CN114572225A - Method for determining driver behavior - Google Patents

Method for determining driver behavior Download PDF

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Publication number
CN114572225A
CN114572225A CN202111434691.2A CN202111434691A CN114572225A CN 114572225 A CN114572225 A CN 114572225A CN 202111434691 A CN202111434691 A CN 202111434691A CN 114572225 A CN114572225 A CN 114572225A
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China
Prior art keywords
vehicle
parameter
function
preset
determining
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Pending
Application number
CN202111434691.2A
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Chinese (zh)
Inventor
雷内·扎韦尔斯贝格
马里乌斯·韦格纳
卢卡斯·舍费尔斯
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FEV Europe GmbH
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FEV Europe GmbH
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Application filed by FEV Europe GmbH filed Critical FEV Europe GmbH
Publication of CN114572225A publication Critical patent/CN114572225A/en
Pending legal-status Critical Current

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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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/037—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for occupant comfort, e.g. for automatic adjustment of appliances according to personal settings, e.g. seats, mirrors, steering wheel
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W40/09—Driving style or behaviour
    • 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
    • B60W60/001—Planning or execution of driving tasks
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • 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
    • B60W2556/10—Historical data

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention relates to a method for determining driver behavior, a method for controlling a vehicle in dependence on driver behavior, a computer program product and a vehicle. The method for determining driver behavior according to the invention comprises the following steps: s1: detecting travel information of a vehicle (1) controlled by a driver; s2: extracting a sequence specific to a first driving situation from the driving information; s3: determining a first parameter by means of a preset first function from the first sequence extracted in step S2; s4: determining a second parameter by means of a preset first function from the second sequence extracted in step S2; s5: driver behavior is determined by evaluating a distribution of the first parameter and the second parameter.

