CN108367756A - 停用车辆自动驾驶功能的方法和用于执行该方法的驾驶员辅助系统 - Google Patents

停用车辆自动驾驶功能的方法和用于执行该方法的驾驶员辅助系统 Download PDF

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CN108367756A
CN108367756A CN201680073586.1A CN201680073586A CN108367756A CN 108367756 A CN108367756 A CN 108367756A CN 201680073586 A CN201680073586 A CN 201680073586A CN 108367756 A CN108367756 A CN 108367756A
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C·布劳奈格尔
T·肖恩伯格
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Mercedes Benz Group AG
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    • 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
    • B60W30/10—Path keeping
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    • 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
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    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
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    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • B62D1/286—Systems for interrupting non-mechanical steering due to driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60K2310/00—Arrangements, adaptations or methods for cruise controls
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    • B60K2310/246—Speed setting methods releasing speed control, e.g. inhibiting speed control if a brake pedal is depressed
    • 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
    • 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
    • B60W2540/10—Accelerator pedal position
    • B60W2540/103—Accelerator thresholds, e.g. kickdown
    • 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
    • B60W2540/18—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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/223—Posture, e.g. hand, foot, or seat position, turned or inclined
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    • 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
    • B60W2540/225—Direction of gaze
    • 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
    • B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping
    • 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
    • B60W2540/26—Incapacity

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Abstract

本发明涉及一种用于停用车辆的自动驾驶功能、尤其是高度自动化驾驶功能或自主驾驶功能的方法，其中，当车辆驾驶员以超出可预定的停用阈值(Es(t))的强度执行转向干预或踏板干预时，该驾驶功能被停用。停用阈值(Es(t))此时根据该驾驶功能运行持续时间和/或根据驾驶员反应能力来预定。尤其是如此预定该停用阈值(Es(t))，使得紧接在驾驶功能启用后的停用阈值相比于随后一段时间更大，和/或在驾驶员反应能力低时的停用阈值比在驾驶员反应能力高时更大。

