CN104276180A - 具有监测驾驶员是否存在及其生理指标功能的自动驾驶车辆 - Google Patents
具有监测驾驶员是否存在及其生理指标功能的自动驾驶车辆 Download PDFInfo
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Abstract
本发明公开了一种具有自动驾驶控制的交通车辆。该自动驾驶控制具有设置模式、主动驾驶模式、安全停机模式以及紧急响应模式。主动驾驶模式沿在设置模式中指定的行驶路线自动行驶。驾驶员感应系统感应驾驶座上的驾驶员存在以及驾驶员的生理状态。不从设置模式进入主动驾驶模式除非驾驶员在驾驶座上并且生理状态匹配于正常状况。在主动驾驶模式中期间,在没有探测到驾驶员存在的时候测量所经过的时间段。如果该时间段增加到第一阈值以上则向驾驶员发出可能会中断主动驾驶模式的通知。如果时间段增加到第二阈值以上则终止主动驾驶模式并安全发起停机模式。将感应的生理状态与预定的紧急状态比较并且如果发现相匹配则自动驾驶控制终止主动驾驶模式并发起紧急响应模式。
Description
技术领域
本发明涉及具有监测驾驶员是否存在及其生理指标功能的自动驾驶车辆。
背景技术
本发明总体上涉及自动驾驶车辆,并且更具体地涉及确保在车辆自动运转期间身体健康的驾驶员在驾驶座上的自动驾驶车辆的安全措施。
由于感应技术(例如目标探测和位置追踪)、控制算法和数据基础设施的发展,在自动驾驶车辆(比如轿车和卡车)上越来越多地使用自动驾驶。通过组合多个可用技术,比如自适应巡航控制(ACC)、车道保持辅助(LKA)、电动助力转向(EPAS)、主动前轮转向、泊车辅助、防抱死制动(ABS)、牵引控制、电子稳定控制(ESC)、盲点探测、GPS和地图数据库、车与车的通信等,可以使车辆自动驾驶(即需要很少或不需要驾驶员的干预)变得可能。
自动驾驶车辆提供了更安全的行驶、改善的机动性以及车辆之间更好的协调的优点。然而,它们还需要额外的监视以确保任何时候需要人工干预时驾驶员可以进行干预。例如专利公开US2010/0222976A1显示的,座椅占用传感器用于监视驾驶座上驾驶员的存在,并且当驾驶员不在时停用驾驶员辅助系统。然而,确保驾驶员在行驶期间不离开驾驶座只是解决了问题的一个方面。车辆应该确保一旦车辆启程能操作的驾驶员就存在以防止自动驾驶车辆在没有驾驶员在驾驶员座上的情况下开始任何行程。
除了驾驶员实际存在于驾驶座之外,还确保驾驶员有能力执行必需的手动驾驶操作是有益处的。如果驾驶员发生紧急医疗事件(比如中风、心脏病或者不省人事),那么车辆可以不受阻碍地到达目的地。驾驶员除了失去故障应急能力,还可能浪费急救医疗处理所需要的宝贵时间。
希望以稳健、便于使用、可靠并且高效的方式将驾驶员存在和健康监视集成进自动驾驶车辆的控制。
发明内容
在本发明的一个方面,具有驾驶座的道路交通车辆包含具有设置模式、主动驾驶模式、安全停机模式和紧急响应模式的自动驾驶控制。设置模式用于指定行驶路线。主动驾驶模式用于执行自动转向、加速和制动功能以沿该行驶路线行驶。安全停机模式用于识别并自动行驶至车流之外(out-of-traffic)的停车位置。紧急响应模式自动执行紧急干预。提供驾驶员感应系统用于感应驾驶座上的驾驶员存在以及用于感应驾驶员的生理状态。在设置模式期间,自动驾驶控制比较感应的生理状态与预定的正常状况。不进入主动驾驶模式直到驾驶员在驾驶座上并且生理状态匹配于预定的正常状况。在主动驾驶模式期间,自动驾驶控制计算没有探测到驾驶员存在所经过的时间段。如果时间段增加到第一阈值以上,那么自动驾驶控制发起警告状态以向驾驶员提供如果仍然没有探测到驾驶员存在则将中断主动驾驶模式的通知。如果时间段增加到第二阈值以上那么自动驾驶控制终止主动驾驶模式并且发起安全停机模式。在主动驾驶模式期间,自动驾驶控制比较感应的生理状态与预定的紧急状况并且如果发现相匹配,那么自动驾驶控制终止主动驾驶模式并且发起紧急响应模式。
