DE102013010928B4 - Method for operating at least one driver assistance system of a motor vehicle and motor vehicle with at least one driver assistance system - Google Patents
Method for operating at least one driver assistance system of a motor vehicle and motor vehicle with at least one driver assistance system Download PDFInfo
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- DE102013010928B4 DE102013010928B4 DE102013010928.0A DE102013010928A DE102013010928B4 DE 102013010928 B4 DE102013010928 B4 DE 102013010928B4 DE 102013010928 A DE102013010928 A DE 102013010928A DE 102013010928 B4 DE102013010928 B4 DE 102013010928B4
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 230000003213 activating effect Effects 0.000 claims abstract description 3
- 230000001276 controlling effect Effects 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 230000004913 activation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009849 deactivation Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
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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
- B60W30/10—Path keeping
- B60W30/12—Lane 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
- 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
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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
- 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
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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
- 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
- B60W50/10—Interpretation of driver requests or demands
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0051—Handover processes from occupants to vehicle
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0053—Handover processes from vehicle to occupant
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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
- B60W2040/0872—Driver physiology
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/20—Direction indicator values
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/225—Direction of gaze
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Verfahren zum Betreiben wenigstens eines Fahrerassistenzsystems (18) eines Kraftwagens (10), mit den Schritten: – Erfassen, ob ein Fahrer (14) des Kraftwagens (10) ein Lenkrad (16) des Kraftwagens (10) berührt, mittels einer Erfassungseinrichtung (12); – Betreiben eines zur Steuerung der Längsführung und Querführung des Kraftwagens (10) ausgelegten Fahrerassistenzsystems (18) in Abhängigkeit davon, ob der Fahrer (14) das Lenkrad (16) berührt; gekennzeichnet durch die Schritte: – Aktivieren des wenigstens eines Fahrerassistenzsystems (18), falls erfasst wird, dass der Fahrer (14) das Lenkrad (16) mit keiner Hand (22) berührt; – Steuern der Längsführung und Querführung des Kraftwagens (10) mittels des aktivierten Fahrerassistenzsystems (18) gemäß eines vorgegebenen Kriteriums.Method for operating at least one driver assistance system (18) of a motor vehicle (10), comprising the steps: - detecting whether a driver (14) of the motor vehicle (10) touches a steering wheel (16) of the motor vehicle (10) by means of a detection device (12 ); Operating a driver assistance system (18) designed to control the longitudinal guidance and transverse guidance of the motor vehicle (10) as a function of whether the driver (14) touches the steering wheel (16); characterized by the steps of: - activating the at least one driver assistance system (18) if it is detected that the driver (14) is not touching the steering wheel (16) with any hand (22); - Controlling the longitudinal guidance and transverse guidance of the motor vehicle (10) by means of the activated driver assistance system (18) according to a predetermined criterion.
Description
Die Erfindung betrifft ein Verfahren zum Betreiben wenigstens eines Fahrerassistenzsystems eines Kraftwagens sowie einen Kraftwagen mit wenigstens einem Fahrerassistenzsystem der in den Oberbegriffen der unabhängigen Patentansprüche angegebenen Art.The invention relates to a method for operating at least one driver assistance system of a motor vehicle and a motor vehicle with at least one driver assistance system of the type specified in the preambles of the independent claims.
Beim Betreiben von Fahrerassistenzsystemen, welche die Längsführung und/oder Querführung eines Kraftwagens steuern, ist es üblicherweise von Bedeutung, ob ein Fahrer ein Lenkrad des Kraftwagens zumindest mit einer Hand umfasst. Bislang ist es üblich, eine Längsführung oder Querführung eines Kraftwagens durch ein Fahrerassistenzsystem zu unterbrechen, sobald detektiert wird, dass der Fahrer seine Hände nicht mehr am Lenkrad hat.When operating driver assistance systems which control the longitudinal guidance and / or transverse guidance of a motor vehicle, it is usually important whether a driver comprises a steering wheel of the motor vehicle with at least one hand. So far, it is customary to interrupt a longitudinal guide or transverse guidance of a motor vehicle by a driver assistance system as soon as it is detected that the driver no longer has his hands on the steering wheel.
Beispielsweise zeigt die
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Es ist die Aufgabe der vorliegenden Erfindung, ein Verfahren sowie einen Kraftwagen der eingangs genannten Art bereitzustellen, mittels welchen die Verkehrssicherheit beim Betreiben des Kraftwagens erhöht wird.It is the object of the present invention to provide a method and a motor vehicle of the type mentioned, by means of which the traffic safety is increased when operating the motor vehicle.
