WO2018211033A1

WO2018211033A1 - Driver assistance system with hands-on detection with distinction between the placement of only one hand and both hands on the steering wheel

Info

Publication number: WO2018211033A1
Application number: PCT/EP2018/062987
Authority: WO
Inventors: Hermann Künzner
Original assignee: Bayerische Motoren Werke Aktiengesellschaft
Priority date: 2017-05-19
Filing date: 2018-05-17
Publication date: 2018-11-22
Also published as: DE102017208508A1

Abstract

One aspect of the invention relates to a driver assistance system for automated driving with at least automated lateral control, which comprises a hands-on detection device able to distinguish between one placed hand and two placed hands on the steering wheel. The driver assistance system is designed, starting from a state without automated lateral control, to determine by means of the hands-on detection device that the driver, who initially touched the steering wheel with both hands, has removed one hand from the steering wheel - with the remaining other hand still on the steering wheel. In response to this, the automated lateral control is then activated. It can be provided that the automated lateral control is deactivated again if it is determined that both hands are placed on the steering wheel again.

Description

Driver assistance system with hands-on detection with distinction of the concern of only one hand and both hands on

steering wheel

The invention relates to driver assistance systems, in particular a

Driver assistance system for automated driving with at least automated lateral guidance.

The term "automated driving" can be understood as meaning driving with automatic longitudinal or lateral guidance or autonomous driving with automated longitudinal and lateral guidance to act a time-limited driving in the context of parking or maneuvering. The term

"Automated driving" includes automated driving with any degree of automation an assisted, semi-automated, highly automated or

fully automated driving. These levels of automation have been defined by the Federal Highway Research Institute (BASt) (see BASt publication "Research Compact", Issue 1 1/2012) Assisted driving gives the driver permanent longitudinal or lateral guidance while the system performs the other function within certain limits

semi-automated driving (TAF), the system takes over the longitudinal and transverse guidance for a certain period of time and / or in specific

Situations where the driver must permanently monitor the system as with assisted driving. In highly automated driving (HAF), the system takes over the longitudinal and transverse guidance for a certain period of time, without the driver having to permanently monitor the system; But the driver must be able to do that in a certain amount of time

To take over vehicle guidance. In fully automated driving (VAF), the system can automatically handle driving in all situations for a specific application; no driver is required for this application. The above four

Degree of automation complies with SAE levels 1 to 4 of the SAE J3016 standard (SAE - Society of Automotive Engineering). For example, Highly Automated Driving (HAF) Level 3 complies with the SAE J3016 standard. Furthermore, SAE level 5 is the highest in the SAE J3016

Automation level not included in the definition of BASt. SAE level 5 is driverless driving, which allows the system to automatically handle all situations like a human driver throughout the journey; a driver is generally no longer required.

To activate driver assistance systems for automated driving with automated longitudinal and / or transverse guidance are various

Possibilities known. For example, a switching element such as a push button, lever or paddle must be operated to activate the function.

Furthermore, it is known to activate an automated lateral guide (and optionally automated longitudinal guide) when the steering wheel is released. By subsequently touching the steering wheel again deactivation can be triggered. For this purpose, for example, on the

DE 10 2013 010 928 A1 and DE 10 2007 052 258 A1. An automated longitudinal guide can be activated when the accelerator pedal is released, as for example in DE 102 61 624 A1

is described.

To detect the release of a steering wheel to activate an automated lateral guide a hands-on detection device is used, which can determine whether the hands are present or not on the steering wheel.

In addition, hands-on detection devices can generally be used to detect sufficient driver attention. For example, such hands-on detection devices are used to ensure that the driver has his hands on the steering wheel in a driver assistance system with at least automatic lateral guidance (for example, a lane departure warning system) in order to quickly take over the lateral guidance if required.

If a driver assistance system with at least automated

Transverse guide also allows driving without hands on the steering wheel, it can be provided that the driver to take over the

Driving task is requested, if this can no longer or no longer be done safely by the system. To confirm such

Takeover request (TOR) must be the driver then grab the steering wheel; This is also detected by means of a hands-on detection device.

