CN104412307B - 用于将自主驾驶的机动车辆置于安全状态的方法和装置 - Google Patents

用于将自主驾驶的机动车辆置于安全状态的方法和装置 Download PDF

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CN104412307B
CN104412307B CN201380021836.3A CN201380021836A CN104412307B CN 104412307 B CN104412307 B CN 104412307B CN 201380021836 A CN201380021836 A CN 201380021836A CN 104412307 B CN104412307 B CN 104412307B
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CN104412307A (zh
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约瑟夫·乌尔哈恩
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Ford Global Technologies LLC
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    • 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
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
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    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
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    • B60K28/02—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver
    • B60K28/06—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the driver responsive to incapacity of driver
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    • G08B21/06—Alarms for ensuring the safety of persons indicating a condition of sleep, e.g. anti-dozing alarms
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Abstract

一种用于将自主驾驶模式中的机动车辆置于安全状态的方法和装置，前提是机动车辆驾驶员不能够监控自主驾驶模式以及，在某些情况下，不能够取得机动车辆的控制(S2)。在这种情况下，a)车辆驾驶员通过增加强度的警示信号受到警告(S2)；b)通过视觉的和/或听觉的信号警告机动车辆附近的道路使用者(S3)；c)具体地以一种强度反复制动和/或加速机动车辆，使得车辆驾驶员身体的至少一部分在行驶的方向上由于惯性敏锐地移动，而且如此短暂以致于机动车辆当前速度在重复制动和/或加速的过程中(S4')相对小地改变；以及d)通过自动制动促使机动车处于静止状态(S5)或保持它在静止状态下(S6)以便将所述的车辆置于安全状态。