从而,一个或多个传感器用于监视驾驶座上的驾驶员存在并且还监视自动驾驶车辆中驾驶员的生理状态。用于探测被动约束系统中前排座椅乘客的已知乘客分类传感器可以用于探测驾驶座上的驾驶员存在。还可以使用其它已知的存在探测传感器,比如红外线接近探测器。当自动驾驶的车辆处于非泊车状态时,只要没有探测到驾驶员就发布警告。如果驾驶员不存在的情形仍然持续,随后将车辆安全地转到安全位置(比如道路侧边)并且停车。
关于驾驶员的生理状态,通过任何已知的生理传感器监视多个健康状况(例如心率、呼吸、皮肤温度、血糖含量、血压等)。它们可以是内置传感器(比如集成进驾驶座用于探测心率(ECG)和呼吸的电容传感器,或者与安全带中呼吸传感器组合的方向盘上用于探测心率的电极)或者它们可以是驾驶员提供的监视特定状况的适配于车辆接口的装置。在替代实施例中,可以使用内部视觉传感器通过比如面部特征分析和脉搏血氧测量(pulse oxigraphy)的技术监视驾驶员面部生物特征、眼睛睁开的状况、脉搏率以及呼吸来监视座椅上的驾驶员存在和驾驶员的生理状况。在另一个替代实施例中,还可以通过电磁远程感应技术(比如雷达和镭射传感器)监视驾驶员存在、心率和呼吸。在行驶期间持续地监视生理状态。一旦探测到生物信号的任何严重状况/偏离,可以采取适当的校正措施,比如重新规划自动驾驶的车辆路线至最近的紧急医疗中心以提供尽可能快的处理。可替代地,可以将车辆安全地转到比如道路侧边的位置,并且可以将具有车辆位置和驾驶员状态的自动紧急通知发送至紧急响应供应商。
根据本发明的一个实施例,驾驶员感应系统包含安装在驾驶座上的电容传感器。
根据本发明的一个实施例,驾驶员感应系统包含用于测量驾驶员心率、呼吸、血压和警惕度中至少一者的生理传感器。
根据本发明的一个实施例,驾驶员感应系统包含安装在车辆中监视驾驶员存在和驾驶员生理状态两者的视觉传感器。
根据本发明的一个实施例,驾驶员感应系统包含安装在车辆中监视驾驶员存在和驾驶员生理状态两者的雷达传感器。
根据本发明的一个实施例,驾驶员感应系统包含安装在车辆中监视存在和驾驶员生理状态两者的镭射传感器。
根据本发明的一个实施例,感应驾驶座上的驾驶员存在并且感应驾驶员的生理状态的步骤利用安装在驾驶座上的电容传感器。
根据本发明的一个实施例,生理状态包含驾驶员的心率、呼吸、血压和警惕度中的至少一者。
根据本发明的一个实施例,感应驾驶座上的驾驶员存在并且感应驾驶员的生理状态的步骤利用安装在车辆中的视觉传感器。
根据本发明的一个实施例,感应驾驶座上的驾驶员存在并且感应驾驶员的生理状态的步骤利用安装在车辆中的雷达传感器。
根据本发明的一个实施例,感应驾驶座上的驾驶员存在并且感应驾驶员的生理状态的步骤利用安装在车辆中的镭射传感器。
附图说明
图1是显示本发明中具有自动驾驶控制的车辆的相关部分的框图;
图2是显示驾驶员座椅和传感器的示意图;
图3是显示本发明的一个优选实施例运转的状态示意图;
图4是显示一个优选方法的流程图。
具体实施方式