For hands-on detection devices, various approaches are known: For example, a capacitive sensor can be used, wherein z. B. the capacity of a steering wheel arranged in the conductive layer is determined relative to a reference potential. Alternatively, a resistive sensor can be used; Here, for example, two layers of film in the steering wheel are kept at a distance. When the hands touch the steering wheel, the foil layers touch each other, so that the resistance between the two foil layers changes. For this purpose, for example, reference is made to the document DE 10 2010 035 940 A1. In addition, a large number of further approaches are known, for example by means of a piezoelectric sensor system (see EP 2 028 078 A1), by impressing a mechanical signal on the steering device and measuring the reflection (s.

DE 10 2015 007 740 A1) or by means of optical fibers integrated in the steering wheel (see DE 10 2004 062 040 A1). In the simplest case, only one of the driver applied steering torque can be measured to over the

Concern of hands on the steering wheel to decide.

If a release of the steering wheel is detected by a hands-on detection device and in response to this

automated lateral control is started, the driver should be able to ensure that when releasing the steering wheel, the automated lateral guidance has a sufficient quality. Since the quality of the transverse guide can be reduced, z. As by sticking traces in the construction area, shadows, sensor contamination is not necessarily visible to the driver when you release the steering wheel, which quality of the lateral guidance of the driver has to expect.

If, on the other hand, the activation of an automated transverse guidance takes place via the actuation of a switching element, the driver can lock the steering wheel The beginning of the automated lateral guidance still continues. However, it results in a higher operating effort for the selection and the actuation of the switching element; In addition, the switching element is only limited blind operation.

It is an object of the invention to provide an improved driver assistance system with at least automated lateral guidance and hands-on detection device and a corresponding method. The object is solved by the features of the independent claims. Advantageous embodiments are described in the dependent claims. It should be noted that additional features of a claim dependent on an independent claim without the features of the independent claim or only in

Combination with a subset of the characteristics of the independent

Claim can form its own and independent of the combination of all features of the independent claim invention, the subject of an independent claim, a

Divisional application or a subsequent application can be made. This applies equally to technical teachings described in the specification, which may form an independent invention of the features of the independent claims.

A first aspect of the invention relates to a driver assistance system for automated driving with at least automated lateral guidance. This is, for example, a driving system for assisted, semi-automated, highly automated or fully automated driving.

The driver assistance system includes a hands-on detection device. for detecting the concern of the hands on the steering wheel of a motor vehicle, in particular a passenger car. In the steering wheel is preferably a steering wheel with a ring-like steering wheel rim, which is connected with spokes with a baffle pot. However, this is not mandatory. There are any types of steering wheels conceivable, which are characterized in that they are operated both hands; So for example, a steering wheel in the form of a control horn with two lateral grip areas for the left and right hands.

The hands-on detection device comprises a sensor for detecting the concern of the hands on the steering wheel.

The hands-on sensor system may be, for example, a capacitive, resistive, piezoelectric or any other type of sensor that is integrated, for example, in the steering wheel itself. Alternatively, the hand-on sensor system may be partially or completely outside the steering wheel.

The hands-on detection device comprises an evaluation unit, which is coupled to the sensor system, for indicating a present hand-plant state from a plurality of hand-plant states which can be differentiated from the device with regard to the hands being placed on the steering wheel. The plurality of distinguishable handset states include at least the following distinguishable states: a concern of only a single hand on the steering wheel;

- A concern of both hands on the steering wheel;

- no concern of the hands on the steering wheel (ie no hand is on the steering wheel). The hands-on detection device is thus able to distinguish between an overlying hand and two resting hands. It may even be provided that for the condition that only one only hand on the steering wheel rests, it can be specified whether the left or the right hand rests on the steering wheel.

This allows a conscious one-handed as well as a conscious two-handed interaction with the hands-on detection device using

Driver assistance system.

For example, a first partial sensor for detecting the concern of the left hand on the steering wheel and a second partial sensor separate from the first partial sensor for detecting the concern of the right hand on

Steering wheel available. The first part sensor is preferably integrated in the left half of the steering wheel, whereas the second part sensor is integrated in the right half of the steering wheel. The sub-sensors are preferably of the same sensor type, for example, capacitive or resistive. In the evaluation unit, for example, a first measuring signal relating to the first partial sensor and a second measuring signal relating to the second partial sensor are individually evaluated and, based on the two measuring signals, it is decided whether only a single hand rests on the steering wheel or both hands rest on the steering wheel.

