DE102015200768A1 - Method for operating a vehicle - Google Patents

Abstract

The invention relates to a method for operating a vehicle, wherein in a first step S1 data is detected and stored during at least one drive by means of a driver assistance system, wherein the data relate to a driving behavior of a user while driving on a specific route. In a second step S2, the data for the occupancy and storage of driving parameters are retrieved and processed, the driving parameters are both route-specific and user-specific, and in a third step S3, the driving parameters in the highly automated or fully automated control of the vehicle when driving the particular route retrieved and used.

Description

The present invention relates to a method for operating a vehicle.

State of the art

It is generally known in modern vehicle technology to provide the vehicle driver of a vehicle with various driver assistance systems for assisting in guiding the vehicle.

Furthermore, driver assistance systems are known from the prior art in which the vehicle guidance is taken over either semiautomatically or fully automatically by the driver assistance system. For example, both driving companies aim to make it easier for the driver to drive the vehicle. Thus, for example, the driver can deliver the driving task over a longer time completely to the driver assistance system in a traffic jam, so that it is possible for the driver to withdraw from the driving task.

The acceptance of such semi-automatic or fully automatic driver assistance systems by the driver depends on various aspects. In addition to aspects relating to acquisition costs, user-friendliness and driving safety, such an aspect is whether the driving behavior in semi-automatic or fully automatic driving differs greatly from or is similar to the familiar, individual driving behavior of the vehicle driver.

In general, it can be stated that the acceptance of a fully automatic or semi-automatic vehicle guidance increases if the resulting driving behavior does not deviate significantly from the individual driving behavior of the driver, that is, if the driver does not perceive it as too aggressive, too sluggish, too unsafe.

It is therefore desirable to provide an adaptive driver assistance system which recognizes the individual driving behavior of the vehicle driver and then adapts driving parameters of the vehicle control so that the driving behavior in semi-automatic or fully automatic driving differs as little as possible from the individual driving behavior of the vehicle driver.

A difficulty in the implementation of this goal is that the individual driving behavior strongly depends on various factors to which the driver reacts depending on the situation with adjusting the driving behavior. Such factors include traffic density, route topology, weather and visibility, speed limits, and passing through special locations such as kindergartens, hospitals, or speed control installations.

The automatic recognition of all these influencing variables and the matching adaptation of the driving behavior of the driver assistance system represents an extremely complex task.

Disclosure of the invention

The invention is therefore based on the object, compared to the prior art improved method for adjusting the driving behavior of a driver assistance system with semi-automatic or fully automatic vehicle guidance, hereinafter called simply driver assistance system, to the individual driving behavior of the driver, in the other called user to specify that the avoids the above difficulties and achieved with the least possible effort reliable adaptation and high acceptance by the user.

The object is achieved by a method having the features of independent claim 1. Advantageous embodiments are the subject of each dependent subclaims. Further features and details of the invention will become apparent from the dependent claims, the description and the drawings.

• S1. Detektieren und Speichern von Daten während zumindest einer Fahrt mittels eines Fahrerassistenzsystems, wobei sich die Daten auf ein Fahrverhalten eines Benutzers während eines Befahrens einer bestimmten Strecke beziehen,
• S2. Abrufen und Verarbeiten der Daten zur Belegung und Speicherung von Fahrparametern, wobei die Fahrparameter sowohl streckenspezifisch als auch benutzerspezifisch sind,
• S3. Abrufen und Verwenden der Fahrparameter bei der hochautomatisierten oder vollautomatisierten Steuerung des Fahrzeugs beim Befahren der bestimmten Strecke.

According to the invention, a method for operating a vehicle is provided, which comprises the following steps:

• S1. Detecting and storing data during at least one trip by means of a driver assistance system, the data relating to a driving behavior of a user while driving on a specific route,
• S2. Retrieving and processing the data for the occupancy and storage of driving parameters, the driving parameters being both route-specific and user-specific,
• S3. Recall and use the driving parameters in the highly automated or fully automated control of the vehicle when driving the particular route.