Description

Method for determining driver behavior
Technical Field
The invention relates to a method for determining driver behavior, a method for controlling a vehicle in dependence on driver behavior, a computer program product and a vehicle.
Background
A system and a method for identifying a vehicle driver are known from DE 102016121768a 1. The system and method includes analysis of a sequence of vehicle activation patterns, such as when a door is open, closed, belted, and/or ignition switch is operated, and analysis of a long-term set of patterns, in order to more appropriately check driver identification. Longer term behavior patterns include acceleration behavior and braking behavior, behavior at stop signs, use of speed controllers, and a variety of other behaviors.
Disclosure of Invention
The method according to the invention for determining driver behavior comprises the following steps:
s1: detecting travel information of a vehicle controlled by a driver;
s2: extracting a sequence specific to a first driving situation from the driving information;
s3: determining a first parameter by means of a preset first function from the first sequence extracted in step S2;
s4: determining a second parameter by means of a preset first function from the second sequence extracted in step S2;
s5: driver behavior is determined by evaluating a distribution of the first parameter and the second parameter.
The term "driver behavior" is understood here to mean the behavior pattern, for example acceleration behavior and/or braking behavior, of the driver while driving the vehicle.
Since the first and second parameters are determined by means of a preset first function according to a sequence specific to the first driving situation, the method according to the invention makes it possible to determine a driving situation-specific driver behavior. The driving behavior specific to the driving situation can be used, for example, with an adapted speed and/or distance control in order to increase the driving comfort of the passengers and/or to evaluate a change in the state of charge of the energy store with a planned driving and/or a planned driving range.
Preferably, the method according to the invention comprises the following steps:
s2 a: extracting a sequence specific to the second driving situation from the driving information;
s3 a: determining a third parameter by means of a preset second function from the third sequence extracted in step S2 a;
s4 a: a fourth parameter is determined by means of a preset second function on the basis of the fourth sequence extracted in step S2a,
wherein the distribution of the third and fourth parameters is taken into account in step S5 when determining the driver behaviour. This may enable a characterization of the behavior pattern of the driver's intervening driving situation and facilitate a more accurate determination of the driver behavior.
Preferably, the third and fourth parameters are determined in steps S3a and S4a by parameterizing the preset second function at least in part by means of parameters derived from the first and/or second parameters. Thereby improving the accuracy in determining the third and fourth parameters.
Preferably, the predetermined first and second functions here comprise at least partially identical function instructions. In this way, for example, the same evaluation criterion and/or the same Term (Term) in the driver model can be used during acceleration and braking, thereby increasing the accuracy and/or reducing the computational effort in determining the parameters.
The method according to the invention for controlling a vehicle in dependence on driver behaviour comprises the following steps:
a1: parameterizing a preset vehicle control function by means of parameters characterizing driver behavior;
a2: the vehicle is controlled by means of the vehicle control function which is parameterized in S1.
The computer program product according to the invention causes the computing unit, when it is run by the computing unit, to be used for running the method according to the invention.
The vehicle according to the invention comprises
-a plurality of sensors for detecting driving information;
-a computing unit constructed and arranged for running the computer program product according to the invention; and
a control unit which is designed and arranged for controlling the vehicle as a function of the driver behavior determined by means of the calculation unit.
Since the control unit is designed and arranged to control the vehicle as a function of the driver behavior determined by means of the computing unit, the behavior of the driver can be simulated during operation of the autonomous or partially autonomous vehicle, in order to improve the driving comfort, for example.
Further advantageous embodiments of the invention are described below.
Drawings
Preferred embodiments are explained in detail with reference to the following drawings. Shown here are:
FIG. 1 illustrates one embodiment of a vehicle according to the present invention;
FIG. 2 shows an embodiment of a method according to the invention for determining driver behavior;
FIG. 3 shows a schematic view of travel information, including a plurality of travel situation specific sequences; and
fig. 4 shows an embodiment of a method for controlling a vehicle according to the invention.
Detailed Description
The vehicle 1 shown in fig. 1 is a passenger car and comprises a plurality of sensors 2 for detecting driving information. In the present embodiment, this is an acceleration sensor, a speed sensor, and a camera for detecting a vehicle traveling ahead. Furthermore, the vehicle 1 comprises a calculation unit 3 and a control unit 4, which is constructed and arranged for controlling the vehicle 1 in accordance with the driver's behavior determined by means of the calculation unit 3.
The computing unit 3 is designed and arranged to run a computer program product, which causes the method for determining the driver behavior shown in fig. 2 to be run. In a first step S1 of the method, the calculation unit 3 prompts the sensor 2 to detect driving information in the driving of the vehicle 1 controlled by the driver. In the present exemplary embodiment, the driving information here includes a curve of the vehicle acceleration G1 over time and the optically detected distance and relative speed with respect to the vehicle driving ahead. The curve of the vehicle acceleration G1 over time is schematically shown in fig. 3.
In a second step S2 of the method, the calculation unit 3 extracts a sequence specific to the first driving situation from the driving information. In this embodiment this is the acceleration sequence G2. Each acceleration sequence G2 here comprises acceleration data during an acceleration process of the vehicle 1, vehicle speed data, distance data relative to a preceding vehicle and relative speed data relative to a preceding vehicle. In a further step S2a, the calculation unit 3 extracts a sequence specific to the second driving situation from the driving information. In this embodiment, this is a braking sequence G3. Each braking sequence G3 here comprises braking delay data during a braking process of vehicle 1, vehicle speed data, distance data relative to a preceding vehicle and relative speed data relative to a preceding vehicle.
In further steps S2b and S2c, the calculation unit 3 selects a sequence according to a preset selection criterion from among the sequences extracted in steps S2 and S2 a. In the present embodiment, only the sequence in which the braking or acceleration of the vehicle 1 causes a speed change of at least 10km/h is selected according to the selection criterion. In the present exemplary embodiment, this results in a reduction in the computational effort for the subsequent steps of the method.
In a third step S3 of the method, the calculation unit 3 determines the first parameters by means of a preset first function from the first sequence extracted in step S2 and selected in step S2 b. For this purpose, the computing unit 3 performs a compensation calculation in the present exemplary embodiment, by means of which it adapts the first function to the selected first acceleration sequence G2. In the present embodiment, the first parameter is a maximum acceleration, a target speed, and an acceleration index.
In a further step S3a, the calculation unit 3 determines a third parameter by means of a preset second function from the third sequence extracted in step S2a and selected in step S2 c. In this case, the second predetermined function is parameterized by means of parameters derived from the first and second parameters for the purpose of increasing the determination accuracy and reducing the computation effort. In the present embodiment, the calculation unit 3 extracts the third parameter from the selected braking sequence G3 by means of the second function. The third parameter includes a time interval parameter relative to a preceding vehicle and a brake delay that is comfortable for the driver.
Here, the first and second functions applied in steps S3 and S3a include partially identical function instructions, for example, a parameter dependency preset by the same mathematical expression. The same driver model and/or evaluation criterion can thus be applied during acceleration and braking, and the computational effort can be reduced.
In a fourth step S4 of the method, the calculation unit 3 determines the second parameters by means of the preset first function from the second sequence extracted in step S2 and selected in step S2 b. In a further step S4a, the calculation unit 3 determines a fourth parameter by means of a preset second function from the fourth sequence extracted in step S2a and selected in step S2 c. The execution of steps S4 and S4a here takes place analogously to steps S3 and S3 a.
In an embodiment, the calculation unit 3 extracts a plurality of further parameters from a plurality of further selected acceleration sequences and braking sequences in a plurality of further steps S3n, S4n (not shown).
In a fifth step S5 of the method, the calculation unit 3 determines the driver behavior by evaluating the distribution of the parameters extracted in steps S3, S3a, S3n, S4, S4a, S4 n. In the present exemplary embodiment, this takes place by way of a parameter of the same type, for example the maximum acceleration median. From the median formation (Medianbildung) parameters characterizing the driver behavior are derived, which are suitable for describing and reproducing the driving behavior.
The driver behavior thus determined is applied by means of the method shown in fig. 4 for controlling the vehicle 1 shown in fig. 1. For this purpose, in a first step a1, the computation unit 3 parameterizes a preset vehicle control function with the aid of parameters characterizing the driver behavior. Next, the control unit 4 controls the vehicle 1 by means of the vehicle control function parameterized in step a 1.