Description

用于将自主驾驶的机动车辆置于安全状态的方法和装置
本发明涉及一种用于将自主驾驶模式中的机动车辆置于安全状态的方法和装置，其中机动车辆的驾驶员不能够监控自主驾驶模式以及，在某些情况下，不能够取得机动车辆的控制。
这样的方法——其在机动车辆自动停车，或从停车位的机动车辆的移出期间实施——从DE202008019346A1号专利文献中是已知的。一旦驱动装置或安全手柄——其例如油门踏板可以充当——不再处在预定位置时，在限定的最大减速度的某些情况下，机动车辆就进行制动，并且电子停车制动被激活。在停车过程或从停车位移出机动车辆的过程期间，操作员也可以在机动车辆外，并可以在这种情况下，激活用于通过远程控制的其他道路使用者的视觉的或声音的报警装置。
与此相反，本发明针对机动车辆通常在自主控制下在路上驾驶的情况，以便将某人从一个位置传送到另一个位置，或者在当前不可能以这样的方式驾驶时，当在路上是静止时——比如例如在交通堵塞中时的情况。
这样的自主驾驶模式还需要在车辆驾驶员未能激活安全手柄时启动的警告升级策略。专用开关或方向盘的移动和/或油门踏板的移动可以起到安全手柄的作用。这样的安全手柄——以这种方式提及是因为它的铁路起源——形成人/机接口的一部分，部分或完全自主驾驶道路机动车辆和用来证明车辆驾驶员仍在车上且是活着的，健康的，清醒的和能够用他的整个意识监控机动车辆的驾驶情况以及能够在必要时通过再次取得机动车辆的控制来介入。为了证明这一点，车辆驾驶员被要求定期或随机地选择间隔来激活安全手柄或者一些起到安全手柄功能的装置。
本发明基于提出警告升级策略的目的，其特别适用于通常在路上自主地驾驶或在路上临时静止的机动车辆。该策略也考虑到未能激活安全手柄的不同原因，例如，在车辆驾驶员已经短暂地睡着的情况下，以及在车辆驾驶员遭受心脏病发作或中风的最坏的情况下。
这个目的是通过根据独立权利要求的一种方法和装置来实现的。本发明的有利发展在从属权利要求中详述。
根据本发明的警告升级策略——如果有必要的话，在该策略结束时，机动车辆被置于安全状态——可以可靠地唤醒睡着的车辆驾驶员，同时机动车驾驶正在自主地驾驶。而且，策略很好地处理车辆驾驶员具有严重的健康问题，并因此不再能够控制机动车辆的情况。通过其他道路使用者的额外警告，不仅对于他们而且对于有健康问题的车辆驾驶员而言，危害可以得到避免，因为其他道路使用者意识到所述的驾驶员迫切地需要帮助。
根据本发明的警告升级策略在于一系列的可以以重叠的方式实施的连续步骤，其中车辆驾驶员首先通过逐渐增强的警告信号受到警告，例如视觉上的和/或听觉上的抑或通过在方向盘和/或座位的轻微振动的触觉上的。随后或从某个驾驶员警告强度开始，其他道路使用者也受到警告，优选通过一种类型的闪烁警示灯，其频率和/或光源不同于通常故障闪烁警示灯的频率和/或光源。紧随其后或同时，为车辆驾驶员产生强烈的触觉警告——通过短暂的突然制动过程使他感到颠簸。如果驾驶员没有对任何这些措施作出反应，那么只能通过自动制动将机动车辆置于安全状态。
根据本发明的方法步骤——特别是对强烈地触觉警告车辆驾驶员的方法步骤——在优选实施例中根据机动车辆是否当前在行驶或静止实施。如果机动车辆当前在行驶中，为了执行强烈的触觉警告，则机动车辆具体地在每一种情况下以一种强度反复地，短暂地和突然地制动，使得车辆驾驶员的上身朝向方向盘远离座位靠背移动一段短距离以及如此短暂以致于结果是机动车辆的当前速度被相对小地改变。如果机动车辆当前是静止的，那么同样的效果可以通过反复地短暂地使机动车辆向前移动，然后突然再次制动来实现。然而，为安全起见，这只有当通过传感系统检测到在机动车辆的前面的预定的最小距离没有障碍物的前提下实施。
当达到重复的预定最大数量时或当行驶了预定的前进距离时或如果检测到机动车辆的前面出现的障碍物，则强烈的触觉警告结束。此刻，如果机动车辆之前仍然在行驶，则机动车辆采用适度的减速度——优选采用大约0.5m/s2——进行制动至静止状态，并且随后或以其它方式保持在静止状态下达到机动车辆允许的技术条件的最长时间，例如，达到储存在车辆电池中的电能足以保持主制动系统激活的最长时间。如果机动车辆具有可以电激活的停车制动，那么当然，它也可以被激活。
如果检测到车辆驾驶员显然能够再次监控自主驾驶模式和能够取得机动车辆的控制，那么在每个这些阶段中，方法结束，因为在此期间他已经激活了安全手柄。
示例性实施例现在将参照附图进行描述，附图中：
图1显示了在自主驾驶模式下驾驶的机动车辆中的警告升级策略的流程图；以及
图2显示了在自主驾驶模式下静止的机动车辆中的警告升级策略的流程图。
在机动车辆的自主驾驶模式中，具体是如图1所示的在驾驶期间以及如图2所示的在机动车辆的静止期间，负责任的车辆驾驶员的要求的安全手柄的反应没有发生的两种情况是有区别的。在这两种情况下，车辆驾驶员一激活安全手柄，警告升级策略就会启动和结束。
如果，如图1所示，在自主驾驶期间在步骤S1中检测到激活安全手柄的请求在一段时间间隔，距离间隔或随机间隔Ia后还没有撤销，则在步骤S2中车辆驾驶员的反复警告采用视觉的和/或听觉的和/或增加强度的相对弱的触觉信号发生。如果其中任一没有反应，那么在步骤S2中假定车辆驾驶员不再能够监控自主驾驶模式以及，在某些情况下，不再能够取得机动车辆的控制。
在这种情况下，在步骤S3中在机动车附近的其他道路使用者通过引起机动车辆的闪烁警示灯以比通常故障闪烁警示灯的频率明显更高的频率来闪烁(例如2Hz)而受到警告。作为选择或另外，也可以引起其他机动车辆的灯闪烁或闪烁的灯可以具有不同于平常的颜色。
随后，在步骤S4中通过在机动车辆的主制动系统中反复和短暂地相当突然增加的制动压力为机动车辆产生一系列的强烈的触觉警告，确切地说，如此突然和强烈以致于由于惯性，每次车辆驾驶员的上身朝着方向盘远离座椅靠背移动一段短距离。然而，机动车辆的当前速度不应该因为这样的结果异常地改变。
如果强烈的触觉警告已经在步骤S4中产生三次且车辆驾驶员仍然没有反应，那么在步骤S5中产生制动压力，其采用适度的减速度——例如0.5m/s2——制动到静止状态。闪烁警示灯在这里继续闪烁直到步骤S6中机动车辆处于静止状态。机动车辆在静止状态下保持制动达到储存在机动车辆中的能量足以激活主制动系统的最长时间。
在步骤S7中连续地检查在步骤S2至S5中的一个中车辆驾驶员是否激活安全手柄，例如通过转向运动或踏板运动。如果情况是这样的话，则在步骤S8中警告升级策略结束，并且系统返回至步骤S1。如果情况不是这样的话，则系统将继续相应的步骤S2，S3，S4或S5。
另一方面，如果，如图2所示，在自主驾驶模式下车辆静止状态期间在步骤S1'中检测到在一段时间间隔Ta后用来激活安全手柄的请求已经被撤销，那么在步骤S2中，采用视觉的和/或听觉的和/或增加强度的相对弱的触觉信号发生车辆驾驶员的重复警告。如果其中任一没有反应，那么假定车辆驾驶员不再能够监控自主驾驶模式以及，在某些情况下，不能取得机动车辆的控制。
在这种情况下，在步骤S3中在机动车辆附近的其他道路使用者通过引起闪烁警示灯以比通常故障闪烁警示灯的频率明显更高的频率闪烁(例如2Hz)而受到警告。
随后，在步骤S4'中，检查在机动车前面的安全距离是否没有障碍物。如果情况是这样的话，则机动车辆加速到非常低的速度，然后，如在图1中步骤S4中，通过突然制动脉冲再次制动。如果机动车辆的前面无障碍物出现，则这个程序重复实施。
如果在步骤S4'中，强烈的触觉警告已经产生三次或安全距离用完或机动车辆前面出现障碍物以及车辆驾驶员还没有反应过来，则在步骤S6中机动车辆在静止状态下保持制动达到储存在机动车辆中的能量足以激活主制动系统的最长时间。
在步骤S7中，连续地检查在步骤S2至S4'中的一个中车辆驾驶员是否激活安全手柄，例如通过转向运动或踏板运动。如果情况是这样的话，则在步骤S8中，警告升级策略结束，并且系统返回至步骤S1'。如果情况不是这样的话，系统继续相应的步骤S2，S3或S4'。

