CN113396097A - 用于辅助车辆驾驶员的方法和装置 - Google Patents
用于辅助车辆驾驶员的方法和装置 Download PDFInfo
- Publication number
- CN113396097A CN113396097A CN202080012858.3A CN202080012858A CN113396097A CN 113396097 A CN113396097 A CN 113396097A CN 202080012858 A CN202080012858 A CN 202080012858A CN 113396097 A CN113396097 A CN 113396097A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- autonomous driving
- condition
- environment
- driver
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000000977 initiatory effect Effects 0.000 claims abstract description 8
- 230000001419 dependent effect Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000012447 hatching Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
Images
Classifications
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0051—Handover processes from occupants to vehicle
-
- 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
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
- B60K35/23—Head-up displays [HUD]
-
- 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
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
-
- 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
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
- B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
- B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
- B60K35/285—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver for improving awareness by directing driver's gaze direction or eye points
-
- 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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
-
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/082—Selecting or switching between different modes of propelling
-
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a 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
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/16—Type of output information
- B60K2360/161—Explanation of functions, e.g. instructions
-
- 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
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/16—Type of output information
- B60K2360/171—Vehicle or relevant part thereof displayed
-
- 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
- B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
- B60K2360/16—Type of output information
- B60K2360/175—Autonomous driving
-
- 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
- B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
