Multi-Model Switching on a Collision Mitigation System

Abstract

Systems and methods for controlling an autonomous vehicle are provided. In one example embodiment, a computer-implemented method includes receiving data indicative of an operating mode of the vehicle, wherein the vehicle is configured to operate in a plurality of operating modes. The method includes determining one or more response characteristics of the vehicle based at least in part on the operating mode of the vehicle, each response characteristic indicating how the vehicle responds to a potential collision. The method includes controlling the vehicle based at least in part on the one or more response characteristics.

1 .- 20 . (canceled) 
     
     
         21 . A computer-implemented method comprising:
 accessing a request for changing an operating mode of an autonomous vehicle;   based at least in part on the request, determining, among a plurality of operating modes, a particular operating mode for the autonomous vehicle to enter into;   determining a response characteristic for reacting to a potential collision based at least in part on the particular operating mode of the autonomous vehicle,   wherein the response characteristic is indicative of a collision mitigation response to a potential collision with an object in an environment of the autonomous vehicle; and   controlling the autonomous vehicle to enter into the particular operating mode, wherein the collision mitigation response associated with the response characteristic is executable by the autonomous vehicle in the particular operating mode.   
     
     
         22 . The computer-implemented method of  claim 21 , wherein the request is associated with a vehicle operator. 
     
     
         23 . The computer-implemented method of  claim 21 , wherein the request is associated with a remote computing system that is remote from the autonomous vehicle. 
     
     
         24 . The computer-implemented method of  claim 21 , wherein determining the particular operating mode comprises:
 determining a prerequisite for changing into the particular operating mode.   
     
     
         25 . The computer-implemented method of  claim 24 , wherein the prerequisite is indicative of at least one of: (i) an availability of a vehicle operator or (ii) an eligibility of the vehicle operator. 
     
     
         26 . The computer-implemented method of  claim 21 , wherein the plurality of operating modes comprise a plurality of predetermined operating modes, the predetermined operating modes comprising at least one of: (i) a fully autonomous mode, (ii) a semi-autonomous mode, or (iii) a manual mode. 
     
     
         27 . The computer-implemented method of  claim 21 , wherein the response characteristic is based at least in part on a preference corresponding to a vehicle operator. 
     
     
         28 . The computer-implemented method of  claim 21 , wherein the particular operating mode is associated with a sensitivity threshold for reacting to the potential collision. 
     
     
         29 . The computer-implemented method of  claim 28 , wherein the sensitivity threshold is indicative of a sensitivity of the autonomous vehicle in identifying potential collisions within the environment of the autonomous vehicle. 
     
     
         30 . A vehicle computing system comprising:
 one or more processors; and   one or more tangible, non-transitory, computer readable media that store instructions that are executable by the one or more processors to cause the computing system to perform operations, the operations comprising:   accessing a request for changing an operating mode of an autonomous vehicle;   based at least in part on the request, determining, from among a plurality of operating modes, a particular operating mode for the autonomous vehicle to enter into;   determining a response characteristic for reacting to a potential collision based at least in part on the particular operating mode of the autonomous vehicle,   wherein the response characteristic is indicative of a collision mitigation response to a potential collision with an object in an environment of the autonomous vehicle; and   controlling the autonomous vehicle based at least in part on the response characteristic.   
     
     
         31 . The vehicle computing system of  claim 30 , wherein the request is associated with a vehicle operator. 
     
     
         32 . The vehicle computing system of  claim 31 , wherein the request is based at least in part on a user input of the vehicle operator to a human-machine interface of the autonomous vehicle. 
     
     
         33 . The vehicle computing system of  claim 30 , wherein determining the particular operating mode comprises:
 determining a prerequisite for changing into the particular operating mode.   
     
     
         34 . The vehicle computing system of  claim 33 , wherein the prerequisite is indicative of at least one of: (i) an availability of a vehicle operator or (ii) an eligibility of the vehicle operator. 
     
     
         35 . The vehicle computing system of  claim 30 , wherein the plurality of operating modes comprise a plurality of predetermined operating modes, the predetermined operating modes comprising at least one of: (i) a fully autonomous mode, (ii) a semi-autonomous mode, or (iii) a manual mode. 
     
     
         36 . The vehicle computing system of  claim 30 , wherein the response characteristic is based at least in part on a preference corresponding to a vehicle operator. 
     
     
         37 . The vehicle computing system of  claim 30 , wherein the particular operating mode is associated with a sensitivity threshold for reacting to the potential collision. 
     
     
         38 . The vehicle computing system of  claim 37 , wherein the sensitivity threshold is indicative of a sensitivity of the autonomous vehicle in identifying potential collisions within the environment of the autonomous vehicle. 
     
     
         39 . An autonomous vehicle comprising:
 one or more processors; and   one or more tangible, non-transitory, computer readable media that store instructions that are executable by the one or more processors to cause the one or more processors to perform operations, the operations comprising:   accessing a request for changing an operating mode of an autonomous vehicle;   based at least in part on the request, determining, from among a plurality of operating modes, a particular operating mode for the autonomous vehicle to enter into;   determining a response characteristic for reacting to a potential collision based at least in part on the particular operating mode of the autonomous vehicle,   wherein the response characteristic is indicative of a collision mitigation response to a potential collision with an object in an environment of the autonomous vehicle; and
 controlling the autonomous vehicle to enter into the particular operating mode wherein the collision mitigation response associated with the response characteristic is executable by the autonomous vehicle in the particular operating mode. 
   
     
     
         40 . The autonomous vehicle of  claim 39 , wherein the operations further comprise:
 controlling the autonomous vehicle based at least in part on the response characteristic.