The term "driving behavior" in this context means inter alia: preferred speed and acceleration ranges, distance to vehicles in front, cornering speeds and cornering, braking behavior, or choice of gear ratios. This data is continuously updated in modern vehicles various sensors that are well known in the art, and include GPS systems, among others. The detection and storage of the relevant data in step S1 can take place, for example, by a microprocessor of the driver assistance system.

The data is processed in step S2 and thus used for occupancy of both route-specific and user-specific driving parameters, i. such driving parameters that are assigned to both the particular route and the user. From the detected and stored data with regard to the acceleration behavior, for example, the driving parameter maximum acceleration along the specific route can be obtained. If the various data during processing for assignment of the driving parameters linked together, such as the acceleration curve when driving the particular route with the geographical position of the vehicle, for example, a maximum acceleration at a certain point along the specific route can be stored as driving parameters. Other statistical operations may also be performed during the processing of the data and serve as a basis for defining the driving parameters, for example averaging.

The steps S1 and S2 may also be performed during multiple trips, the driving parameters being determined in this manner by the processing of data detected and stored during several.

It is essential for the present invention that the data and driving parameters relate to a driving behavior of a user while driving on a certain route, which is why the driving parameters are route-specific driving parameters. This achieves a drastic simplification of the adaptation of the driving behavior. For example, the particular route may be the daily commute of the user, which is routinely subject to a comparable traffic density, has a constant route topology and always has the same speed limits, and always has the same special locations as kindergartens, hospitals, or speed control installations.

If the particular route, for example the daily commute, is driven by the user and a semi-automatic or fully automatic vehicle control is carried out in this case, the driver assistance system uses the driving parameters occupied and stored for this particular route in step S2 in step S3. In this way, the driver assistance system provides the user with a driving behavior which corresponds to that which he himself uses when driving the particular route, in this example the working route. As a result, a high acceptance of the driver assistance system is achieved by the user.

In a preferred embodiment, step S1 (detecting and storing data) includes the step of defining the particular route. This makes sense if several specific routes with different track character are driven with the same vehicle, for example both routes within exclusively urban development as well as routes with predominantly motorway section. These different specific routes can substantiate very different driving behavior of the user, which requires different driving parameters.

In each case different preferred embodiments, the definition of the specific route by the user, who notifies the driver assistance system that the detected and stored data are assigned to the specific route, or by the driver assistance system, which automatically recognizes that the detected and stored data of the specific route be assigned.

In order to enable the use of the same vehicle for a plurality of users with different driving behavior, an identification of the user relative to the driver assistance system is advantageously carried out, wherein this identification can be carried out by a manual input of the user, automatically by the driver assistance system, and / or by additional identification means. The steps S1, S2 and S3 of the method according to the invention then lead to different sets of user-specific driving parameters, which are respectively assigned to the different users and used for them.

• • Geschwindigkeitsverlauf entlang der bestimmten Strecke,
• • Beschleunigungsverlauf entlang der bestimmten Strecke,
• • Bremsverhalten entlang der bestimmten Strecke,
• • Kurvengeschwindigkeiten für jede Kurve entlang der bestimmten Strecke,
• • Positionen entlang der bestimmten Strecke, an denen ein Abbremsen des Fahrzeugs durch den Benutzer erfolgt,
• • Abstand zu vorausfahrenden Fahrzeugen, und
• • Wahl von Getriebeübersetzungen.

In a preferred embodiment, the data includes at least one of the following quantities:

• • speed course along the specific route,
• Acceleration course along the specific route,
• • braking behavior along the specific route,
• • cornering speeds for each curve along the particular route,
• Positions along the particular route where the vehicle is being decelerated by the user,
• • Distance to vehicles in front, and
• • Choice of gear ratios.

The step S2, the occupancy of driving parameters, may include the application of statistical methods to the data that has been detected and stored over a certain number of trips. Such statistical methods may include, for example, determining an average or maximum value of the data over a certain number of trips, or filtering out certain data that is only detected once or otherwise uncharacteristic.