-
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- 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, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
- B60W2540/215—Selection or confirmation of options
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0295—Fleet control by at least one leading vehicle of the fleet
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
本发明描述了一种在启动车辆自动驾驶操作时辅助驾驶员的方法,具有以下步骤:确定自主驾驶操作所需要的条件;确定在当前行驶状态下未被满足的禁止自主驾驶操作启动的条件;并且确定在车辆环境中的与未满足的条件相关的对象。本发明提出,在车辆环境的图示中或通过投影到风挡玻璃上来标示与未满足的条件相关的对象,从而向驾驶员传达许用自主驾驶操作所需要的驾驶动作。
Description
技术领域
本发明涉及一种用于在启动车辆自动驾驶操作时辅助驾驶员的方法和装置。
背景技术
自主驾驶车辆是已知的,其中,针对自主驾驶操作所预先规定的条件应当得到满足。
由DE 10 2013 110 909 A1公开了一种装置,其设立用于检测车辆自主驾驶状态并在自动驾驶状态下在显示器上显示多个要遵守的维持条件。如果自动驾驶模式被禁,则向驾驶员显示未满足的条件。
根据现有技术,驾驶员了解哪些条件在自主驾驶模式结束时无法再被满足,但他没有获知在车辆环境中如何定位与未满足条件相关的对象。
DE 10 2017 212 222 B3公开了一种方法,在此采用安全指标,其表示当前自动驾驶模式的可靠性。使用者可以借助安全指标来识别驾驶员辅助系统执行自动驾驶模式的可靠性。
DE 10 2017 130 936 A1公开了一种用于控制自主车辆的方法,在此确定自主车辆的运动是否需要远程用户的人工指令的帮助。屏显画面描绘出车辆连同障碍物和初始路径。在一个实施方式中,屏显画面可以包含经过修改的车辆路径。
US 2018/0 281 818 A1公开了一种信息输出设备,其给车辆使用者提供自主驾驶车辆的驾驶动作以供选择。此时向使用者显示还剩多长时间来选择驾驶动作。
与之相比,权利要求1公开了确定并标记如下对象,该对象作为自动驾驶操作的前提与要满足的条件相关联。
DE 10 2013 110 852 A1公开了一种驾驶辅助系统,其中,在针对车辆所规划的路线走向中确定自动驾驶路段起点。在输出中将显示相对于前方车辆的未来路线走向。路线走向划分为抵达自动驾驶路段起点之前的第一部分和对应于自动驾驶路段的第二部分。
发明内容
与之相比,本发明的任务是提供一种方法和一种装置,借此可以实现从人工驾驶操作到自主驾驶操作的轻松切换。
该任务通过一种具有权利要求1的特征的方法以及一种根据权利要求8的装置来完成。从属权利要求限定出本发明的优选的有利实施方式。
在本发明的方法中,在车辆环境中的与未满足的条件之满足相关的对象被确定,并且在车辆环境的图示中或者通过将图形投影到风挡玻璃而被标记,从而向驾驶员提供启动自主驾驶操作所需的驾驶动作。
通过标示该对象和在车辆环境中图形表示,向驾驶员指明该对象相对于其车辆处于哪个方向。代替图形表示地,在风挡玻璃上借助投影仪以叠加于环境中真实对象的方式来标示。借此可以识别出要执行哪个驾驶动作,以允许自主驾驶操作。例如驾驶员识别出他应当朝哪个方向将车辆转向并且他是否应当加速或减速,以使得自主驾驶条件得到满足。所标记的对象因此与如下条件相关联,驾驶员能通过主动改变车辆位置而依靠自身来影响所述条件,即:使所述条件被满足或不被满足。在一个附加实施方式中,示出针对所标记对象的行驶方向箭头。在所启动的自主驾驶操作中,车辆至少有时自动行驶。一旦满足所有的条件,就许用自主驾驶操作,启动是应使用者要求或自动进行的。包含与未满足的条件相关的对象的车辆环境的图示例如是环境的图示或视频图像,其例如在显示器如仪表盘或中央显示器上被显示。在一个替代方案中,该标记例如借助于平显显示器被投影到风挡玻璃上,并且叠加于真实环境来显示。自主驾驶操作所需要的条件从控制装置中被读取或通过无线通信例如像WLAN或移动无线电被传输到车辆中。在车辆环境中的与未满足的条件相关的对象是借助于环境传感器装置例如像摄像头、雷达或激光雷达来确定的。
所述标记例如可以包含:颜色突显、高亮、动画、符号、方向箭头、指示和/或有关该对象的其它图形辅助形式。
根据本发明,与未满足的条件之满足相关的对象包括:在车辆环境中行驶的适合作为先导车的车辆。在需要先导车的自主驾驶操作中,驾驶员应当紧跟这样的车辆,以便能够启动自主驾驶操作,或者说解禁自主驾驶操作。在车辆环境中行驶的潜在的先导车被确定,并且在车辆环境的图示中被显示和标记,或者在风挡玻璃上通过在潜在的先导车上叠加标记来显示。通过有利的方式,驾驶员获知他应当朝哪个方向将车辆转向和他应当与先导车保持多远的跟车距离,以便能够采用自主驾驶操作。
在该方法的其它附加或替代的实施方式中,与未满足的条件之满足相关的对象包含:允许进行自主驾驶/自主驾驶被许用的车道。视国家和法定规章的不同,可以预先规定指定用于自主驾驶的车道。如果车辆在针对自主驾驶被许用的车道旁行驶,因此自主驾驶功能被禁止。许用的车道被确定并且又在车辆环境的图示中被显示和标记,或者在风挡玻璃上通过在许用车道上叠加标记来示出。车辆使用者因此可以识别出应该朝向哪个方向将车辆转向,以便解禁自主驾驶操作。