In the case of capacitive partial sensors, for example, two non-electrically connected separate sensor mats are integrated in the steering wheel in the left and right half of the steering wheel, wherein in the evaluation unit a signal characteristic of the capacitance of the first sensor master and a characteristic of the capacitance of the second sensor signal signal to Detection of the hand-plant state are evaluated.

Each sub-sensor may comprise further arranged at different locations of the steering wheel sub-sensors, so that, for example, the position of the respective hand on the steering wheel rim can be determined. In an alternative embodiment, an integrated in the steering wheel first sensor, for. As a capacitive sensor, and uses a camera. For example, it is a camera arranged in the driver's cockpit from the driver's point of view behind the steering wheel (arranged, for example, in the region of the instrument cluster), which is directed at the driver.

Based on a signal from the first sensor, it is determined whether at least one hand rests on the steering wheel. This can be done in a conventional way. Based on a video signal of the camera is decided whether - in the case of recognizing the concern of at least one hand on the steering wheel by means of the first sensor - a single hand or two hands rest on the steering wheel.

The driver assistance system is set up, starting from a

Driving condition without automated lateral guidance by means of the hands-on detection device to determine that the driver who has first touched the steering wheel with both hands, one hand from the steering wheel - with the other hand on the steering wheel - has taken (ie only a concern of a single hand on Steering wheel is detected). In response to this, then the automated lateral guidance is activated, if necessary, then also an automated longitudinal guidance is activated.

In contrast to a conventional approach to activate the automated lateral guidance by releasing the steering wheel, the activation of the transverse guidance already takes place when only one hand is removed from the steering wheel. This has the advantage that the remaining hand on the steering wheel can still provide for a safe lateral guidance, if no reliable automation can be built. With this hand remaining on the steering wheel, the driver can immediately feel the control behavior of the transverse guidance and is willing to intervene in unsatisfactory construction of the automation, and can also - with stable lateral guidance - let go and drive freehand. Thus, the transverse guide (and possibly also the longitudinal guide) by an operable blind operation to the Driver assistance system to be passed, the driver before the

Structure of a stable vehicle management can continue to intervene.

It should be noted that in addition can also be provided that the automated lateral guidance is also activated when it is determined that both hands are removed from the steering wheel.

The starting state, from which the transverse guidance is activated, can also be, for example, a state in which the transverse guidance (possibly also the longitudinal guidance) is in the standby state (ie in the standby state) after the transverse guidance has been deactivated by an operator action but has been placed in a standby state.

The initial state, from which the transverse guidance can be activated by unilaterally releasing the steering wheel, can also be, for example, a state in which an optionally present longitudinal guidance is already active, for example because the transverse guidance has already been placed in the standby state, however, the longitudinal guide has been retained. It is beneficial if the user interface of the

Driver assistance system comprises an output component for offering automated driving with at least automated lateral guidance to the driver. The output component is, for example, an indicator in the vehicle cockpit, in particular an indicator in the instrument cluster or a steering wheel display, or a head-up display. Alternatively or additionally, the offer may also be made acoustically (eg a simple signal tone or a voice output) and / or haptically (eg via the steering wheel or over the seat). The driver assistance system is set up to offer automated driving with at least automated lateral guidance to the driver via the output component. For example, a driving function becomes automated driving with at least automated lateral guidance (eg highly automated driving, semi-automated driving or only a lane departure warning function without longitudinal guidance) offered to the driver after it has been established that this driving function is now available (for example in the case of highly automated driving after the vehicle reaches a stretch of road) has been released for highly automated driving). For example, a textual output may be displayed on the screen with the content: "Highly automated driving available. For the more active please release the steering wheel with at least one hand ".

The system checks whether the driver accepts the offered driving function for automated driving via the acceptance component. For this purpose, it is checked whether the driver has taken a hand off the steering wheel - with the other hand on the steering wheel - to determine a driver-side assumption of the offered automated driving (if necessary, one or more further criteria for acceptance must be met, eg the accelerator pedal is released). In response to the driver's acceptance of the offer, the offered driving function for automated driving is activated by the system.