Furthermore, step S2, the assignment of driving parameters, may include the assignment of non-similar data to one another. If the non-similar data during processing for assignment of the driving parameters linked together, such as the acceleration curve when driving the particular route with the geographical position of the vehicle, for example, a maximum acceleration at a particular point along the specific route can be stored as driving parameters.

• • Geschwindigkeitsverlauf entlang der bestimmten Strecke,
• • Beschleunigungsverlauf entlang der bestimmten Strecke,
• • Bremsverhalten entlang der bestimmten Strecke,
• • Kurvengeschwindigkeiten für jede Kurve entlang der bestimmten Strecke,
• • Positionen entlang der bestimmten Strecke, an denen ein Abbremsen des Fahrzeugs durch den Benutzer erfolgt,
• • Abstand zu vorausfahrenden Fahrzeugen, und
• • Wahl von Getriebeübersetzungen.

According to a preferred embodiment, the driving parameters include at least one of the following variables:

• • speed course along the specific route,
• Acceleration course along the specific route,
• • braking behavior along the specific route,
• • cornering speeds for each curve along the particular route,
• Positions along the particular route where the vehicle is being decelerated by the user,
• • Distance to vehicles in front, and
• • Choice of gear ratios.

It is particularly preferred if the user can manually edit, in particular overwrite, the data determined and stored during a single journey and / or the driving parameters. As a result, the user can change individual, disturbing him driving parameters in his spirit, whereby the acceptance of the semi-automatic or fully automatic vehicle control can be increased again.

In a preferred embodiment, the retrieval and / or storage of the data and / or driving parameters can take place via a local memory integrated in the driver assistance system. Such memories are known per se in the prior art.

Preferably, the retrieval and / or storage of the data and / or driving parameters via a network communication with a remote memory can be done. Such systems are known as "cloud systems". In this way, it is possible, for example, for the user to be able to access the same driving parameters with a plurality of driver assistance systems or from a plurality of vehicles.

In a further development of the method according to the invention, further driver assistance systems which can be assigned to other users can also store data on the remote memory and retrieve it, so that an exchange of data and / or driving parameters of different driver assistance systems and possibly different users is possible. This makes it possible, for example, for special traffic situations along the specific route that require a specific driving style to be forwarded from other vehicles or from their driver assistance systems to other vehicles or their driver assistance systems, which benefits a secure traffic flow and a pleasant driving behavior.

According to the invention, it is possible for the steps S1, S2 and S3 to be carried out during the same journey on the particular route, in particular at the same time. This means that under semi-automatic or fully automatic vehicle guidance, the vehicle travels the specific route while using certain driving parameters, while at the same time data is being detected and stored. In this case, it is possible that the data just detected and stored are retrieved and processed, for example in a statistical operation together with data from previous journeys, whereby updated driving parameters are obtained, which in turn are retrieved and used during the current journey along the particular route. As a result, it is possible, for example, for exceptionally increased traffic density along the specific route to be included in the current driving parameters.

In another preferred embodiment, it is provided that the steps S1 and S2 are performed during another drive along the specific route than the step S3. This means that in the current journey along the preferred route only data are detected and stored and used to occupy the driving parameters, while these driving parameters are used only on a later trip along the particular route. This may be the case, for example, if the user himself is driving the vehicle during the current journey while activating semi-automatic or fully automatic vehicle guidance on a later trip, while the driving parameters used from previous trips are being used, However, no detection of data and no determination of driving parameters takes place.

Other features, applications and advantages of the invention will become apparent from the following description of the embodiment of the invention, which is illustrated in the figures. The description, the associated figure and the claims contain numerous features in combination. A person skilled in the art will consider these features, in particular also the features of different exemplary embodiments, individually and combine them into meaningful further combinations. It should be noted that the features illustrated are of a descriptive nature only and may be used in combination with features of other developments described above and are not intended to limit the invention in any way.

drawings

The invention will be explained in more detail below with reference to preferred embodiments, wherein the same reference numerals are used for the same features. The drawing is schematic and shows:

1 A flowchart of an embodiment of the method according to the invention.

2 A flowchart of another embodiment of the method according to the invention.

In the 1 a flow chart of a first preferred embodiment of the method according to the invention is shown. reference characters 50 denotes various initializations that are conveniently but not necessarily performed.