Diese Aufgabe wird durch ein Verfahren zum Betreiben wenigstens eines Fahrerassistenzsystems sowie durch einen Kraftwagen mit den Merkmalen der unabhängigen Patentansprüche gelöst. Vorteilhafte Ausgestaltungen mit zweckmäßigen und nicht-trivialen Weiterbildungen der Erfindung sind in den abhängigen Ansprüchen angegeben.This object is achieved by a method for operating at least one driver assistance system and by a motor vehicle having the features of the independent patent claims. Advantageous embodiments with expedient and non-trivial developments of the invention are specified in the dependent claims.
Bei dem erfindungsgemäßen Verfahren zum Betreiben wenigstens eines Fahrerassistenzsystems eines Kraftwagens wird mittels einer Erfassungseinrichtung erfasst, ob ein Fahrer des Kraftwagens ein Lenkrad des Kraftwagens berührt, und ein zur Steuerung der Längsführung und Querführung des Kraftwagens ausgelegtes Fahrerassistenzsystems in Abhängigkeit davon betrieben, ob der Fahrer das Lenkrad berührt. Das erfindungsgemäße Verfahren zeichnet sich dadurch aus, dass das wenigstens eine Fahrerassistenzsystem aktiviert wird, falls erfasst wird, dass der Fahrer das Lenkrad mit keiner Hand berührt, wobei die Längsführung und Querführung des Kraftwagens mittels des aktivierten Fahrerassistenzsystems gemäß zumindest eines vorgegebenen Kriteriums gesteuert wird.In the method according to the invention for operating at least one driver assistance system of a motor vehicle, a detection device detects whether a driver of the motor vehicle is touching a steering wheel of the motor vehicle and a driver assistance system designed to control the longitudinal guidance and transverse guidance of the motor vehicle is operated as a function of whether the driver uses the steering wheel touched. The inventive method is characterized in that the at least one Driver assistance system is activated, if it is detected that the driver touches the steering wheel with no hand, the longitudinal guidance and lateral guidance of the motor vehicle is controlled by the activated driver assistance system according to at least one predetermined criterion.
Es ist also gerade erfindungsgemäß vorgesehen, dass ein zur Steuerung der Längsführung und Querführung des Kraftwagens ausgelegtes Fahrerassistenzsystem dann aktiviert wird, sobald eine Freihandfahrt des Fahrers erfasst worden ist. Durch die Aktivierung des Fahrerassistenzsystems kann ein vollpilotiertes Fahren des Kraftwagens durch eine entsprechende Steuerung des Fahrerassistenzsystems erfolgen. Wird also detektiert, dass der Fahrer während einer Fahrt mit dem Kraftwagen das Lenkrad loslässt, geht der Kraftwagen automatisch in einen vollpilotierten Modus über, wodurch die Fahrsicherheit des Kraftwagens auch bei einer Freihandfahrt gewährleistet werden kann.It is thus provided according to the invention that a driver assistance system designed to control the longitudinal guidance and transverse guidance of the motor vehicle is then activated as soon as a free-hand drive of the driver has been detected. By activating the driver assistance system, a fully-piloted driving of the motor vehicle can be effected by a corresponding control of the driver assistance system. Thus, if it is detected that the driver releases the steering wheel during a drive with the motor vehicle, the motor vehicle automatically goes into a fully-piloted mode, whereby the driving safety of the motor vehicle can be ensured even with a free-hand drive.