It is advantageous if the driver assistance system is set up to notify the driver of the necessary operating action for accepting the offered driving function via the output component. The offer of driving function can also be implicit as part of the communication on the

Operating action (eg "For highly automated driving, please release the steering wheel with at least one hand")

Driving function and the notification of the necessary operation are preferably carried out on the same output element of the output component (for example, on the same screen); however, this is not mandatory. Preferably, an automated lateral guidance (and possibly also an automated longitudinal guidance) can be deactivated again by applying the hands to the steering wheel. Starting from a driving state with activated automatic lateral guidance (and possibly automated longitudinal guidance), the hands-on detection device recognizes that both hands rest against the steering wheel, and in response the automated lateral guidance is deactivated (possibly also an automated longitudinal guidance disabled). The activation of the transverse guidance is thus already at

Let go of one hand from the steering wheel, whereas to disengage the transverse guide with both hands to reach the steering wheel.

Alternatively or in addition to the deactivation of the transverse guide by gripping the steering wheel with both hands can be provided that the

Crossing is also disabled by overriding the automated lateral guide. For this purpose, the steering torque applied by the driver is measured, for example, and the transverse guidance is deactivated when a threshold value is exceeded.

It can be provided that the vehicle a

Driver insight detection device, with which can be detected whether the driver looks at the traffic situation ahead of the vehicle. For this purpose, for example, an integrated in the cockpit interior camera can be used. A deactivation of an active transverse guidance can also be triggered, for example, when the driver (instead of both hands) already applies only a single hand to the steering wheel, if it has been determined by means of the driver's vision detection device that the driver is looking at the preceding traffic situation.

It can be provided that during the automated driving, the driver assistance system issues a takeover request to the driver with which the system prompts the driver to take over the longitudinal and / or transverse guidance of the vehicle. A system for automated driving generally points

System boundaries in terms of the system controllable driving situations. If the system detects an up-to-date or anticipated driving situation, for example outside the system limits of the system and can not be satisfactorily resolved by the system, the system prompts the driver to take over the vehicle guidance so that the driver can park the vehicle via the primary control elements (such as steering wheel, brake pedal or accelerator pedal) of the manual vehicle guidance leads. A takeover request can be issued, in particular, if an automated route, in particular highly automated driving, designated route section ends. In a driving state with at least activated automated lateral guidance, the system will issue a takeover request to the driver. It is then checked whether the driver applies both hands to the steering wheel. If this is the case, an acknowledgment of the acceptance request can be determined. Optionally, it may be provided that in addition to the gripping of the steering wheel with two hands, one or more further conditions for acknowledging the takeover request must be present, for example, pressing the accelerator pedal.

The acknowledgment of a takeover request with detection of the concern of both hands on the steering wheel instead of only a single hand on the steering wheel makes sense against the background that the false positive detection risk of acknowledging a takeover request by detecting the concern of both hands is less than by Detecting the concern of a single hand. Thus, for example, the takeover request could be accidentally acknowledged with an item or the foot. The acknowledgment of a takeover request by concerns of both hands can be recognized much more reliable. Instead of a takeover request, a driver assistance system with at least automated lateral guidance could also issue a hands-on request to the driver, which is then acknowledged by applying both hands to the steering wheel. This can be detected via the hands-on detection device.

A hands-on request prompts the driver to put their hands on the steering wheel without the driver actually having to steer (this makes the driver's driving system). The driver can then intervene quickly, if the situation requires it. In a takeover request, the driver is asked not only to take his hands on the steering wheel, but the steering of the vehicle and

optionally also to take over longitudinal guidance of the vehicle. A hands-on request could be issued, for example, when it is a semi-automated or assisted hands-on driving, in which the driver is basically the driver

basically should have hands on the steering wheel. If the driver deviates from this requirement, the system can determine this and ask the driver by means of a hands-on request to take their hands on the steering wheel. For example, a hands-on request could also be issued if the system switches from a hands-off driving mode in which the driver does not need to have his hands on the steering wheel to a hands-on driving mode where the driver turns off

For safety reasons one or both hands must hold the steering wheel.