Claims (10)

1. A method for determining driver behavior, comprising the steps of:
s1: detecting travel information of a vehicle (1) controlled by a driver;
s2: extracting a sequence specific to a first driving situation from the driving information;
s3: determining a first parameter by means of a preset first function from the first sequence extracted in step S2;
s4: determining a second parameter by means of a preset first function from the second sequence extracted in step S2;
s5: driver behavior is determined by evaluating a distribution of the first parameter and the second parameter.
2. The method of claim 1, comprising the steps of:
s2 a: extracting a sequence specific to a second driving situation from the driving information;
s3 a: determining a third parameter by means of a preset second function from the third sequence extracted in step S2 a;
s4 a: a fourth parameter is determined by means of a preset second function on the basis of the fourth sequence extracted in step S2a,
wherein the distribution of the third parameter and the fourth parameter is taken into account when determining the driver behaviour in step S5.
3. Method according to claim 2, wherein the preset second function is parameterized at least in part by means of parameters derived from the first and/or second parameters when determining the third and/or fourth parameters in steps S3a and/or S4 a.
4. The method according to any of the preceding claims, comprising the steps of:
s2 b: selecting a sequence from the sequences extracted in step S2 according to a preset selection criterion, wherein the first parameter and the second parameter are determined according to the selected sequence in the steps S3 and S4.
5. The method according to any of the preceding claims, wherein the preset first function and the preset second function comprise at least partly the same function instructions.
6. The method according to any of the preceding claims, wherein the driving information comprises a curve of vehicle speed and/or vehicle acceleration (G1) over time.
7. The method according to any of the preceding claims, wherein the driving information comprises a relative speed and/or distance with respect to a previously driven vehicle.
8. A method for controlling a vehicle (1) in dependence of driver behaviour, comprising the steps of:
a1: parameterizing a preset vehicle control function by means of parameters characterizing driver behavior;
a2: the vehicle (1) is controlled by means of a vehicle control function, which is parameterized in A1.
9. A computer program product, which, when executed by a computing unit (3), the computing unit (3) causes the method according to any one of claims 1 to 7 to be executed.
10. A vehicle (1) comprising:
-a plurality of sensors (2) for detecting driving information;
-a computing unit (3) constructed and arranged for running the computer program product according to claim 9; and
-a control unit (4) constructed and arranged for controlling the vehicle (1) in dependence of the driver's behaviour determined by means of the calculation unit (3).
CN202111434691.2A 2020-12-01 2021-11-29 Method for determining driver behavior Pending CN114572225A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020007329.8 2020-12-01
DE102020007329.8A DE102020007329A1 (en) 2020-12-01 2020-12-01 Method for determining driving behavior

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CN114572225A true CN114572225A (en) 2022-06-03

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DE (2) DE102020007329A1 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10332020B2 (en) 2015-11-19 2019-06-25 GM Global Technology Operations LLC Method and apparatus of differentiating drivers based on driving behaviors

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DE102020007329A1 (en) 2021-04-15

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