This includes an identification of the user with respect to a driver assistance system, wherein this identification can be effected by a manual input of the user, automatically by the driver assistance system, and / or by additional identification means. As an additional means of identification can serve, for example, a mobile phone or smartphone, which is carried by the user and connects when entering the driver assistance system, if this is within reach.

The subsequently described steps of the method according to the invention then lead to different sets of user-specific driving parameters 40 , where the driving parameters 40 are each assigned to the different users and used for them.

As another initialization is in place 50 the definition of a particular route possible. This is especially useful when using the same vehicle several specific routes are driven with different track character, for example, both routes within urban development only as well as routes with predominant highway share. These different specific routes can substantiate greatly different driving behavior of the user, which is why route-specific driving parameters are defined by defining the particular route 40 occupied, stored and used.

In respectively different preferred embodiments, the definition of the particular route by the user notifying the driver assistance system that detected and stored data occurs 30 be assigned to the particular route, or by the driver assistance system, which automatically detects that the detected and stored data 30 be assigned to the particular route. This can be done, for example, in that the driver assistance system automatically recognizes, based on data transmitted by a GPS system of the vehicle, that the particular route is being driven, or based on the day of the week and the time of day.

reference characters 100 denotes a first driving 100 along the specific route. During this first drive 100 the driver assistance system detects and stores the data 30 , which refers to a driving behavior of a user during the first drive 100 refer to the particular route.

• • Geschwindigkeitsverlauf entlang der bestimmten Strecke,
• • Beschleunigungsverlauf entlang der bestimmten Strecke,
• • Bremsverhalten entlang der bestimmten Strecke,
• • Kurvengeschwindigkeiten für jede Kurve entlang der bestimmten Strecke,
• • Positionen entlang der bestimmten Strecke, an denen ein Abbremsen des Fahrzeugs durch den Benutzer erfolgt,
• • Abstand zu vorausfahrenden Fahrzeugen, und
• • Wahl einer Getriebeübersetzung.

In a preferred embodiment, the data concludes 30 at least one of the following sizes

• • speed course along the specific route,
• Acceleration course along the specific route,
• • braking behavior along the specific route,
• • cornering speeds for each curve along the particular route,
• Positions along the particular route where the vehicle is being decelerated by the user,
• • Distance to vehicles in front, and
• • Choice of gear ratio.

The term "driving behavior" in this context means, inter alia: preferred speed and acceleration ranges, distance to preceding vehicles, cornering speeds and cornering, braking behavior, or choice of Gear ratios. Such data is continually provided in modern vehicles by various sensors well known in the art, including GPS systems.

The storage of the detected data 30 is done using a memory 60 by a microprocessor of the driver assistance system. The memory 60 In a preferred embodiment, it may be a local memory integrated in the driver assistance system. Such memories are known per se in the prior art.

Optionally, the memory 60 also be a remote memory with which the driver assistance system communicates via a network. Such systems are known as "cloud systems". In this way, it is possible, for example, for the user to obtain data from a plurality of driver assistance systems or from a plurality of vehicles 30 can store in the memory.

In a development of the method according to the invention, further driver assistance systems that can be assigned to other users can also store data on the remote memory 60 and retrieve from it, so that an exchange of data of different driver assistance systems and possibly different users is possible. As a result, it is possible, for example, for special traffic situations along the specific route which require a certain driving style to be forwarded by other users or their driver assistance systems to other users or their driver assistance systems, which benefits a secure traffic flow and a pleasant driving behavior.

