DE102012112442A1 - Method for controlling vehicle, involves decreasing detection threshold with increasing level of automation for deactivation of assistance function of driver assistance system by driver operating vehicle steering element - Google Patents

Method for controlling vehicle, involves decreasing detection threshold with increasing level of automation for deactivation of assistance function of driver assistance system by driver operating vehicle steering element Download PDF

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Publication number
DE102012112442A1
DE102012112442A1 DE201210112442 DE102012112442A DE102012112442A1 DE 102012112442 A1 DE102012112442 A1 DE 102012112442A1 DE 201210112442 DE201210112442 DE 201210112442 DE 102012112442 A DE102012112442 A DE 102012112442A DE 102012112442 A1 DE102012112442 A1 DE 102012112442A1
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Germany
Prior art keywords
driver
vehicle
assistance system
automation
function
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DE201210112442
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German (de)
Inventor
Andreas Geier
Gergely Ungvàry
Matthias Strauss
Martin Gasser
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Continental Autonomous Mobility Germany GmbH
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Conti Temic Microelectronic GmbH
Continental Teves AG and Co OHG
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Priority to DE201210112442 priority Critical patent/DE102012112442A1/en
Publication of DE102012112442A1 publication Critical patent/DE102012112442A1/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/10—Interpretation of driver requests or demands
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/082—Selecting or switching between different modes of propelling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/007—Switching between manual and automatic parameter input, and vice versa
    • B60W2050/0073—Driver overrides controller
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0095—Automatic control mode change
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/16—Ratio selector position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/10—Change speed gearings
    • B60W2710/1005—Transmission ratio engaged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/10—Path keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention

Abstract

The method involves carrying out transition from automatic driving with highest degree of automation to manually driving with lowest level of automation over several operating modes of a driver assistance system. The longitudinal and transverse dynamics are provided to influence the vehicle control elements. The HMI interface is provided between driver of vehicle and driver assistance system. The detection threshold is decreased with increasing level of automation for the deactivation of assistance function of driver assistance system by driver operating vehicle steering element.

Description

Die Erfindung betrifft ein Verfahren zur Steuerung eines Fahrzeugs mit einem ein automatisiertes, teilautomatisiertes und ein manuelles Fahren ermöglichenden Fahrerassistenzsystem gemäß Oberbegriff des Patentanspruchs 1. The invention relates to a method for controlling a vehicle with an automated, semi-automatic and manual driving enabling driver assistance system according to the preamble of patent claim 1.

Seit längerer Zeit sind Forschungen und Entwicklungen auf dem Gebiet von autonomen Fahrzeugen zum automatischen bzw. autonomen Fahren zu beobachten, wobei unter einem autonomen Fahrzeug ein Fahrzeug verstanden wird, das sich mit oder ohne menschliche Passagiere selbständig von einem Ausgangspunkt zu einem Zielpunkt bewegt. Research and developments in the field of autonomous vehicles for automatic or autonomous driving have been observable for some time now, an autonomous vehicle being understood to mean a vehicle that moves independently, with or without human passengers, from a starting point to a destination point.

Fahrerassistenzsysteme, die dem Fahrer beim Führen des Fahrzeugs unterstützen sind mittlerweile in modernen Fahrzeugen weit verbreitet und werden ständig weiter entwickelt. So sind bspw. Adaptive Cruise Control (ACC), Blind Spot Detection (BSD), also die Überwachung des toten Winkels, Emergency Brake Assistent (EBA) als Notfallbremssystem oder Lane Departure Warning (LDW) als Fahrspurassistent bekannt. Auch gibt es bereits halbautomatische oder vollautomatische Einparksysteme. Driver assistance systems that assist the driver in driving the vehicle are now widely used in modern vehicles and are constantly being developed. For example, Adaptive Cruise Control (ACC), Blind Spot Detection (BSD), ie blind spot monitoring, Emergency Brake Assistant (EBA) as emergency brake system or Lane Departure Warning (LDW) as lane assistant are known. There are also semi-automatic or fully automatic parking systems.

