CN110945447A - 执行车辆自主驾驶过程的方法 - Google Patents

执行车辆自主驾驶过程的方法 Download PDF

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CN110945447A
CN110945447A CN201880048726.9A CN201880048726A CN110945447A CN 110945447 A CN110945447 A CN 110945447A CN 201880048726 A CN201880048726 A CN 201880048726A CN 110945447 A CN110945447 A CN 110945447A
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vehicle
driver
autonomous driving
camera
detected
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CN110945447B (zh
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O·波尔尼
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Mercedes Benz Group AG
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Daimler AG
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • 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
    • B60K28/00—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
    • 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
    • B60K28/04—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 presence or absence of the driver, e.g. to weight or lack thereof
    • 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
    • B60W30/06—Automatic manoeuvring for parking
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
    • G06V20/593—Recognising seat occupancy
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
    • G06V20/597—Recognising the driver's state or behaviour, e.g. attention or drowsiness
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G06V40/18—Eye characteristics, e.g. of the iris
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera

Abstract

本发明涉及一种执行车辆自主驾驶过程的方法。根据本发明，借助至少一个对准车辆内室的摄像机(2)来检测处于司机位的车辆司机。另外，在离开车辆内室之时和之后借助至少另一个摄像机(3.1‑3.n)来检测司机，其中依据借助所述至少另一个摄像机(3.1‑3.n)所获得的数据(D1‑Dn)来确定司机的视向，并且只在测知司机的目光看向车辆时才开启自主驾驶过程的执行。

Description

执行车辆自主驾驶过程的方法
技术领域
本发明涉及一种执行车辆自主驾驶过程的方法。
背景技术
由DE 10 2013 010 819 A1公开了一种用于遥控车辆自主驾驶过程的方法，在这里，借助集成在移动控制单元中的信号接收单元来获得车辆信号。在车辆上的预定位置处产生光学信号或声学信号，其中所述遥控只在该光学信号或声学信号被信号接收单元获得时被开启。在此，控制单元可被用作所谓的自动关断开关。
发明内容
本发明任务在于提出一种相比于现有技术有所改善的执行车辆自主驾驶过程的方法。
根据本发明，该任务通过一种具有如权利要求1所述的特征的方法完成。
本发明的有利设计是从属权利要求的主题。
根据本发明，在执行车辆自主驾驶过程的方法中，借助至少一个指向车辆内室的摄像机来检测处于司机位的车辆司机。在离开车辆内室之时和之后借助至少另一个摄像机来检测司机，在这里，依据借助该至少另一个摄像机所获得的数据来确定司机视向。自主驾驶过程之执行仅在司机目光看向车辆时被开启。
该方法允许：不由司机使用附加移动设备就可靠掌握所执行的自主驾驶过程的司机侧观察。此时，只要明确知晓司机看向车辆，这种观察就被视为“已存在”。由此，由于不需要司机主动确认观察，一方面能够改善司机舒适性，另一方面得到在司机在车辆内室中时的驾驶过程与司机在车辆周围环境中时的驾驶过程之间的顺畅过渡。
附图说明
以下结合附图来详述本发明的实施例，其中：
图1示意性示出用于执行车辆自主驾驶过程的装置的框图。
具体实施方式
在唯一的图1中示出了用于执行车辆自主驾驶过程的装置1的一个可能实施例。该车辆设计用于执行自主驾驶过程例如自主泊车过程，在这里，车辆1的司机在自主驾驶过程中处于车辆外。
为了保证自主驾驶过程处于人的监测下且在功能故障时能被中断，自主驾驶过程的执行只在测知司机目光看向车辆时才被开启。
为此，装置1包括尤其布置在车辆内室中的且设计用于司机监测的摄像机2和具有用于测知车辆周围环境的其他摄像机3.1-3.n的摄像机系统3。摄像机2、3.1-3.n被自动启用，其中所述启用尤其在司机结束行驶时进行。这例如通过测知点火装置停用、测知挂入泊车行驶档“P”和/或操作驻车制动器来确定。
首先，借助摄像机2来测知在行驶结束后的位于司机位的车辆司机。接着，在离开车辆内室之时和之后借助摄像机系统3的至少另一个摄像机3.1-3.n来掌握司机，其中，借助摄像机2、3.1-3.n所获得的数据D、D1-Dn被传输至分析单元4。由此可以保证无间歇地掌握司机并由此保证识别在车辆周围环境中的司机。
依据借助至少另一个摄像机3.1-3.n所获得的数据D1-Dn来确定司机的视向。为此，该分析单元4执行如下算法，其检测司机眼睛并测知司机的眼球移动。
如果确定了司机的目光看向车辆，则相应的控制信号S1由分析单元4产生并且被发送至控制单元5，控制单元控制自主驾驶过程。借助控制信号S1，只在测知司机的目光看向车辆时，才开启自主驾驶过程的执行。
如果确定了司机的目光离开车辆，则自主驾驶过程的执行被中断，做法是分析单元4发出相应的另一控制信号S2至控制单元5。
在单纯的司机就位确认和观察确认时，不需要司机的进一步主动行动，这是因为确定了司机是否观察车辆。