The data 30 be in step 200 from the store 60 accessed and processed and so for the assignment of both route-specific and user-specific driving parameters 40 used. From the detected and stored data 30 With regard to the acceleration behavior, for example, the driving parameter maximum acceleration along the specific route can be obtained. Be the different data 30 during processing for the assignment of the driving parameters 40 For example, the acceleration curve when driving along the specific route with the geographical position of the vehicle can, for example, also be a maximum acceleration at a specific location along the specific route as one of the driving parameters 40 be deposited. Other statistical operations may be involved in the processing of the data 30 be carried out and as a basis for determining the driving parameters 40 serve, for example, an averaging.

The step 200 may be the application of statistical methods to the data 30 lock in. Even if in 1 only a first trip is shown, it is provided in a preferred embodiment of the invention, further data for the determination of the parameters 40 used, which were detected and stored during several trips, and which were preferably subjected to statistical operations. Such statistical methods may include, for example, determining an average or maximum value of the data over a certain number of trips, or filtering out certain data that is only detected once or otherwise uncharacteristic.

In 1 an embodiment is shown in which the step 200 is performed when the first driving 100 the particular route is completed. The end of the first drive 100 the particular route can be the driver assistance system 20 for example, be communicated manually by the user, but it can also automatically based on a transmitted from a GPS system position or based on a specific engine downtime on the part of the driver assistance system 20 be determined. But it is also conceivable that the parameters 40 already during the first drive 100 determined the particular route.

After determining the driving parameters 40 become the driving parameters 40 in the store 60 saved for later use.

• • Geschwindigkeitsverlauf entlang der bestimmten Strecke,
• • Beschleunigungsverlauf entlang der bestimmten Strecke,
• • Bremsverhalten entlang der bestimmten Strecke,
• • Kurvengeschwindigkeiten für jede Kurve entlang der bestimmten Strecke,
• • Positionen entlang der bestimmten Strecke, an denen ein Abbremsen des Fahrzeugs durch den Benutzer erfolgt,
• • Abstand zu vorausfahrenden Fahrzeugen, und
• • Wahl einer Getriebeübersetzung.

According to a preferred embodiment, the driving parameters close 40 at least one of the following sizes:

• • speed course along the specific route,
• Acceleration course along the specific route,
• • braking behavior along the specific route,
• • cornering speeds for each curve along the particular route,
• Positions along the particular route where the vehicle is being decelerated by the user,
• • Distance to vehicles in front, and
• • Choice of gear ratio.

Essential for the present invention is that the data 30 and driving parameters 40 refer to a driving behavior of a user while driving a certain distance, which is why it is the driving parameters 40 is route-specific driving parameters. This achieves a drastic reduction in the sizes which have an influence on the driving behavior of the user. For example, the particular route may be the daily commute of the user, which is routinely subject to a comparable traffic density, has a constant route topology and always has the same speed limits, and always has the same special locations as kindergartens, hospitals, or speed control installations.

If the particular route, for example, the daily commute, once again driven by the user, as in 1 with the reference character 300 is characterized, and in this case a semi-automatic or fully automatic vehicle control is performed, the driver assistance system uses the specific route for this in the memory 60 stored driving parameters 40 , As described above, an initialization can also take place here before the start of the particular route 50 the user and / or the route to be traveled. Again, there is the possibility that these initializations are performed manually by the user or automatically by the driver assistance system.

In this way, the driver assistance system provides the user with a driving behavior which corresponds to that which he himself uses when driving the particular route, in this example the working route. As a result, a high acceptance of the driver assistance system is achieved by the user.

It is particularly preferred for the user to determine the data determined and stored during the particular journey 30 and / or the driving parameters 40 edit manually, especially override. As a result, the user can individual, disturbing driving parameters 40 Change in his sense, whereby the acceptance of the semi-automatic or fully automatic vehicle control can be increased again.