Description

停用车辆自动驾驶功能的方法和用于执行该方法的驾驶员辅 助系统
技术领域
本发明涉及根据权利要求1的前序部分的用于停用车辆自动驾驶功能的方法以及根据权利要求8的前序部分的驾驶员辅助系统。
背景技术
根据前言的方法例如由DE 102006057842 A1公开。在此方法中，用于避免车辆侧面撞上侧向物体的驾驶功能被自动执行。但车辆驾驶员可以中止避免碰撞的驾驶功能，做法是他以超出停用阈值的程度操作车辆的方向盘、加速踏板或制动踏板。此时不利的是，驾驶员也可能因不小心操作方向盘、加速踏板或制动踏板而停用该驾驶功能，进而无法再获得用于碰撞回避的系统辅助。
发明内容
本发明基于以下任务，指出一种根据权利要求1的前序部分的方法，借此可以避免自动驾驶功能的不小心停用。本发明还基于以下任务，指出一种相应的驾驶员辅助系统。
该任务通过权利要求1的特征以及权利要求8的特征来完成。
由从属权利要求得到有利的设计和改进。
在根据本发明的用于停用车辆的自动驾驶功能且尤其是高度自动化或自主驾驶功能的方法中规定，车辆的驾驶员可以通过驾驶员干预、尤其通过转向干预或踏板干预如制动踏板干预或加速踏板干预来实现驾驶功能停用。在此，在驾驶员干预超出停用阈值时，该驾驶功能被停用并且驾驶任务因此转移到驾驶员身上，在这里，停用阈值根据该驾驶功能的运行持续时间即根据从驾驶功能启用开始所经过的持续时间来预定。替代地或补充地，停用阈值也可以根据驾驶员反应能力来预定。术语“反应能力”在此与术语“注意力”或者“驾驶员愿意接管驾驶任务”同义使用，因为驾驶员反应能力越高，驾驶员注意力越集中或者说驾驶员更愿意接管驾驶任务。
因此该停用阈值是可变的且通过其改变来适应车辆运行状态即驾驶功能的运行持续时间或者驾驶员状态。
在该方法的另一个改进方案中，如此预定该停用阈值，使得紧接在驾驶功能启用之后的停用阈值相比于此后一段时间更大。
在该方法的另一个有利改进方案中，如此预定该停用阈值，使得停用阈值在驾驶员反应能力低时比在驾驶员反应能力高时更大。
最好如此预定该停用阈值，使得它随着从最近启用驾驶功能起的持续时间增大而连续减小，直至达到预先规定的预定阈值。
最好如此预定该停用阈值，使得它在自驾驶功能启用起的预定时间窗内至少等于一个值，该值对应于在驾驶功能启用时刻的驾驶员干预。
根据本发明，用于车辆的高度自动化驾驶或自主驾驶的驾驶员辅助系统是按照用于执行本发明方法的方式来设立的。
附图说明
以下，结合实施例并参照唯一的附图1来详述本发明。
具体实施方式
该图示出了车辆自动驾驶功能的停用阈值的时间曲线。自动驾驶功能是用于在车辆操控时帮助车辆驾驶员的驾驶员辅助功能。它在此尤其是例如实现距离和速度调整的纵向调整功能，和/或例如实现保持车道控制的横向调整功能。它在此尤其是用于在高度自动化驾驶或自主驾驶时纵向和横向调整地驾驶车辆的驾驶功能。
当驾驶员启用帮助他的驾驶功能时，他将驾驶任务转交给车辆的驾驶员辅助系统，其设立用于执行驾驶功能。当他随后如此强烈插手对驾驶的驾驶员干预以致超出可预定的停用阈值时，该驾驶功能被停用且驾驶任务转回给驾驶员。在此，驾驶员以光学和声学且最好还有触觉的方式被通知驾驶功能停用。
驾驶员干预是基于方向盘操作的转向干预，或者是踏板干预例如基于制动踏板操作的制动干预或基于加速踏板操作的加速踏板干预。每种干预配有一个自己的停用阈值。就是说，当驾驶员通过加速踏板操作而请求“高于对应于加速踏板干预的停用阈值”的驱动力矩时，驾驶功能被停用，或者当驾驶员通过制动踏板操作而请求“高于对应于制动干预的停用阈值”的制动力矩时，驾驶功能被停用，或者当驾驶员通过方向盘操作而请求就数值而言“高于对应于转向干预的停用阈值”的转向力矩时，驾驶功能被停用。
以下详细说明对应于加速踏板干预的停用阈值。对于制动踏板干预和转向干预，与此相似地确定对应的停用阈值。
根据如图所示的曲线图，在横坐标上绘制出时间t，在纵坐标上绘制出停用阈值Es(t)。在第一时刻t0之前，驾驶功能是未启用的，并且停用阈值Es(t)是未定的，即它可以取任一值且例如可以被设定为零。
在时刻t0，驾驶员启用自动驾驶功能。停用阈值Es(t)在时刻t0(以下也称为启用时刻)被设定为第一阈值E1，只要驾驶员在时刻t0不执行加速踏板干预或所执行的加速踏板干预弱到由此请求的驱动力矩小于第一阈值E1。在此，第一阈值E1比预先规定的预定阈值E0大了第一可预定适应值ΔE1，即E1＝E0+ΔE1。该适应值ΔE1设定的背景是，在自动驾驶功能启用时一般存在驾驶员对加速踏板干预、制动踏板干预和转向干预，这是因为驾驶员前不久还单独完成驾驶任务。
接着，停用阈值Es(t)在预定的时间窗t0-t1内被减小至预定阈值E0，接着恒定保持在该值。实线曲线1表示此过程。
如依据曲线1所示，停用阈值Es(t)在本实施例中从第一阈值E1线性减小至预定阈值E0。但也可以想到以下实施例，所述减小是非线性，或者该停用阈值Es(t)首先保持恒定且随后逐渐地、线性地或非线性地减小至预定阈值E0，或者该停用阈值Es(t)在整个时间窗t0-t1中保持恒定且只在时刻t1突然减小至预定阈值E0。
如已经描述地，由曲线1表示的变化过程适用于以下情况，驾驶员在启用时刻t0未进行加速踏板干预，或者只进行微弱的加速踏板干预，此时并未高出第一阈值E1。而当驾驶员在启用时刻t0执行所请求的驱动力矩高出第一阈值E1的加速踏板干预时，停用阈值Es(t)在时刻t0被设定至第二阈值E2。在此，第二阈值E2对应于由驾驶员在启用时刻t0所请求的驱动力矩加上“偏差”。设定该偏差以提高所述方法相对于信号噪音以及相对于由驾驶员执行的加速踏板干预的无意波动的鲁棒性。只要加速踏板干预持续，那么停用阈值Es(t)(如虚线2所示)就被保持在第二阈值E2。在加速踏板干预结束之后，停用阈值Es(t)被减小至由实线1表示的值。
在该方法的一个有利设计中，只要驾驶员反应能力即其注意力或想接管驾驶任务的意愿高，则停用阈值Es(t)从时刻t1起就只恒定保持在预定阈值E0。如果驾驶员分心，则其接管驾驶任务的反应能力低。如果这如图所示在时刻t2被确定，则停用阈值Es(t)凭借由反应决定的适应值ΔEr被提升至第三阈值E3，即E3＝E0+ΔEr。只要驾驶员分心，这种提升就一直存在。当随后确定驾驶员又专注起来时，即当其反应能力又高时，停用阈值Es(t)又减小至预定阈值E0。这在附图中在时刻t3进行。
由反应决定的适应值ΔEr最好根据驾驶员反应能力、即根据其注意力状况来预定。驾驶员反应能力或驾驶员注意力越低，由反应决定的适应值ΔEr被设定为越高，于是停用阈值Es(t)越大。
驾驶员反应能力或其注意力通常通过驾驶员行为观察来确定。例如观察在车辆操纵单元尤其是导航系统、电话系统或娱乐系统的操纵单元上的驾驶员操作处理。尤其是观察驾驶以外的、明显让驾驶员分心于驾驶事情的操作处理例如电邮的读写、互联网冲浪等。此外，也可以借助照相机观察驾驶员的头部姿势和/或观看行为，以确定驾驶员看向哪里和其注意力冲着哪里和其目光离开道路持续了多长时间，或者依据眼皮眨动来确定驾驶员是否疲劳。如果通过所述观察例如确定驾驶员比预定的最短持续时间更长时间地未看向道路，而是看向显示器或者转向乘客且尤其是后排乘客，或者已经处于不足以接管驾驶任务的坐姿，或者疲劳，则认为驾驶员反应能力、进而其想要接管驾驶任务的意愿低，于是，这根据本发明造成停用阈值Es(t)的提升。
结果，使为了停用自动驾驶功能所规定的停用阈值Es(t)匹配于该驾驶功能的运行时间，即匹配于从驾驶功能启用起所经过的持续时间，并且匹配于驾驶员又想接管驾驶任务的意愿，并且使驾驶员难以因无意或不小心的动作而停用该驾驶功能。