In vorteilhafter Ausgestaltung der Erfindung ist es vorgesehen, dass als vorgegebenes Kriterium ein Abstand des Kraftwagens zu einem vorausfahrenden Fahrzeug mittels des aktivierten Fahrerassistenzsystems im Wesentlichen konstant gehalten wird. In weiterer vorteilhafter Ausgestaltung ist es vorgesehen, dass als vorgegebenes Kriterium eine Einhaltung einer aktuell mit dem Kraftwagen befahrenen Spur mittels des aktivierten Fahrerassistenzsystems geregelt wird. Mit anderen Worten wird bei einer detektierten Freihandfahrt des Fahrers durch die anschließende Aktivierung des Fahrerassistenzsystems eine Art Autopilot aktiviert, der zumindest eine aktuell vorliegende Fahrsituation aufrecht erhält, in welcher sich der Fahrer beziehungsweise der Kraftwagen befand, als detektiert worden ist, dass der Fahrer seine Hände vom Lenkrad genommen hat. Bei dem Fahrerassistenzsystem kann es sich also beispielsweise um einen Abstandsregeltempomaten handeln, welcher automatisch einen Abstand zu einem vor dem Kraftwagen befindlichen Fahrzeug im Wesentlichen konstant hält, sobald detektiert worden ist, dass der Fahrer seine Hände vom Lenkrad genommen hat. Alternativ oder zusätzlich ist es auch möglich, dass durch das aktivierte Fahrerassistenzsystem die Querführung des Kraftwagens derart gesteuert wird, dass der Kraftwagen selbständig die aktuell befahrene Spur einhält. Insbesondere ist es vorgesehen, dass durch das aktivierte Fahrerassistenzsystem keine komplexen Fahrmanöver, wie beispielsweise Überholvorgänge oder dergleichen, vollführt werden, wobei lediglich die aktuelle Fahrsituation aufrechterhalten wird.In an advantageous embodiment of the invention, it is provided that a distance of the motor vehicle to a preceding vehicle by means of the activated driver assistance system is kept substantially constant as a predetermined criterion. In a further advantageous embodiment, it is provided that compliance with a currently traveled by the car lane by means of the activated driver assistance system is regulated as a predetermined criterion. In other words, when the driver is detected by the subsequent activation of the driver assistance system, a type of autopilot is activated which maintains at least one currently present driving situation in which the driver or the motor vehicle was when it was detected that the driver was holding his hands taken from the steering wheel. The driver assistance system can therefore be, for example, a cruise control system which automatically keeps a distance to a vehicle in front of the vehicle substantially constant as soon as it has been detected that the driver has removed his hands from the steering wheel. Alternatively or additionally, it is also possible that the transverse guidance of the motor vehicle is controlled by the activated driver assistance system such that the motor vehicle automatically complies with the currently traveled lane. In particular, it is provided that no complex maneuvers, such as overtaking or the like, are performed by the activated driver assistance system, wherein only the current driving situation is maintained.
Gemäß einer weiteren vorteilhaften Ausführungsform der Erfindung ist es vorgesehen, dass sobald erfasst wird, dass der Fahrer das Lenkrad mit zumindest einer Hand berührt, die Steuerung der Längsführung und/oder der Querführung des Kraftwagens mittels des Fahrerassistenzsystems unterbrochen wird. Mit anderen Worten erfolgt eine Deaktivierung eines teil- oder vollpilotierten Fahrens des Kraftwagens, sobald erfasst worden ist, dass der Fahrer nach der Freihandfahrt seine Hände wieder an das Lenkrad angelegt hat.According to a further advantageous embodiment of the invention, it is provided that as soon as it is detected that the driver touches the steering wheel with at least one hand, the control of the longitudinal guide and / or the transverse guidance of the motor vehicle is interrupted by means of the driver assistance system. In other words, there is a deactivation of a partially or fully pilot driving the motor vehicle, as soon as it has been detected that the driver has put his hands back to the steering wheel after the freewheel.
In weiterer vorteilhafter Ausgestaltung der Erfindung ist vorgesehen, dass die Steuerung der Längsführung und/oder der Querführung nur dann unterbrochen wird, falls zusätzlich mittels einer Blickerfassungseinrichtung erfasst wird, dass der Fahrer seinen Blick auf einen vorgegebenen, insbesondere in Fahrtrichtung vor dem Kraftwagen liegenden Bereich gerichtet hat. Dadurch wird sichergestellt, dass der Fahrer tatsächlich das Verkehrsgeschehen im Blick hat, wenn dieser seine Hände wieder an das Lenkrad angelegt hat. Das teil- oder vollpilotierte Fahren wird somit erst dann unterbrochen wird, wenn davon ausgegangen werden kann, dass der Fahrer das Verkehrsgeschehen beobachtet.In a further advantageous embodiment of the invention, it is provided that the control of the longitudinal guide and / or the transverse guide is only interrupted if it is additionally detected by means of a gaze detection means that the driver directed his gaze to a predetermined, especially in the direction of travel in front of the car area Has. This ensures that the driver actually has the traffic in view when he has put his hands back to the steering wheel. The partially or fully piloted driving is thus interrupted only when it can be assumed that the driver is watching the traffic.