Alternatively or in addition to the acknowledged above the hands-on detection device acknowledgment of a takeover request or hands-on request by both hands can also be provided that an acknowledgment by applying a single hand to the steering wheel is possible, if by means of a appropriate

Driver's eye detection device has been found that the driver on the traffic situation ahead (ie forward through the

Windshield if the vehicle is moving forward).

It may be provided a driver attention monitoring,

For example, the driver assistance system can be a driver assistance system for partially automated or assisted driving with at least

be automated transverse guidance, during which the driver's attention is checked during semi-automated or assisted driving. For example, if sufficient driver attention is missed, for example, because it has been determined that the driver has removed his hands from the steering wheel, the driver may be asked to put his hands on the steering wheel. Unless he complies with this hands-on request, the automated driving function can be stopped by the system.

The attention of the driver can be determined by the fact that both hands rest on the steering wheel. The driver's attention can be detected relatively reliably, since hardly accidentally both hands are on the steering wheel. If necessary, additional additional requirements may be checked to decide whether the driver is alert.

It can be provided that the attention request of the system can be met even if only a single hand rests on the steering wheel, if it has been determined by means of a driver's vision detection device that the driver looks ahead to the traffic situation ahead.

The aspects described above can be combined in any way in a driver assistance system. For example, in a driver assistance system, the transverse guidance can be activated by releasing the steering wheel with only a single hand while remaining another hand on the steering wheel, whereas a takeover request of the system by Grasping the steering wheel with both hands (instead of just a single hand) can be acknowledged.

A method of detecting the hands on the steering wheel involves the steps of:

- Detecting the concern of the hands on the steering wheel by means of a sensor; and

- based on this, specifying a present hand attachment state from a plurality of distinguishable hand attachment states with respect to the hands on the steering wheel, the plurality of distinguishable hand attachment states comprising:

- a concern only a single hand on the steering wheel;

- A concern of both hands on the steering wheel;

- no concern of the hands on the steering wheel.

The above statements on the hands-on detection device apply in a corresponding manner also for this method

A second aspect of the invention relates to a method for activating an automated lateral guidance of a driver assistance system of a

Motor vehicle, comprising the steps: - starting from a driving state without activated automated

Transverse guide, determining that the driver has taken a hand off the steering wheel - with the other hand on the steering wheel remaining -

- in response to this, enable the automated lateral guidance. The above statements on the invention

Driver assistance system according to the first aspect of the invention apply in a corresponding manner for the inventive method according to the second aspect of the invention. At this point and in the claims not explicitly described advantageous embodiments of

The method according to the invention according to the second aspect of the invention corresponds to the advantageous exemplary embodiments described above or described in the patent claims of the driver assistance system according to the invention according to the first aspect of the invention.

The invention will be described below with reference to various embodiments with the aid of the accompanying drawings. In these show:

1 shows a first embodiment of a hands-on detection device;

FIG. 2 shows a second embodiment of a hands-on detection device; FIG.

Fig. 3 shows a first embodiment of the operation of a

exemplary driver assistance system according to the invention; and FIG. 4 shows a second exemplary embodiment for the functioning of a

exemplary driver assistance system according to the invention.

In Fig. 1, a first embodiment of a hands-on detection device for a steering wheel 1 is shown schematically. Here, at least the sensors in the steering wheel 1, in particular in the steering wheel rim, integrated; the evaluation can be done inside or outside the steering wheel 1.

The hands-on detection device comprises a first part sensor 2a, which is integrated in the left half of the steering wheel rim, and a second part

Partial sensor 2b, which is integrated in the right half of the steering wheel rim. at The partial sensors 2a and 2b are, for example, two capacitive sensor mats.