Automatisierungsstufen beim autonomen Fahren oder Assistenzfunktionen werden in der Regel über das Lenkrad und/oder über das Bremspedal und/oder das Fahrpedal(auch Gaspedal genannt) als Fahrzeugsteuerungselemente ein- und ausgeschaltet und stellen damit eine HMI-Schnittstelle zwischen dem Fahrer und dem Fahrzeug bzw. dem Fahrerassistenzsystem dar. Die Erkennung von Lenkrad- oder Bremspedal- oder Fahrpedalbetätigungen seitens des Fahrers werden von dem Fahrerassistenzsystem über fest eingestellte oder situationsangepasste Erkennungsschwellen erkannt. Automation levels in autonomous driving or assistance functions are usually switched on and off via the steering wheel and / or via the brake pedal and / or the accelerator pedal (also called gas pedal) as vehicle control elements and thus provide an HMI interface between the driver and the vehicle or The driver assistance system recognizes steering wheel or brake pedal or accelerator pedal actuations by the driver assistance system via permanently set or situation-adapted detection thresholds.

So lassen sich bei einem Notfallbremssystem Notbremseingriffe durch deutliches Gasgeben mit dem Fahrpedal (Gaspedal) übersteuern. Bei einem ACC-System werden ACC-Eingriffe mit Gasgeben mittels des Fahrpedals ausgeblendet und das Fahrzeug reagiert danach evtl. mit starken, von der Motorleistung abhängigen Verzögerungen. In an emergency braking system, for example, emergency braking can be overridden by significant accelerating of the gas with the accelerator pedal (accelerator pedal). In an ACC system, ACC interventions are inhibited with the accelerator pedal, and the vehicle may then respond with strong delays depending on engine power.

Beim automatisierten Fahren kommen nun mehrere Funktionen hinzu, die in die Längsdynamik des Fahrzeugs eingreifen. So ist bspw. die Reduzierung der Geschwindigkeit des Fahrzeugs erforderlich, wenn in engen Kurven eine zu hohe Querbeschleunigung erwartet wird, eine Engstelle mit zu geringer verbleibender Spurbreite oder ein Geschwindigkeitsschild erkannt wird, fehlende Spurmarkierungen detektiert werden oder erkannt wird, dass das Aufmerksamkeitsniveau des Fahrers zu lange anhält. In automated driving, there are now several functions that intervene in the longitudinal dynamics of the vehicle. Thus, for example, the reduction of the speed of the vehicle is required when too high lateral acceleration is expected in tight corners, a bottleneck with too little remaining track width or a speed sign is detected, missing lane markers are detected or it is detected that the attention level of the driver too lasts for a long time.

Auch bei einem höheren Automatisierungsgrad des teilautomatisierten Fahrens, wenn also bspw. neben einem Längs- und Querführungsunterstützenden ACC-System ein Spurhaltesystem aktiviert ist, kann bei einem erkannten Spurverlassen die Querführung eingreifen, wobei dieser Lenkeingriff des Assistenzsystems durch eine Lenkradbetätigung des Fahrers übersteuert werden kann. Even with a higher degree of automation of semi-automated driving, so if, for example, next to a longitudinal and Querführungsunterstützenden ACC system a lane keeping system is activated, can intervene in a recognized lane departure, the transverse guidance, said steering intervention of the assistance system can be overridden by a steering wheel operation of the driver.

Diese Eingriffe eines Fahrerassistenzsystems beruhen auf Sensordaten, insbesondere von Umfeldsensoren erzeugten Umfelddaten, die ausgewertet, interpretiert und klassifiziert werden müssen. Dabei können Fehlerkennungen auftreten, die damit bspw. zu einer der aktuellen Verkehrssituation nicht angepasste Geschwindigkeitsreduktion führen können. Bei einem Querführungsassistenten kann eine fehlerhafte Querführung ebenso zu äußerst kritischen Verkehrssituationen führen, wenn der Fahrer nicht rechtzeitig den Lenkeingriff übersteuert. These interventions of a driver assistance system are based on sensor data, in particular environmental data generated by environmental sensors, which must be evaluated, interpreted and classified. In this case, error detections may occur, which may thus lead, for example, to a speed reduction not adapted to the current traffic situation. In the case of a transverse guidance assistant, faulty lateral guidance can likewise lead to extremely critical traffic situations if the driver does not override the steering intervention in good time.