The embodiment of the 2 is different from the one in 1 illustrated embodiment only in so far as several trips 101 . 102 and 103 be performed during which data 30 . 31 and 32 won and sent to the store 60 be transmitted. In step 200 for determining the driving parameters 40 then all or just a selection of data 30 . 31 . 32 for determining the driving parameters 40 used. In particular, it is possible that in step 200 statistical operations on the data 30 . 31 . 32 applied, for example mean and / or maximum value determinations.

In another embodiment, not shown, the steps of detecting and storing the data become 30 , the determination of the driving parameters 40 , as well as their use at the same time carried out driving on the specific route. This means that the vehicle is under a semi-automatic or fully automatic vehicle guidance using certain driving parameters 40 that were either factory-set or stored 60 were determined on the basis of previous trajectories of the particular route that traverses the particular route while at the same time data 30 be detected and stored. It is possible that the data just detected and stored 30 from the store 60 retrieved and processed, for example, in a statistical operation along with data 30 from previous trips, resulting in updated driving parameters 40 which in turn are retrieved and used during the current journey along the particular route. This makes it possible, for example, that an exceptionally increased traffic density along the specific route input into the current driving parameters 40 place.

The invention is not limited to the exemplary embodiment described, but also encompasses equally effective further embodiments, which may comprise further modifications as well as combinations of features. The description of the figures is only for understanding the invention.

Claims (15)

A method of operating a vehicle comprising the steps S1. Detecting and storing data during at least one trip by means of a driver assistance system, the data relating to a driving behavior of a user while driving on a specific route, S2. Retrieving and processing the data for the occupancy and storage of driving parameters, the driving parameters being both route-specific and user-specific, S3. Recall and use the driving parameters in the highly automated or fully automated control of the vehicle when driving the particular route. A method according to claim 1, characterized in that the step S1 (detecting and storing data) includes the step of defining the particular route. A method according to claim 2, characterized in that the definition of the route is carried out by the user who is the Driver assistance system announces that the detected and stored data are assigned to the particular route. A method according to claim 2, characterized in that the definition of the route is carried out by the driver assistance system, which automatically recognizes that the detected and stored data are assigned to the particular route. Method according to one of the preceding claims, characterized in that the user is identified with respect to the driver assistance system, wherein this identification can be carried out by a manual input of the user, automatically by the driver assistance system, and / or by additional identification means. Method according to one of the preceding claims, characterized in that the data include at least one of the following variables: • speed profile along the particular route, • acceleration along the particular route, • braking behavior along the particular route, • cornering speeds for each curve along the particular route • positions along the specific distance at which the vehicle is being slowed down by the user, • distance to vehicles ahead, and • choice of transmission ratio. Method according to one of the preceding claims, characterized in that the step S2 (assignment of driving parameters) includes the application of statistical methods to the data which has been detected and stored over a certain number of journeys. Method according to one of the preceding claims, characterized in that the step S2 (assignment of driving parameters) includes the assignment of non-similar data to one another. Method according to one of the preceding claims, characterized in that the driving parameters include at least one of the following variables: speed course along the particular route, acceleration along the determined route, braking behavior along the particular route, cornering speeds for each curve along the particular route • positions along the specific distance at which the vehicle is being slowed down by the user, • distance to vehicles ahead, and • choice of transmission ratio. Method according to one of the preceding claims, characterized in that the user can manually edit the data determined and stored during a single journey and / or the driving parameters, in particular overwriting them. Method according to one of the preceding claims, characterized in that the retrieval and / or storage of the data and / or driving parameters via a local, integrated into the driver assistance system memory. Method according to one of the preceding claims, characterized in that the retrieval and / or storage of the data and / or driving parameters via a network communication with a remote memory. A method according to claim 12, characterized in that also further driver assistance systems that may be assigned to other users, store data on the remote memory and can retrieve from this, so in this way an exchange of data and / or driving parameters of different driver assistance systems is possible. Method according to one of the preceding claims, characterized in that the steps S1, S2 and S3 are carried out during the same journey of the particular route, in particular at the same time. Method according to one of claims 1-14, characterized in that the steps S1 and S2 are carried out during another trip of the particular route than the step S3.

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