Claims (8)

1.一种用于停用车辆的自动驾驶功能的方法，其中，当驾驶员干预超出一可预定的停用阈值(Es(t))时，该驾驶功能通过车辆驾驶员的所述驾驶员干预而被停用，其特征是，该停用阈值(Es(t))根据该驾驶功能的运行持续时间和/或根据驾驶员反应能力来预定。
2.根据权利要求1的方法，其特征是，如下预定该停用阈值(Es(t))：使得该驾驶功能刚刚启用后的停用阈值相比于启用一段时间之后更大。
3.根据权利要求1或2的方法，其特征是，如下预定该停用阈值(Es(t))：使得在驾驶员反应能力低时的停用阈值比在驾驶员反应能力高时更大。
4.根据前述权利要求之一的方法，其特征是，如下预定该停用阈值(Es(t))：使得它随着从该驾驶功能启用起的持续时间增加而连续地减小到预先定义的预定阈值(E0)。
5.根据前述权利要求之一的方法，其特征是，如下预定该停用阈值(Es(t))：使得它在从该驾驶功能启用起的预定时间窗内至少等于一个值(E2)，该值对应于在驾驶功能启用时刻的驾驶员干预。
6.根据前述权利要求之一的方法，其特征是，该驾驶员干预是干预车辆踏板装置的踏板干预或干预车辆转向装置的转向干预。
7.根据前述权利要求之一的方法，其特征是，该方法在车辆中被用在高度自动化驾驶或自主驾驶期间。
8.一种用于车辆的高度自动化驾驶或自主驾驶的驾驶员辅助系统，其特征是，它设立用于执行根据前述权利要求之一的方法。
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