在一个有所改动的实施方式中,自主驾驶条件依据所在地来确定。例如自主驾驶条件与国家相关。依据所在地来确定车辆在哪个国家行驶以及拟定了哪些法规。因此可通过有利方式根据国家来确定与未满足的条件相关的对象。
在方法的其它设计中,自主驾驶条件经由服务器被连续查询。所述条件取决于具体的法定规章和地方性规定并且频繁变动。适用条件的连续更新保证了本发明方法的可靠运用。
在本发明的其它设计中,与未满足的条件相关的对象在请求启动自主驾驶操作之前被显示。例如能够向驾驶员连续显示与自主驾驶操作所缺失条件相关的对象。因此可以将车辆操控至如下行车位置,在该行车位置自主驾驶操作。如果自主驾驶操作被允许,则使用者可以通过请求来启动自主驾驶。通过有利方式来避免因为有未满足的条件而禁止请求,以及驾驶员除了其请求被拒外未被告知要执行哪个动作以便解禁。
在另一个实施方式中,该图示包含环境的真实图像。环境的真实图像例如借助摄像头来采集并在显示器上被显示。在所示的真实图像中,与未满足的条件相关的对象被配以或叠加标记。通过有利的方式,真实图像允许容易识别环境中的对象。
在该方法的另一个设计中,在环境图示中至少部分显示出本车。通过有利方式,驾驶员能更容易识别出其所在车辆相对于“与未满足的条件相关的对象”的位置。
根据本发明的装置包括用于确定车辆环境中的与未满足的条件相关的对象的装置,并且包括显示单元,显示单元为了告知允许自主驾驶操作所需的驾驶动作而在车辆环境的图示中或通过投影到风挡玻璃来标示与未满足的条件相关的对象。通过有利的方式,驾驶员可容易发现他应当朝哪个方向将车辆转向,以造成自主驾驶的解禁。
附图说明
其它的优点、特征和细节来自以下或许参照附图来详细描述至少一个实施例的说明。所述的和/或如图所示的特征可以本身单独地或在任何有意义的组合方式中形成发明主题,或许也与权利要求书无关,并且尤其也还可能是一件或多件单独申请的主题。相同的、相似的和/或功能相同的零部件带有相同的附图标记,其中:
图1示出具有本发明装置的车辆,
图2示出车辆环境图示和与未被满足的自主驾驶条件相关的对象的标记,
图3示出其它车辆环境图示和与未被满足的自主驾驶条件相关的另一对象的标记,
图4示出用于启动自动驾驶操作的流程图。
具体实施方式
图1示出设立用于执行本发明方法的车辆1。该车辆包括计算单元3,用于确定自主驾驶操作所需要的条件。装置5确定针对自主驾驶操作未满足的条件。对此,车辆传感器装置例如摄像头7给装置5提供关于车辆1环境的信息。根据摄像头的信息,装置5确定与未满足的条件相关的环境对象。在显示单元9上以辅助图方式向驾驶员示出并标记该对象。用于确定在当前行驶状态下未满足的条件的装置和用于确定在车辆环境中的与未满足的条件相关的对象的装置能够被集成在一控制装置中或被分散到多个控制装置上。
图2示出在显示单元9上所示画面的辅助图。该图示包含本车的车辆环境11。车辆环境包含具有第一和第二车道13、15的前方行车路程。
图示还包含本车17的图像和在车辆环境中行驶的适合作为自主驾驶操作用先导车的另一车辆19。车辆19能否作为先导车是通过标记21来示出的。借助图示,本车的驾驶员能识别其车辆相对于潜在先导车的相对位置,并且采取造成自主驾驶操作解禁的驾驶动作。所需的驾驶动作包含:变换到所述车道和跟上车辆19。
图3示出包括另一个画面的辅助图,该另一个画面包含前方的多车道行车路程。在辅助图中作为图像被示出的本车17行驶在左车道13上。但对于自主驾驶操作,仅车道14被许用,与此相应,本车中的自主驾驶操作被禁止,并且尽管有驾驶员的请求也未被启动。通过呈阴影线形式的标记19向驾驶员显示与未满足的条件相关的对象,即针对自主驾驶操作被许用的车道。所述标记向驾驶员表示要执行哪个驾驶动作,以实现自主驾驶操作的解禁。动作包含从车道13变换至车道14。
图4示出用于启动自动驾驶操作的流程图。在步骤S100中,车辆以人工驾驶模式行驶。随着想要达成自主驾驶,驾驶员在步骤S102中请求显示辅助图。例如对应于图2和图3之一的辅助图被显示到车辆内的显示装置9上。
通过请求辅助图,所需要的条件以及禁止自主驾驶操作的条件在S103中被确定。在步骤S104中确定车辆环境中的与未满足的条件相关的对象。
根据步骤S105,与未满足的条件相关的对象在车辆环境的图示中或通过将叠加于或配属于该对象的信息投影到风挡玻璃上而被标记。根据显示装置中的图示或所投影的信息,在人工驾驶操作中就已看清未被满足的自主驾驶条件以及与该条件相关的对象。按照所述对象的标记,驾驶员能以逻辑方式识别出要执行哪个驾驶动作以造成自主驾驶的解禁。所述标记已经可以包含:单纯的对象图示、有关该对象或与该对象相关的条件的突显和/或例如呈图形或文本形式的指示。此外,可以作为进一步辅助手段来显示针对该对象的行驶方向建议,例如像运动轨迹。
在步骤106中,驾驶员采取与该对象相关的驾驶动作,即,驾驶员例如变换到准许自主驾驶操作的车道14。于是,不同于图2地,辅助图示出本车在车道14上行驶。伴随驶上车道14,在车辆侧允许自主驾驶操作,即,可以应使用者请求来启动自主驾驶操作。
在步骤108中,使用者例如通过按下按钮来请求自主驾驶操作。因为现在满足了所有的条件,故车辆在步骤S109中开始自主驾驶操作。
Claims (8)
1.一种在启动车辆自主驾驶操作时辅助驾驶员的方法,该方法具有以下步骤:
-确定(S103)自主驾驶操作所需要的条件,
-确定(S103)在当前行驶状态下未被满足的、禁止自主驾驶操作启动的条件,
其特征是,
-确定(S104)在车辆环境中的与未满足的条件之满足相关的对象,
-在车辆环境的图示中或通过投影到风挡玻璃来标示(S105)该对象,
从而向驾驶员传达对于允许自主驾驶操作所需的驾驶动作,其中,所述与未满足的条件之满足相关的对象包括:在车辆环境中行驶的适合作为先导车的车辆(19)。