The first sub-sensor 2a is electrically connected to a first sub-evaluating unit 3a configured to determine whether the driver touches the steering wheel in the sensor area of the sub-sensor 2a with the left hand, for example, by measuring a quantity characteristic of the capacity Touching the monitored by the respective part sensor steering wheel area is subject to change. The second sub-sensor 2b is electrically connected to a second sub-evaluation unit 3b configured to determine whether the driver touches the steering wheel 1 in the sensor area of the sub-sensor 2b with the right hand, for example, by measuring a magnitude characteristic of the capacity. On the basis of the preferably digital evaluation signals of the two sub-evaluation units 3a, 3b, each indicating whether by means of the respective sub-sensor 2a, 2b a contact with the left or right hand was detected, can be determined in the evaluation unit 4 whether only one hand is in contact with the steering wheel 1 (hand-held

State 1 H),

- both hands on the steering wheel 1 rest (hand-conditioning state 2H) or

- There is no hand on the steering wheel 1 (hand system state OH).

The preferably digital output signal 5 of the evaluation unit 4 indicates which of the manual installation states 2H, 1H, OH is present, and can be evaluated by a driver assistance system. In an alternative embodiment in FIG. 2, a conventional sensor 20 integrated in the steering wheel 1 is used, by means of which it is determined in an evaluation unit 30 whether at least one hand on the steering wheel is applied. At first, no distinction can be made as to whether a single hand or two hands are resting on the steering wheel.

Furthermore, the video signal is used in the vehicle cockpit from the driver's point of view behind the steering wheel arranged camera 60. This is arranged, for example, in the area of the instrument combination.

Based on the video signal of the camera 60, it is decided in the evaluation unit 40 whether - in the case of detecting the concern of at least one hand on the steering wheel by means of the first sensor - exactly one hand or two hands rest on the steering wheel. The preferably digital output signal 5 indicates whether only a single hand rests on the steering wheel 1, both hands rest on the steering wheel 1 or no hand on the steering wheel 1 is applied.

In Fig. 3, the operation of an exemplary driver assistance system according to the invention with at least automated lateral guidance is shown in a highly simplified manner. For example, it is a

System for highly automated driving (eg on the motorway) or semi-automated driving or a system with

Lane keeping assistance function without longitudinal guidance. The system preferably even supports a plurality of degrees of automation

(eg semi-automated driving and highly automated driving).

The driver assistance system can be located in one of the illustrated system states:

in a state 100 ("OFF") in which the automated

Transverse guide is not activated, any existing longitudinal guidance is also not active;

- In a state 1 10 ("Q" - automated lateral guidance), in which the automated lateral guidance is activated (if necessary, then an existing longitudinal guidance is also activated); in a state 120 ("Q with UEA") in which the automated lateral guidance is activated, but the system has already requested the driver to take over the driving task by means of a takeover request ("UEA").

There may be other system states and transitions between the system states that are not shown in FIG.

If the driving function for automated driving with at least automated lateral guidance is available, the system offers the driver in system state 100 ("OFF") automated driving with at least automated lateral guidance via an output component of the

User interface, for example with the following text output:

"Automated driving available - to activate please release the steering wheel with at least one hand".

The offer of the driving function for automated driving may depend on whether the driver has previously operated an automation control element (eg an operating button). If the driver has not pressed the operation button, no driving function is offered for automated driving.

The driver can accept the offered driving function by one-handed release of the steering wheel with one hand while remaining another hand on the steering wheel. For example, the determination that the steering wheel has been released with one hand while the other hand is still on the steering wheel corresponds to a detected change in handset condition from 2H to 1H (see 2H-> 1H in state transition 200 from the system State 100 to system state 1 10 in FIG. 3). The driver can also accept the offered driving function by both hands releasing the steering wheel. The statement that the steering wheel was released with both hands, for example, corresponds to a recognized Change of hand-plant state from 2H to OH (see 2H OH im

State transition 200 from system state 100 to system state 1 10 in FIG. 3). Furthermore, the driver can accept the offered driving function by releasing the steering wheel with one hand, if the driver before the

Steering wheel has only touched with one hand (see 1 H-> OH im

State transition 200 from system state 100 to system state 1 10). In all three cases, automated driving with at least

automatic lateral guidance is activated (if necessary also the longitudinal guidance is activated) and the system changes into state 1 10 ("Q").