Hiervon ausgehend liegt der Erfindung die Aufgabe zugrunde, das eingangs genannte Verfahren hinsichtlich der Bedienung des Fahrerassistenzsystems, insbesondere hinsichtlich der Eingriffsmöglichkeit des Fahrers zu verbessern, um dadurch die Fahrzeugsicherheit zu erhöhen. Proceeding from this, the object of the invention is to improve the above-mentioned method with regard to the operation of the driver assistance system, in particular with regard to the driver's ability to intervene, in order thereby to increase vehicle safety.

Diese Aufgabe wird gelöst durch ein Verfahren mit den Merkmalen des Patentanspruchs 1. This object is achieved by a method having the features of patent claim 1.

Dieses Verfahren zur Steuerung eines Fahrzeugs mit einem ein automatisiertes, teilautomatisiertes und ein manuelles Fahren ermöglichenden Fahrerassistenzsystem, bei welchem der Übergang vom automatischen Fahren mit höchstem Automatisierungsgrad über mehrere Betriebsarten des Fahrerassistenzsystems zum manuellen Fahren mit niedrigstem Automatisierungsgrad erfolgt und bei welchem Längs- und Querdynamik beeinflussende Fahrzeugsteuerungselemente HMI-Schnittstellen zwischen dem Fahrer des Fahrzeugs und dem Fahrerassistenzsystem sind, zeichnet sich erfindungsgemäß dadurch aus, dass zur Deaktivierung wenigstens einer Assistenzfunktion des Fahrerassistenzsystems durch Fahrerbetätigung eines Fahrzeugsteuerungselementes eine von dem Fahrerassistenzsystem zu erfassende Erkennungsschwelle mit zunehmenden Automatisierungsgrad erniedrigt wird. This method for controlling a vehicle with an automated, semi-automated and manual driving enabling driver assistance system in which the transition from automatic driving with maximum automation over several modes of driver assistance system for manual driving with the lowest degree of automation is done and in which longitudinal and lateral dynamics influencing vehicle control elements HMI interfaces between the driver of the vehicle and the driver assistance system are, according to the invention characterized in that for deactivating at least one assistance function of the driver assistance system by driver actuation of a vehicle control element to be detected by the driver assistance system detection threshold is lowered with increasing degree of automation.

Damit wird beim Fahren im automatisierten oder teilautomatisierten Modus in Abhängigkeit des Automatisierungsgrades die Erkennungsschwelle eingestellt. So ist diese Erkennungsschwelle bei einem automatisierten Fahren sehr niedrig, d. h. so gering wie möglich eingestellt, so dass bei von dem Fahrer erkannten kritischen Verkehrssituationen schnell und leicht die Assistenzfunktion ausgeschaltet werden kann, da selbst nur ein kurzzeitiger und nicht angemessener Eingriff des Assistenzsystems zu kritischen Verkehrssituationen führen kann. Thus, the detection threshold is set when driving in automated or semi-automated mode depending on the degree of automation. So this detection threshold is very low in an automated driving, d. H. set as low as possible, so that in critical traffic situations recognized by the driver quickly and easily the assistance function can be switched off, since even only a brief and inappropriate intervention of the assistance system can lead to critical traffic situations.

Mit abnehmendem Automatisierungsgrad kann diese Erkennungsschwelle entsprechend den zugehörigen Betriebsarten erhöht werden, so dass bei vollständig manuellem Fahren, also bei geringstem Automatisierungsgrad die Erkennungsschwelle ihren üblichen Wert aufweist. With decreasing degree of automation, this detection threshold can be increased in accordance with the associated operating modes, so that the detection threshold has its usual value with completely manual driving, that is with the lowest degree of automation.

So muss sichergestellt sein, dass während normaler Fahrt die Erkennungsschwellen für alle Funktionen des Fahrerassistenzsystems hoch eingestellt sind, um eine normale Bedienung, bspw. des Fahrpedals, des Bremspedals oder des Lenkrads sicherzustellen. In einem automatisierten oder teilautomatisierten Modus kann dagegen bei jeglicher Bedienung eines solchen Fahrzeugsteuerungselementes, dessen zugehörige Bedienfunktion das Assistenzsystem übernommen hat, von einem fehlerhaften Eingriff bzw. einer Fehlfunktion ausgegangen werden. Thus, it must be ensured that during normal driving the detection thresholds for all functions of the driver assistance system are set high in order to ensure normal operation, for example of the accelerator pedal, the brake pedal or the steering wheel. In an automated or partially automated mode, by contrast, any operation of such a vehicle control element whose associated operating function has been assumed by the assistance system can be based on a faulty intervention or malfunction.