Gemäß einer weiteren vorteilhaften Ausführung der Erfindung ist es vorgesehen, dass die Steuerung der Längsführung erst dann unterbrochen wird, falls zusätzlich erfasst wird, dass der Fahrer ein Gaspedal und/oder ein Bremspedal betätigt. Alternativ kann es auch vorgesehen sein, dass die Steuerung der Längsführung bereits dann unterbrochen wird, falls zusätzlich erfasst wird, dass der Fahrer einen Fuß in Richtung eines Gaspedals und/oder eines Bremspedals bewegt. Vorzugsweise kann die Steuerung der Längsführung auch erst dann unterbrochen werden, falls erfasst wird, dass der Fahrer ein Gaspedal und/oder ein Bremspedal mit einem Fuß berührt, jedoch das Pedal oder die Pedale noch nicht betätigt hat. Mit anderen Worten wird also erfasst, ob der betreffende Fuß gerade auf eines der Pedale gesetzt worden ist beziehungsweise auf einem der Pedale ruht. Es wird also entweder erfasst, ob ein Fahrer das Fahrzeug abbremst oder beschleunigt oder, ob er dies sehr wahrscheinlich vor hat. Entscheidend ist, dass erfasst wird, ob der Fahrer von der Stellung seiner Gliedmaßen her, insbesondere seiner Füße und seiner Hände, in der Lage ist, die Kontrolle über den Kraftwagen vollumfänglich zu übernehmen. Erst bei Vorliegen von einem dieser Fälle und in Kombination mit einer erfassten Beendigung der Freihandfahrt wird die teil- oder vollautonome Steuerung der Längsführung durch das Fahrerassistenzsystem unterbrochen.According to a further advantageous embodiment of the invention, it is provided that the control of the longitudinal guide is only interrupted if it is additionally detected that the driver actuates an accelerator pedal and / or a brake pedal. Alternatively, it can also be provided that the control of the longitudinal guide is already interrupted if it is additionally detected that the driver moves a foot in the direction of an accelerator pedal and / or a brake pedal. Preferably, the control of the longitudinal guidance can also be interrupted only if it is detected that the driver has touched an accelerator pedal and / or a brake pedal with one foot, but has not yet actuated the pedal or the pedals. In other words, it is thus detected whether the foot in question has just been placed on one of the pedals or rests on one of the pedals. It is thus either recorded whether a driver slows down or accelerates the vehicle or whether he is very likely to do so. It is crucial that it is determined whether the driver, from the position of his limbs, in particular his feet and hands, is able to take full control of the car. Only in the presence of one of these cases and in combination with a recorded termination of the free-hand drive, the partially or fully autonomous control of the longitudinal guidance is interrupted by the driver assistance system.
In weiterer vorteilhafter Ausgestaltung der Erfindung ist es vorgesehen, dass die Steuerung der Querführung erst dann unterbrochen wird, falls der Fahrer das Lenkrad und/oder einen Blinker des Kraftwagens betätigt. Dadurch kann sichergestellt werden, dass erst bei einem sehr wahrscheinlich beabsichtigten Spurwechsel die automatische Querführung des Kraftwagens unterbrochen wird.In a further advantageous embodiment of the invention, it is provided that the control of the transverse guide is only interrupted if the driver operates the steering wheel and / or a turn signal of the motor vehicle. This can ensure that only at a very likely intentional lane change the automatic lateral guidance of the motor vehicle is interrupted.
Eine weitere vorteilhafte Ausführungsform der Erfindung sieht vor, dass mittels einer als Time-of-Flight-Kamera ausgebildeten Erfassungseinheit der Erfassungseinrichtung erfasst wird, ob der Fahrer das Lenkrad mit keiner Hand berührt. Mittels einer Time-of-Flight-Kamera kann besonders fein aufgelöst und somit zuverlässig detektiert werden, ob der Fahrer das Lenkrad tatsächlich gerade mit seiner eigenen Hand oder mit seinen beiden eigenen Händen berührt oder nicht.A further advantageous embodiment of the invention provides that it is detected by means of a trained as a time-of-flight camera detection unit of the detection device, whether the driver touches the steering wheel with no hand. By means of a time-of-flight camera can be particularly finely resolved and thus reliably detected whether the driver actually touches the steering wheel with his own hand or with both his own hands or not.