To deactivate the automated lateral guidance, the driver must apply both hands to the steering wheel. If it has been determined that the driver has put both hands on the steering wheel again (see OH-> · 2H im

State transition 210 from system state 1 10 to system state 100), the system again changes to state 100 ("OFF") .Preferably also an optionally activated longitudinal guidance is deactivated when both hands are applied to the steering wheel, but alternatively it would also be conceivable that the

Longitudinal guidance is maintained when putting both hands on the steering wheel.

If the driver in condition 1 10 still has a hand on the steering wheel

(For example, because he has not completely released the steering wheel after activating the automated lateral guidance) can be changed to state 100, when the driver applies both hands to the steering wheel (1 H - »· 2H).

Alternatively or in addition to deactivation by two on the steering wheel

adjacent hands can be provided that the system from state 1 10 changes to state 100 when the driver automated

Transverse guide deflected. If, in the state 1 10 with activated transverse guidance, the system determines that the driver is to take over the vehicle guidance, in particular the transverse guidance, an acceptance request is issued to the driver. This corresponds to the state transition 220 with the

Takeover Request ("UEA" takeover request).

After issuing the takeover request, the system is in a state 120 in which the driver must acknowledge the takeover request. For this purpose, the driver has to put both hands on the steering wheel in this embodiment again. If it has been determined that the driver has both hands on the steering wheel (see 0H-> 2H im

State transition 230 from system state 120 to system state 100), the system returns to state 100 ("OFF").

In Fig. 4, the operation of an exemplary, further

inventive driver assistance system shown with at least automated lateral guidance in a highly simplified manner. For example, it is a system for highly automated driving (eg on the highway) or semi-automated driving or a system with

Lane keeping assistance function without longitudinal guidance.

The driver assistance system can be in one of the illustrated states:

in a state 100 ("OFF") in which the automated

- In a state 1 10 ("Q") in which the automated lateral guidance is activated (possibly then an existing longitudinal guidance is also activated); - In a state 120 ("Q"), in which the automated lateral control is indeed activated, but the system has already asked the driver by a takeover request ("UEA") to take over the driving task;

in a state 130 ("Q-Standby"), in which the automated

Transverse guidance in a standby state (i.e.

Standby state) and is not active, but can be reactivated by releasing the steering wheel with at least one hand.

There may be other states and transitions that are not shown in FIG. 4.

In the following, only the differences from FIG. 3 will be explained.

By pressing an AUTO button to enable automated driving, the system will transition from state 100 ("OFF") to state 1 10 ("Q"), so that automated driving with at least automated lateral control will be activated (if applicable, longitudinal guidance will also be activated ), if the driving function is available for automated driving (s.

State transition 300 in FIG. 4).

To deactivate the automated lateral guidance (possibly also the

Longitudinal guide), the driver actuates the operating button AUTO (s.

State transition 310).

If the driver takes both hands on the steering wheel in state 1 10 with activated transverse guidance (see state transition 320), the lateral guidance is deactivated and transferred into a standby state 130 ("Q standby"), in which the lateral guidance without renewed actuation The button AUTO can be activated easily Alternatively or additionally, it can be provided that, when the deflection of the automated lateral guidance is detected Driver in the state 1 10 in the same way in the standby state 130 is changed.

Upon transition to state 130, any active automated longitudinal guide may also be disabled or maintained in alternative design.

In standby state 130 with the driver can hold the steering wheel by releasing a single hand (2H -> 1H) or both hands (2H -> OH) again easily switch to the state 1 10 with at least automated lateral guidance (s. State transition 330 in FIG. 4).

Claims

claims

1 . Driver assistance system for automated driving with at least automated lateral guidance of a motor vehicle, comprising a hands-on detection device for detecting the presence of the hands on the steering wheel (1), wherein the hands-on detection device comprises:

- A sensor (2a, 2b, 20, 60) for detecting the concern of the hands on the steering wheel (1) and

- An evaluation unit (3a, 3b, 4, 30, 40) coupled to the sensor system (2a, 2b, 20, 60) for indicating a present hand-plant state of a plurality of the device

distinguishable hand-plant states (2H, 1H, 0H) with respect to the hands on the steering wheel (1),

wherein the plurality (2H, 1H, 0H) of the distinguishable hands-on conditions include:

- A concern only a single hand on the steering wheel (1);

- A concern of both hands on the steering wheel (1);