Claims (5)

1.一种执行车辆自主驾驶过程的方法，其特征是，
-借助至少一个对准车辆内室的摄像机(2)来检测处于司机位的车辆司机，
-在司机离开车辆内室之时和之后借助至少另一个摄像机(3.1-3.n)来检测司机，
-依据借助所述至少另一个摄像机(3.1-3.n)所获得的数据(D1-Dn)来确定司机的视向，并且
-只在检测到司机的目光看向车辆时，才开启自主驾驶过程的执行。
2.根据权利要求1的方法，其特征是，当司机的目光离开车辆时，自主驾驶过程的执行被中断。
3.根据权利要求1或2的方法，其特征是，为了确定视向，检测司机的眼球移动。
4.根据前述权利要求之一的方法，其特征是，所述摄像机(2、3.1-3.n)在行驶结束时被自动启用。
5.根据前述权利要求之一的方法，其特征是，作为自主驾驶过程，执行车辆泊车过程。
CN201880048726.9A 2017-07-29 2018-06-11 执行车辆自主驾驶过程的方法 Active CN110945447B (zh)

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DE102017007215.9A DE102017007215A1 (de) 2017-07-29 2017-07-29 Verfahren zur Ausführung eines autonomen Fahrvorgangs eines Fahrzeugs
DE102017007215.9 2017-07-29
PCT/EP2018/065377 WO2019025064A1 (de) 2017-07-29 2018-06-11 Verfahren zur ausführung eines autonomen fahrvorgangs eines fahrzeugs

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DE102018000425A1 (de) 2018-01-19 2018-10-25 Daimler Ag Verfahren und Vorrichtung zum Abbrechen eines autonomen Fahrvorgangs eines Fahrzeugs
DE102020214131B3 (de) 2020-11-10 2022-02-10 Volkswagen Aktiengesellschaft Verfahren zum automatisierten Einparken eines Kraftfahrzeugs und Kraftfahrzeug

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JP2015108926A (ja) * 2013-12-04 2015-06-11 三菱電機株式会社 車両用運転支援装置
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DE102012006966A1 (de) 2012-04-04 2012-11-08 Daimler Ag Verfahren zum Auslösen einer Fahrzeugfunktion durch blickgesteuerte Bedienung und Kraftfahrzeug
DE102012016868A1 (de) * 2012-08-25 2014-02-27 Audi Ag Verfahren und System zum Betreiben eines Fahrzeugs unter Überwachung der Fortbewegung des Fahrzeugs mit Hilfe einer Kameraeinrichtung einer mobilen Bedieneinrichtung
DE102013010819B4 (de) 2013-06-28 2018-11-22 Daimler Ag Verfahren zur Fernsteuerung einer Funktion eines Fahrzeugs
DE102015200522B4 (de) * 2015-01-15 2022-03-31 Ford Global Technologies, Llc Verfahren zum Unterstützen eines Manövriervorganges eines Kraftfahrzeuges sowie Fahrassistenzsystem

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CN101309818A (zh) * 2005-11-17 2008-11-19 爱信精机株式会社 泊车支援装置及泊车支援方法
JP2015108926A (ja) * 2013-12-04 2015-06-11 三菱電機株式会社 車両用運転支援装置
US20160170413A1 (en) * 2014-12-10 2016-06-16 Robert Bosch Gmbh Method for operating a motor vehicle, motor vehicle

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EP3593217A1 (de) 2020-01-15
US11181901B2 (en) 2021-11-23
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EP3593217B1 (de) 2020-09-16
WO2019025064A1 (de) 2019-02-07
CN110945447B (zh) 2023-04-18

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