2.根据权利要求1所述的方法,其特征是,所述与未满足的条件之满足相关的对象包括:允许进行自主驾驶的车道(14)。
3.根据权利要求1或2所述的方法,其特征是,自主驾驶条件依据所在地点来确定。
4.根据权利要求1至3之一所述的方法,其特征是,自主驾驶条件通过服务器来连续查询。
5.根据权利要求1至4之一所述的方法,其特征是,所述与未满足的条件之满足相关的对象在请求启动自主驾驶操作之前被示出。
6.根据权利要求1至5之一所述的方法,其特征是,图形的所述图示包含环境的真实图像。
7.根据权利要求1至6之一所述的方法,其特征是,在所述环境的图示中至少部分示出本车(17)。
8.一种用于执行前述的在启动车辆自主驾驶操作时辅助驾驶员的方法的设备,该设备包括:
-用于确定自主驾驶操作所需要的条件的机构(3),
-用于确定在当前行驶状态下未被满足的、禁止自主驾驶操作启动的条件的装置(5,7),
其特征是,该装置(5,7)确定车辆环境中的与未满足的条件之满足相关的对象,并且
为了传达对于允许自主驾驶操作所需的驾驶动作,显示单元(9)在车辆环境的图示中或通过投影到风挡玻璃上来标示该对象(14,19),其中,所述与未满足的条件之满足相关的对象包括:在车辆环境中行驶的适合作为先导车的车辆(19)。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102019000899.5 | 2019-02-07 | ||
DE102019000899.5A DE102019000899B4 (de) | 2019-02-07 | 2019-02-07 | Verfahren und Vorrichtung zur Unterstützung eines Fahrers eines Fahrzeugs |
PCT/EP2020/052756 WO2020161137A1 (de) | 2019-02-07 | 2020-02-04 | Verfahren und vorrichtung zur unterstützung eines fahrers eines fahrzeugs |
Publications (1)
Publication Number | Publication Date |
---|---|
CN113396097A true CN113396097A (zh) | 2021-09-14 |
Family
ID=69528803
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202080012858.3A Pending CN113396097A (zh) | 2019-02-07 | 2020-02-04 | 用于辅助车辆驾驶员的方法和装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20220032963A1 (zh) |
EP (1) | EP3921214B1 (zh) |
CN (1) | CN113396097A (zh) |
DE (1) | DE102019000899B4 (zh) |
WO (1) | WO2020161137A1 (zh) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20220117407A (ko) * | 2021-02-16 | 2022-08-24 | 현대자동차주식회사 | 자율 주행 정보 제공 장치 및 그 방법 |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103171439A (zh) * | 2011-12-22 | 2013-06-26 | 通用汽车环球科技运作有限责任公司 | 自动驾驶系统的行为预测 |
CN104822573A (zh) * | 2012-11-30 | 2015-08-05 | 谷歌公司 | 确定并显示自主车辆中的自动驾驶车道 |
CN104837705A (zh) * | 2012-11-30 | 2015-08-12 | 谷歌公司 | 启用和停用自动驾驶 |
US20170243504A1 (en) * | 2016-02-24 | 2017-08-24 | Toyota Motor Engineering & Manufacturing North America, Inc. | Driving ratings for leading or following vehicle selection |
CN107835932A (zh) * | 2015-07-08 | 2018-03-23 | 本田技研工业株式会社 | 自动驾驶控制装置 |
WO2018074586A1 (ja) * | 2016-10-21 | 2018-04-26 | 三菱電機株式会社 | 自動運転支援装置、自動運転車、自動運転支援方法および自動運転支援プログラム |
US20180284759A1 (en) * | 2017-03-28 | 2018-10-04 | Toyota Research Institute, Inc. | Electronic control units, vehicles, and methods for switching vehicle control from an autonomous driving mode |
CN108791307A (zh) * | 2017-05-05 | 2018-11-13 | 福特全球技术公司 | 用于驾驶员辅助特征的自动激活的系统和方法 |
