these and other variations and combinations of the features discussed above can be utilized without departing from the invention as defined by the claims, the foregoing description of exemplary embodiments should be taken by way of illustration rather than by way of limitation of the invention as defined by the claims. It will also be understood that the provision of examples of the invention (as well as clauses phrased as “such as,” “e.g.”, “including” and the like) should not be interpreted as limiting the invention to the specific examples; rather, the examples are intended to illustrate only some of many possible aspects.