Claims (10)

1.一种用于将自主驾驶模式中的机动车辆置于安全状态的方法，前提是机动车辆的驾驶员不能够监控自主驾驶模式以及，在某些情况下，不能够取得机动车辆的控制，其特征在于，
如果且只要检测到(S2)车辆驾驶员可能不能够监控自主驾驶模式以及，在某些情况下，不能够取得机动车辆的控制，则下面的步骤被自动地按顺序实施：
a)通过逐渐增加强度的警示信号警告车辆驾驶员(S2)；
b)通过视觉的和/或听觉的信号警告机动车辆附近的道路使用者(S3)；
c)具体地以一种强度反复制动和/或加速机动车辆，使得车辆驾驶员的身体的至少一部分在行驶的方向上由于惯性敏锐地移动，而且如此短暂以致于机动车辆的当前速度在重复制动和/或加速的过程中(S4，S4′)相对小地改变；以及
d)通过自动制动促使机动车处于静止状态(S5)和/或保持它在静止状态下(S6)以便将所述的车辆置于安全状态。
2.根据权利要求1所述的方法，其特征在于，在步骤b)中机动车辆附近的其他道路使用者通过一种类型的闪烁警示灯受到警告，闪烁警示灯的频率和/或光源不同于通常故障闪烁警示灯的频率和/或光源。
3.根据权利要求1或2所述的方法，其特征在于，如果检测到车辆驾驶员可能不能够监控自主驾驶模式，则根据机动车辆当前是否行使或静止，实施两个步骤c)和d)中的至少一个。
4.根据权利要求3所述的方法，其特征在于，如果机动车辆当前行驶，则在步骤c)中具体地在每一种情况下以一种强度反复地，短暂地和突然地制动机动车辆，使得车辆驾驶员的上身朝向方向盘远离座椅靠背移动一段短距离。
5.根据权利要求3所述的方法，其特征在于，如果机动车辆当前静止且通过传感器系统检测到在机动车辆的前面的预定的最小距离没有障碍物，则机动车辆反复地短暂地进行向前移动，然后在步骤c)中又突然地制动。
6.根据权利要求4所述的方法，其特征在于，当达到重复的预定的最大数量时或当行驶了预定的前进距离时或如果检测到机动车辆前面出现的障碍物，则重复地突然制动以及在某些情况下的向前运动结束。
7.根据权利要求5所述的方法，其特征在于，当达到重复的预定的最大数量时或当行驶了预定的前进距离时或如果检测到机动车辆前面出现的障碍物，则重复地突然制动以及在某些情况下的向前运动结束。
8.根据权利要求1或2所述的方法，其特征在于，如果机动车辆先前仍然行驶，则在步骤d)中机动车辆采用适度的减速度——特别地用大约0.5m/s2——制动，并且随后或以其它方式保持在静止状态下达到机动车辆允许的技术条件的最长时间。
9.根据权利要求1或2所述的方法，其特征在于，如果检测到车辆驾驶员明显再次能够监控自主驾驶模式和能够取得车辆的控制，则方法结束。
10.根据权利要求1或2所述的方法，其特征在于，方法在自主控制下通常在路上行驶的机动车辆中实施或者，只要这是不可能的，则车辆静止在道路上。
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EP2842112A1 (de) 2015-03-04
EP2842112B1 (de) 2018-02-21
US20140365062A1 (en) 2014-12-11
CN104412307A (zh) 2015-03-11
US9150200B2 (en) 2015-10-06
WO2013160261A1 (de) 2013-10-31

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