参考图1,自动驾驶控制10连接至多个子系统并且协调它们的运转以实现自动驾驶车辆的功能。优选地,自适应巡航控制(ACC)模块11提供能响应于前方车辆和交通控制装置(比如停车标记和交通灯)而控制车辆向前移动的“停停走走”的功能。ACC模块11连接至发动机或动力传动系统控制单元(未显示)用于加速和减速车辆。优选地,车道保持模块12可以包括车道偏离警告系统和/或车道保持辅助系统的功能。优选地,碰撞警告系统13可以包括提供数据至本领域已知的目标识别和追踪系统的前方、侧方和后方可视雷达(looking radar)传感器和/或摄像机。碰撞警告系统13可以与情境感知框15中其它远程感应部件一起工作以识别固定的或移动的障碍物或其它危险。
主动转向子系统14响应于来自自动驾驶控制10的指令而改变车辆行驶方向(例如转向或遵循希望的车道)。通过可以包括ABS和/或稳定控制子系统(例如牵引力控制系统(Traction Control System))的制动系统16提供车辆的减速或停止。
GPS和导航单元17连接至自动驾驶控制10用于提供车辆位置、车速和行驶方向的信息。地图数据库存储在GPS单元17中或者通过GPS单元17(例如通过无线数据连接)远程访问用于路线计划和监视。例如,可以使用车辆对车辆(V2V)系统18无线访问其它远程信息。
为了提供本发明的驾驶员监视,驾驶员感应框20连接至自动驾驶控制10。驾驶员感应框20包括用于驾驶座21的探测驾驶员存在或不存在驾驶座21的正确就座位置上以及驾驶员生理状态的一个或多个传感器。
具有按键、拨号、声音激活的系统或(例如当指定行驶目的地和/或路线时)获取驾驶员输入的其它输入并且具有向驾驶员提供反馈的图像显示器的人机交互界面(HMI)22连接至自动驾驶控制10。还可以使用信息娱乐子系统23(比如福特汽车的系统)提供驾驶员反馈以通过喇叭24发出语音警告信息。
图2显示包含驾驶座21的车辆25。嵌入座椅21的驾驶员传感器26连接至可以集成进自动驾驶控制10的驾驶员感应功能控制(function)20。传感器26可以包含用于同时感应驾驶员的存在以及一些生理状况(比如(经由心电图(ECG)感应的)心率和呼吸率)的电容传感器。可替代地,可以使用安装在方向盘27上或车辆25其它地方的传感器28来监视驾驶员。例如,传感器28可包括探测心率的电极。
在图3中以状态图的形式显示了本发明的运转。车辆具有驾驶员保持主动控制一些或所有驾驶功能(例如转向、加速和制动)的手动驾驶模式30。如果驾驶员希望使用自动驾驶功能,那么使用HMI产生启用指令。响应于启用自动驾驶功能,作出向设置模式31的切换,其中驾驶员识别目的地和/或自动驾驶功能所要遵循的行驶路线。可以通过导航系统基于目的地和本领域已知的预设路线标准来自动计算路线。一旦选择了目的地和路线,驾驶员可以经由HMI发布指令以发起沿该路线的自动驾驶。
在设置模式31中时,自动驾驶控制开始监视驾驶座上的驾驶员存在以及驾驶员的生理状态。为了接受发起驾驶的指令,不仅驾驶员必须在正确就座位置而且生理状态必须“正常”。为了监视生理参数,预定的正常状况电存储在自动驾驶控制中以与测量的值比较。例如,心率的预定正常状况可以包含约每分钟30至110次的范围。如果驾驶员存在并且感应的生理状态与预定正常状况的范围相匹配,那么作出向主动驾驶模式32的切换,其中运转多个惯常已知的子系统以自动控制车辆的驾驶。