- no concern of the hands on the steering wheel (1),

wherein the driver assistance system is set up,

- Starting from a state (100) without automated

Transverse guide determine that the driver a hand from

Steering wheel - with the other hand on the steering wheel - has taken, and

- in response to this activate the automated lateral guidance. 2. Driver assistance system according to claim 1, wherein the driver assistance system has an output component for

Offering automated driving with at least

includes automated lateral guidance to the driver, and

the driver assistance system is set up,

• offer automated driving with at least automated lateral guidance via the output component,

• determine that the driver has taken one hand off the steering wheel - with the other hand on the steering wheel remaining - and to detect a driver's acceptance of the offered automated driving, and

• Activate automated driving with automated lateral guidance in response to the driver's acceptance of the offer.

Driver assistance system according to one of the preceding claims, wherein the driver assistance system is set up,

- Starting from a state (1 10) with automated

Determine transverse guide that again both hands on the steering wheel (1) are present, and

- In response to this, disable the automated lateral guidance.

- Starting from a state (1 10) with automated

Querführung determine that the driver deflects the automated lateral guidance, and

- In response to this, disable the automated lateral guidance.

Driver assistance system according to one of the preceding claims, comprising a driver's eye detection device for detecting whether the driver is looking at the traffic situation ahead of the vehicle, wherein the driver assistance system is set up, - Starting from a state (1 10) with automated

Querführung without concerns of the hands on the steering wheel to determine that now a single hand rests on the steering wheel, and

- In response to this, to disable the automated lateral guidance, if it was determined by the driver's vision detection device that the driver looks at the traffic situation ahead.

Driver assistance system according to one of the preceding claims, wherein the sensor system comprises:

- A first part sensor (2a) for detecting the concern of

left hand on the steering wheel (1) and

- A second part sensor (2b) for detecting the concern of the right hand on the steering wheel (1).

The driver assistance system according to claim 6, wherein the first part sensor (2a) is integrated in the left half of the steering wheel (1), and the second part sensor (2b) is integrated in the right half of the steering wheel (1).

Driver assistance system according to one of the preceding claims 1 to 5, wherein the sensor system comprises:

- A particular integrated in the steering wheel first sensor (20) and

a camera (60),

wherein the hands-on detection device is set up,

- to determine whether at least one hand is applied to the steering wheel by means of a signal from the first sensor (20), and

- To decide on the basis of a signal from the camera (60), whether a single hand or two hands rest on the steering wheel.

9. Driver assistance system according to one of the preceding claims, wherein the driver assistance system is set up,

- Starting from a state (1 10) with at least active

automated cross-routing issue a takeover request (UEA) or a hands-on request to the driver, and

- make sure that both hands touch the steering wheel, and

- acknowledge receipt of the request.

10. Driver assistance system according to one of the preceding claims, comprising

a driver's eye detection device for detecting whether the

Driver looks at the traffic situation ahead of the vehicle,

wherein the driver assistance system is set up,

- Starting from a state (1 10) with activated automatic transverse guidance without concern of the hands on the steering wheel, a

Transfer Request (UEA) or a hands-on request to the driver, and

- find that a single hand is on the steering wheel,

- to establish an acknowledgment of the request (UEA)

if it has been determined by means of the driver's view detection device that the driver is looking at the traffic situation ahead.

1 1. Driver assistance system according to one of the preceding claims, wherein the driver assistance system is set up,

- make sure that both hands touch the steering wheel (1), and

Based on this, determine that the driver is alert.

12. Driver assistance system according to one of the preceding claims, comprising a driver's eye detection device for detecting whether the driver is looking at the traffic situation ahead of the vehicle,

wherein the driver assistance system is set up,

- note that only one hand is on the steering wheel (1), and

based on this to establish that the driver is attentive, if it was determined by means of the driver's vision detection device that the driver looks at the traffic situation ahead.

13. A method for activating an automated lateral guidance of a driver assistance system of a motor vehicle, comprising the steps of:

starting from a state (1 10) without activated automated lateral control, determining that the driver has taken one hand off the steering wheel - with the other hand on the steering wheel remaining; and

- in response to this, enable the automated lateral guidance.