Weist das Fahrzeug ein Automatikgetriebe auf, ist gemäß einer vorteilhaften Ausgestaltung der Erfindung vorgesehen, dass bei einer von dem Fahrer initiierten Deaktivierung einer Assistenzfunktion automatisch eine niedrigere Getriebestufe eingelegt wird. Dies ist bspw. besonders bei einer von dem Fahrer zu übersteuernden Längsregelfunktion vorteilhaft, da dadurch eine hohe Reaktionsfähigkeit von dem Motor des Fahrzeugs beim Beschleunigen bereitgestellt werden kann, so dass der Fahrer kritische Verkehrssituationen nach seinem Eingriff in die Assistenzfunktion schnell entschärfen kann. If the vehicle has an automatic transmission, it is provided according to an advantageous embodiment of the invention that a lower transmission step is automatically engaged in the case of deactivation of an assistance function initiated by the driver. This is advantageous, for example, particularly in the case of a longitudinal control function which is to be overridden by the driver since this can provide a high level of responsiveness of the engine of the vehicle during acceleration, so that the driver can quickly defuse critical traffic situations after his intervention in the assistance function.

Alternativ kann gemäß einer anderen Ausgestaltung der Erfindung bei einer Deaktivierung einer Assistenzfunktion durch den Fahrer auf einen Sportmodus-Betrieb umgeschaltet werden, falls das Fahrzeug bzw. das Automatikgetriebe mit einem solchen Sportmodus-Betrieb ausgerüstet ist. Auch damit wird eine dynamischere Beschleunigungsfähigkeit des Fahrzeugs erreicht, so dass kritische Verkehrssituation von dem Fahrer besser beherrscht werden können. Alternatively, according to another embodiment of the invention in a deactivation of an assistance function by the driver to a sports mode operation can be switched if the vehicle or the automatic transmission is equipped with such a sport mode operation. This also achieves a more dynamic acceleration capability of the vehicle, so that critical traffic situations can be better controlled by the driver.

Durch die Gangreduzierung oder die Umschaltung auf den Sportmodus-Betrieb wird bei Verzögerungseingriffen des Fahrerassistenzsystems das Reaktionsverhalten des Fahrzeugs bei der Übersteuerung durch den Fahrer optimiert. By the gear reduction or switching to the sport mode operation, the reaction behavior of the vehicle is optimized in the driver override in delay intervention of the driver assistance system.

Schließlich kann weiterbildungsgemäß bei einer eine Längsregelfunktion und/oder Querregelfunktion aufweisenden Assistenzfunktion zu deren Abschaltung durch Fahrerbetätigung eines Bremspedals als Fahrzeugsteuerungselement die Erkennungsschwelle so gering als möglich eingestellt werden, um damit dem Fahrer eine schnelle Eingriffsmöglichkeit und damit ein schnelles Abschalten der Assistenzfunktion sicherzustellen. Finally, according to further development, the detection threshold can be set as low as possible in an assistance function having a longitudinal control function and / or lateral control function to switch it off by driver control of a brake pedal as a vehicle control element in order to ensure the driver a quick intervention possibility and thus a quick shutdown of the assistance function.

Da mit diesem erfindungsgemäßen Verfahren einerseits bei Fehleingriffen eines Fahrerassistenzsystems dem Fahrer eine einfache Möglichkeit gegeben wird, bei von ihm festgestellten Fehlfunktionen die zugehörige Assistenzfunktion zu übersteuern, d. h. abzuschalten und die abgeschaltete Funktion zu übernehmen, können andererseits stärkere Eingriffe des Fahrerassistenzsystems zugelassen werden. Since with this inventive method on the one hand in case of incorrect operations of a driver assistance system, the driver is given an easy way to override the associated assistance function in case of identified malfunctions, d. H. On the other hand, stronger interventions by the driver assistance system can be permitted to switch off and take over the deactivated function.

Fehleingriffe seitens des Fahrerassistenzsystems können mit dem erfindungsgemäßen Verfahren schneller abgefangen werden, wodurch die Fahrzeugsicherheit wesentlich verbessert wird. Fault interventions on the part of the driver assistance system can be intercepted faster with the method according to the invention, which significantly improves vehicle safety.