在主动驾驶模式32中时,本发明按照下文描述的监视驾驶员。自动驾驶控制器继续监视驾驶员的存在和驾驶员的生理状态两者。继续将感应的生理状态与对应于重大可能的预定紧急状况比较,重大可能为:1)驾驶员不能在需要时接管驾驶功能,或者2)驾驶员经历应当寻求处理的医疗紧急情况。预定的紧急状况可以包含对应于正常状况定义的范围之外(例如,心率在30至110的范围之外)的或者可以进一步限制紧急状况测试(例如心率小于25或高于120)的方式定义的生理状态。如果感应的生理状态与预定的紧急状况相匹配,那么作出向紧急响应状态33的切换,其中自动执行紧急干预。
紧急干预包括确定到医疗辅助设施的紧急路线以及执行自动转向、加速和制动功能以沿着紧急路线行驶。可替代地,紧急干预包括识别并自动行驶到车流之外的停车位置并且向公共安全应答点自动发送消息。一旦车辆在希望的重新规划的目的地或其它安全位置处停车,车辆可以返回至手动驾驶模式(未显示)。
此外在主动驱动模式32期间,对于驾驶员不在驾驶座正确位置上的任何事件监视经过的时间。如图3所示,在驾驶员不在希望位置上的经过时间达到第一阈值T1的事件中,随后作出向警告状态34的切换。产生可视的和/或可听的消息以通知驾驶员如果在更长一段时间仍然没有探测到驾驶员的存在则主动驾驶模式将会中断。如果经过的时间增加至第二阈值T2以上则自动驾驶控制终止主动驾驶模式32并且发起安全停机模式35,其中自动驾驶控制器识别并自动地行驶到车流之外的停车位置(例如开放的道路侧边(shoulder of a road)或停车场)。
图4显示了本发明的优选方法。在步骤40处进入设置模式。在步骤41处驾驶员指定路线/目的地并且开始请求自动驾驶。在步骤42处执行检查以确定是否驾驶员存在并且具有正常生理状况。如果为否,在步骤43处向驾驶员提供那么故障消息并返回至步骤41。
如果驾驶员存在并且健康,在步骤44处进入那么主动驾驶模式。在步骤45处执行检查以确定是否已经到达目的地。如果到达,那么在步骤46处自动行驶终止。否则,在47处将当前监视的驾驶员的生理状态与预定的紧急状态比较。如果发现匹配,那么在步骤48处执行紧急干预并且退出主动驾驶模式。
如果驾驶员生理状况良好,那么在步骤50处执行检查以确定驾驶员是否已经不在正确位置的时间高于第一阈值T1(例如约5秒或者可以与车速相称的另一时间)。如果为否,那么返回至步骤45。如果缺席所经过的时间高于T1,那么在步骤51处产生警告消息。随后针对驾驶员的返回来监视驾驶座。在步骤52处执行检查以确定现在是否探测到驾驶员存在。如果探测到,那么返回至步骤45。否则,在步骤53处作出检查以确定缺席所经过的时间段是否升高到第二阈值T2.以上。如果是,那么在步骤54处执行安全停机。否则,返回至步骤52以继续检查驾驶员返回到驾驶座。
Claims (10)
1.一种具有驾驶座的道路交通车辆,包含:
具有指定行驶路线的设置模式、用于执行自动转向和加速以及制动功能以沿所述行驶路线行驶的主动驾驶模式、用于识别并自动行驶至车流之外的停车位置的安全停机模式以及用于自动执行紧急干预的紧急响应模式的自动驾驶控制;以及
用于感应所述驾驶座上的驾驶员存在以及用于感应驾驶员的生理状态的驾驶员感应系统;
其中在设置模式期间,自动驾驶控制将感应的生理状态与预定的正常状况进行比较,并且不进入所述主动驾驶模式除非所述驾驶员在驾驶座上并且所述生理状态与所述预定的正常状况相匹配;
其中在所述主动驾驶模式期间,所述自动驾驶控制计算没有探测到所述驾驶员存在所经过的时间段,其中如果所述时间段增加到第一阈值以上那么所述自动驾驶控制发起警告状态以向所述驾驶员提供如果持续没有探测到所述驾驶员存在则将会中断所述主动驾驶模式的通知,并且其中如果所述时间段增加到第二阈值以上那么所述自动驾驶控制终止所述主动驾驶模式并发起所述安全停机模式;并且