US20190018410A1 (en) * | 2017-07-11 | 2019-01-17 | Denso Corporation | Vehicle control apparatus and method for performing automatic driving control |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5983547B2 (ja) * | 2013-07-02 | 2016-08-31 | 株式会社デンソー | ヘッドアップディスプレイ及びプログラム |
DE102013012779A1 (de) * | 2013-07-31 | 2015-02-05 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Betreiben einer Fahrerassistenzeinrichtung zum autonomen Führen eines Kraftfahrzeugs und Kraftfahrzeug |
DE102013110852A1 (de) | 2013-10-01 | 2015-04-16 | Volkswagen Aktiengesellschaft | Verfahren für ein Fahrerassistenzsystem eines Fahrzeugs |
DE102013110909A1 (de) | 2013-10-01 | 2015-04-02 | Scania Cv Ab | Vorrichtung zum automatischen Fahren eines Fahrzeugs |
JP6520668B2 (ja) * | 2015-02-09 | 2019-05-29 | 株式会社デンソー | 車両用表示制御装置及び車両用表示ユニット |
US20160314224A1 (en) * | 2015-04-24 | 2016-10-27 | Northrop Grumman Systems Corporation | Autonomous vehicle simulation system |
US10464421B2 (en) * | 2015-09-18 | 2019-11-05 | Nissan Motor Co., Ltd. | Vehicular display device and vehicular display method |
JP6493545B2 (ja) | 2015-09-30 | 2019-04-10 | 日産自動車株式会社 | 情報提示装置及び情報提示方法 |
US10322717B2 (en) | 2016-01-04 | 2019-06-18 | GM Global Technology Operations LLC | Expert mode for vehicles |
US11175659B2 (en) * | 2016-03-28 | 2021-11-16 | Nippon Seiki Co., Ltd. | Driving assistance system and display device |
DE102017212222B3 (de) | 2017-07-18 | 2018-10-25 | Audi Ag | Verfahren zum Betreiben einer Anzeigeeinrichtung eines Kraftfahrzeugs, Fahrerassistenzeinrichtung, und Kraftfahrzeug |
-
2019
- 2019-02-07 DE DE102019000899.5A patent/DE102019000899B4/de active Active
-
2020
- 2020-02-04 EP EP20704467.8A patent/EP3921214B1/de active Active
- 2020-02-04 CN CN202080012858.3A patent/CN113396097A/zh active Pending
- 2020-02-04 US US17/429,158 patent/US20220032963A1/en active Pending
- 2020-02-04 WO PCT/EP2020/052756 patent/WO2020161137A1/de unknown
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103171439A (zh) * | 2011-12-22 | 2013-06-26 | 通用汽车环球科技运作有限责任公司 | 自动驾驶系统的行为预测 |
CN104822573A (zh) * | 2012-11-30 | 2015-08-05 | 谷歌公司 | 确定并显示自主车辆中的自动驾驶车道 |
CN104837705A (zh) * | 2012-11-30 | 2015-08-12 | 谷歌公司 | 启用和停用自动驾驶 |
CN107835932A (zh) * | 2015-07-08 | 2018-03-23 | 本田技研工业株式会社 | 自动驾驶控制装置 |
US20170243504A1 (en) * | 2016-02-24 | 2017-08-24 | Toyota Motor Engineering & Manufacturing North America, Inc. | Driving ratings for leading or following vehicle selection |