Claims (4)

Verfahren zur Steuerung eines Fahrzeugs mit einem ein automatisiertes, teilautomatisiertes und ein manuelles Fahren ermöglichenden Fahrerassistenzsystem, bei welchem der Übergang vom automatischen Fahren mit höchstem Automatisierungsgrad über mehrere Betriebsarten des Fahrerassistenzsystems zum manuellen Fahren mit niedrigstem Automatisierungsgrad erfolgt, und bei welchem Längs- und Querdynamik beeinflussende Fahrzeugsteuerungselemente HMI-Schnittstellen zwischen dem Fahrer des Fahrzeugs und dem Fahrerassistenzsystem sind, dadurch gekennzeichnet, dass zur Deaktivierung wenigstens einer Assistenzfunktion des Fahrerassistenzsystems durch Fahrerbetätigung eines Fahrzeugsteuerungselementes eine von dem Fahrerassistenzsystem zu erfassende Erkennungsschwelle mit zunehmenden Automatisierungsgrad erniedrigt wird. A method for controlling a vehicle with an automated, semi-automatic and manual driving enabling driver assistance system, in which the transition from automatic driving with maximum automation over several modes of driver assistance system for manual driving with the lowest degree of automation, and in which longitudinal and lateral dynamics influencing vehicle control elements HMI interfaces between the driver of the vehicle and the driver assistance system are, characterized in that for deactivating at least one assistance function of the driver assistance system by driver actuation of a vehicle control element to be detected by the driver assistance system detection threshold is lowered with increasing degree of automation. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass das Fahrzeug ein Automatikgetriebe aufweist und bei einer von dem Fahrer initiierten Deaktivierung einer Assistenzfunktion automatisch eine niedrigere Getriebestufe eingelegt wird. A method according to claim 1, characterized in that the vehicle has an automatic transmission and when a initiated by the driver deactivation of an assistance function automatically a lower gear stage is engaged. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass das Fahrzeug mit einem Sportmodus-Betrieb ausgebildet ist, und bei einer Deaktivierung einer Assistenzfunktion ein auf den Sportmodus-Betrieb umgeschaltet wird. A method according to claim 1 or 2, characterized in that the vehicle is formed with a sports mode operation, and is switched to a deactivation of an assistance function on the sports mode operation. Verfahren nach Anspruch 3, dadurch gekennzeichnet, dass als Assistenzfunktion eine Längsregelfunktion und/oder Querregelfunktion durch Fahrerbetätigung eines Bremspedals als Fahrzeugsteuerungselement abgeschaltet wird. A method according to claim 3, characterized in that as an assist function, a longitudinal control function and / or lateral control function is switched off by driver operation of a brake pedal as a vehicle control element.
DE201210112442 2012-12-17 2012-12-17 Method for controlling vehicle, involves decreasing detection threshold with increasing level of automation for deactivation of assistance function of driver assistance system by driver operating vehicle steering element Pending DE102012112442A1 (en)

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DE102014219322A1 (en) 2014-09-24 2016-03-24 Continental Teves Ag & Co. Ohg Update of a vehicle control via Car2X
DE102014219382A1 (en) 2014-09-25 2016-03-31 Continental Teves Ag & Co. Ohg Sensor calibration in a park
DE102015218287A1 (en) 2014-09-26 2016-03-31 Continental Automotive Gmbh Car2X messages stamped with relative coordinates
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CN107826108A (en) * 2016-09-14 2018-03-23 通用汽车环球科技运作有限责任公司 For the adaptively method and system of infrared lane detection on demand
DE102018200388A1 (en) 2018-01-11 2019-07-11 Robert Bosch Gmbh Method for operating a vehicle with a driver assistance system engaging in lateral dynamics of the vehicle
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CN111379635A (en) * 2018-12-27 2020-07-07 罗伯特·博世有限公司 Method and control device for regulating the filling state of a catalyst reservoir when a sensor is not ready
DE102019209835A1 (en) * 2019-07-04 2021-01-07 Zf Friedrichshafen Ag Driver assistance system for a vehicle, vehicle with the driver assistance system as well as method for controlling the vehicle with the driver assistance system
CN112977479A (en) * 2021-04-15 2021-06-18 苏州挚途科技有限公司 Vehicle driving mode control method and system
CN112977479B (en) * 2021-04-15 2022-04-29 苏州挚途科技有限公司 Vehicle driving mode control method and system

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