其中在所述主动驾驶模式期间,所述自动驾驶控制比较所述感应的生理状态和预定的紧急状况并且如果发现相匹配那么所述自动驾驶控制终止所述主动驾驶模式并发起所述紧急响应模式。
2.根据权利要求1所述的车辆,其特征在于,所述紧急干预包含确定到医疗辅助设施的紧急路线并且执行自动转向、加速和制动功能以沿所述紧急路线行驶。
3.根据权利要求1所述的车辆,其特征在于,所述紧急干预包含识别并自动行驶至车流之外的停车位置并且向公共安全应答点自动发送消息。
4.根据权利要求1所述的车辆,进一步包含驾驶员信息娱乐系统,其中所述警告状态中的所述通知包含由所述信息娱乐系统产生的语音警告消息。
5.根据权利要求1所述的车辆,其特征在于,所述驾驶员感应系统包含用于监视所述驾驶座上的物体的红外线传感器。
6.一种用于道路交通车辆的自动驾驶的方法,包含以下步骤:
在设置模式中指定行驶路线;
感应所述驾驶座上的驾驶员存在并且感应所述驾驶员的生理状态;
比较所述感应的生理状态与预定的正常状况并且仅在驾驶员在所述驾驶座上并且所述生理状态匹配所述预定的正常状况下进入主动驾驶模式;
在所述主动驾驶模式期间,执行自动转向、加速和制动功能以沿所述行程路线行驶;
在所述主动驾驶模式期间,测量没有探测到所述驾驶员存在所经过的时间段并且如果所述时间段增加到第一阈值以上则发起警告状态以向所述驾驶员提供如果持续没有探测到所述驾驶员存在则将中断所述主动驾驶模式的通知;
在所述主动驾驶模式期间,如果所述时间段增加到第二阈值以上则终止所述主动驾驶模式并且发起包含所述识别并自动行驶至车流之外停车位置的步骤的安全停机模式;
在所述主动驾驶模式期间,比较所述感应的生理状态与预定的紧急状况并且如果发现相匹配则终止所述主动驾驶模式并且发起用于自动执行紧急干预的紧急响应模式。
7.根据权利要求6所述的方法,其特征在于,所述紧急干预包含确定到医疗辅助设施的紧急路线并且执行自动转向、加速和制动功能以沿所述紧急路线行驶。
8.根据权利要求6所述的方法,其特征在于,所述紧急干预包含识别并且自动行驶至车流之外的停车位置并且向公共安全应答点自动发送消息。
9.根据权利要求6所述的方法,其特征在于,所述警告状态中的所述通知包含语音警告消息。
10.根据权利要求6所述的方法,其特征在于,所述感应所述驾驶座上的驾驶员存在的步骤利用监视所述驾驶座上物体的红外传感器。
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US8874301B1 (en) | 2014-10-28 |
RU2014127981A (ru) | 2016-01-27 |
MX350706B (es) | 2017-09-14 |
DE102014212746A1 (de) | 2015-01-15 |
DE102014212746B4 (de) | 2023-03-30 |
DE102014212746A8 (de) | 2015-04-30 |
RU2644998C2 (ru) | 2018-02-15 |
MX2014008357A (es) | 2016-05-24 |
CN104276180B (zh) | 2018-04-13 |
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