WO2018074586A1 (ja) * | 2016-10-21 | 2018-04-26 | 三菱電機株式会社 | 自動運転支援装置、自動運転車、自動運転支援方法および自動運転支援プログラム |
US20180284759A1 (en) * | 2017-03-28 | 2018-10-04 | Toyota Research Institute, Inc. | Electronic control units, vehicles, and methods for switching vehicle control from an autonomous driving mode |
CN108791307A (zh) * | 2017-05-05 | 2018-11-13 | 福特全球技术公司 | 用于驾驶员辅助特征的自动激活的系统和方法 |
US20190018410A1 (en) * | 2017-07-11 | 2019-01-17 | Denso Corporation | Vehicle control apparatus and method for performing automatic driving control |
Also Published As
Publication number | Publication date |
---|---|
EP3921214A1 (de) | 2021-12-15 |
DE102019000899B4 (de) | 2023-05-04 |
WO2020161137A1 (de) | 2020-08-13 |
US20220032963A1 (en) | 2022-02-03 |
EP3921214B1 (de) | 2022-10-26 |
DE102019000899A1 (de) | 2020-08-13 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN109415087B (zh) | 用于自动化实施多次变道的变道辅助系统和方法 | |
US9522700B2 (en) | Driving support apparatus for vehicle and driving support method | |
EP2988098B1 (en) | Driver assistance system with non-static symbol of fluctuating shape | |
CN110050301B (zh) | 车辆控制装置 | |
CN107851394B (zh) | 驾驶辅助装置、驾驶辅助系统、驾驶辅助方法以及自动驾驶车辆 | |
CN107458375B (zh) | 车辆用限制速度显示装置 | |
JP5991340B2 (ja) | 運転支援装置 | |
CN110435651B (zh) | 车辆控制装置 | |
CN113811932B (zh) | 车辆的行驶控制方法及行驶控制装置 | |
CN107914711B (zh) | 车辆控制装置 | |
US20200010085A1 (en) | Driving support control device | |
US11584362B2 (en) | Method for operating a transportation vehicle and a control unit for carrying out the method | |
EP3581453A1 (en) | Driving assist control device | |
CN113784861B (zh) | 显示控制方法及显示控制装置 | |
EP3816966B1 (en) | Driving assistance method and driving assistance device | |
CN114126954A (zh) | 用于自动化地停泊车辆的方法 | |
CN113811934B (zh) | 车辆的行驶控制方法及行驶控制装置 | |
CN111247046B (zh) | 用于在车辆中显示可至少部分自动执行的驾驶机动的可执行性的方法和设备 | |
EP3778327A1 (en) | Method and device for controlling autonomous driving vehicle | |
CN111727468A (zh) | 车辆控制装置和车辆控制方法 | |
CN111051174B (zh) | 用于运行机动车的驾驶员辅助系统的方法和机动车 | |
US20210074247A1 (en) | Display control device for vehicle and display unit for vehicle | |
CN113396097A (zh) | 用于辅助车辆驾驶员的方法和装置 | |
CN107531247B (zh) | 机动车中的纵向引导的驾驶员辅助系统 | |
CN110574086B (zh) | 车辆控制装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB02 | Change of applicant information |
Address after: Stuttgart, Germany Applicant after: Mercedes Benz Group Co.,Ltd. Address before: Stuttgart, Germany Applicant before: DAIMLER AG |
|
CB02 | Change of applicant information |