Eine weitere vorteilhafte Ausführungsform der Erfindung sieht vor, dass mittels einer am Lenkrad angeordneten, berührungsempfindlichen Sensoreinheit erfasst wird, ob der Fahrer das Lenkrad des Kraftwagens mit keiner Hand berührt. Dadurch kann zusätzlich oder alternativ eine Berührung des Lenkrads durch den Fahrer mit einem oder beiden seiner Hände erfasst werden.A further advantageous embodiment of the invention provides that is detected by means of a steering wheel arranged on the touch-sensitive sensor unit, whether the driver touches the steering wheel of the motor vehicle with no hand. As a result, additionally or alternatively, a touch of the steering wheel by the driver with one or both of his hands can be detected.
Der erfindungsgemäße Kraftwagen umfasst eine Erfassungseinrichtung, welche dazu ausgelegt ist, zu erfassen, ob ein Fahrer des Kraftwagens ein Lenkrad des Kraftwagens berührt. Des Weiteren weist der Kraftwagen wenigstens ein Fahrerassistenzsystem auf, welches dazu ausgelegt ist, die Längsführung und Querführung des Kraftwagens zu steuern. Der erfindungsgemäße Kraftwagen zeichnet sich dadurch aus, dass der Kraftwagen eine Steuereinrichtung umfasst, welche dazu ausgelegt ist, das Fahrerassistenzsystem zur Steuerung der Längsführung und/Querführung des Kraftwagens zu aktivieren, falls erfasst wird, dass der Fahrer das Lenkrad mit keiner Hand berührt. Vorteilhafte Ausgestaltungen des erfindungsgemäßen Verfahrens sind als vorteilhafte Ausgestaltungen des Kraftwagens anzusehen, wobei der Kraftwagen insbesondere Mittel zur Durchführung der Verfahrensschritte aufweist.The motor vehicle according to the invention comprises a detection device which is designed to detect whether a driver of the motor vehicle touches a steering wheel of the motor vehicle. Furthermore, the motor vehicle has at least one driver assistance system which is designed to control the longitudinal guidance and transverse guidance of the motor vehicle. The motor vehicle according to the invention is characterized in that the motor vehicle comprises a control device which is designed to activate the driver assistance system for controlling the longitudinal guidance and / transverse guidance of the motor vehicle if it is detected that the driver does not touch the steering wheel with any hand. Advantageous embodiments of the method according to the invention are to be regarded as advantageous embodiments of the motor vehicle, wherein the motor vehicle in particular comprises means for performing the method steps.
Weitere Vorteile, Merkmale und Einzelheiten der Erfindung ergeben sich aus der nachfolgenden Beschreibung eines bevorzugten Ausführungsbeispiels sowie anhand der Zeichnung. Die vorstehend in der Beschreibung genannten Merkmale und Merkmalskombinationen, sowie die nachfolgend in der Figurenbeschreibung genannten und/oder in den Figuren alleine gezeigten Merkmale und Merkmalskombinationen sind nicht nur in der jeweils angegebenen Kombination, sondern auch in anderen Kombinationen und in Alleinstellung verwendbar, ohne den Rahmen der Erfindung zu verlassen.Further advantages, features and details of the invention will become apparent from the following description of a preferred embodiment and from the drawing. The features and feature combinations mentioned above in the description, as well as the features and feature combinations mentioned below in the description of the figures and / or shown alone in the figures, can be used not only in the respectively specified combination but also in other combinations and alone, without the frame to leave the invention.
Ausführungsbeispiele der Erfindung werden nachfolgend anhand schematischer Zeichnungen näher erläutert. Es zeigen:Embodiments of the invention are explained in more detail below with reference to schematic drawings. Show it:
Ein Kraftwagen
Mit anderen Worten ist die Erfassungseinrichtung
Dadurch können solche Detektionsfehler vermieden werden, in welchen beispielsweise ein Beifahrer das Lenkrad
Schließlich umfasst der Kraftwagen
Nachfolgend wird ein Verfahren zum Betreiben des Fahrerassistenzsystems
Zunächst wird mittels der Erfassungseinrichtung
In
Sobald mittels der Erfassungseinrichtung
Zusätzlich kann es auch vorgesehen sein, dass die Steuerung der Querführung erst dann unterbrochen wird, falls der Fahrer
Sollte der Fahrer
Claims (12)
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