DE102015204365B4 - Device and method for autonomous or semi-autonomous control of a vehicle - Google Patents

Abstract

A device (110) for autonomously or partially autonomously controlling a vehicle, wherein at least one haptic interface (112) is provided between a driver and the vehicle, the haptic interface (112) having at least three distinguishable statuses (118), each status (118) designates an operating mode of the vehicle, which is adjustable in each case by an actuation of the haptic interface (112) by the driver's foot (116), wherein the haptic interface (112) is configured as a bidirectional haptic interface, wherein the haptic interface ( 112) is arranged such that a first status (122) is adjustable in which the driver's foot (116) is disconnected from the haptic interface (112), - a second status (124) is adjustable in which a reduction a counterforce on the foot (116) of the driver is provided, wherein a setting of the second status (124) is an authorization for autonomous or semi-autonomous control of the vehicle, and wherein in the second status (124) at least one haptic signal (128) is deliverable to the driver's foot (116) and a third status (126) is adjustable in which the Haptic interface (112) by an operation by means of the foot (116) of the driver a braking effect on the vehicle is exercisable.

Description

The present invention relates to an apparatus and a method for autonomous or semi-autonomous control of a vehicle and to a vehicle equipped with such a device.

State of the art

The prior art discloses a multiplicity of devices and methods for the autonomous or semi-autonomous control of a vehicle, in particular of a motor vehicle, by a driver. In order to enable the autonomous or partially autonomous driving, this at least one interface between the driver and the vehicle is provided, via which the driver can give the vehicle an authorization for autonomous or semi-autonomous control of the vehicle. On the other hand, the vehicle usually has at least one sensor which is set up to detect at least one behavior of the driver and to take this into account in the autonomous or semi-autonomous control of the vehicle.

Known approaches are to grant an authorization for autonomous or semi-autonomous control of the vehicle by pressing keys in the vehicle compartment as well as by monitoring a position or action of the driver, which is about in a constantly required steering wheel contact to maintain the connection between the driver and the vehicle. Furthermore, approaches are known, by haptic information signals, which can be conducted about the seat on which the driver is located in the body of the driver to transmit simple status messages to the driver of the vehicle. Although seats with haptic actuators are very well suited for giving signals to the driver, they offer virtually no possibility for the driver to actively transmit signals and inputs to the vehicle, forcing the driver to use further operating elements in the vehicle for this purpose ,

The DE 10 2013 224 118 A1 discloses a vehicle system having a steering wheel sensor, a brake / accelerator pedal sensor, and an attention generation sensor. This allows state information on the driver's interaction with the vehicle to be determined, for example, whether at least one driver's hand is in contact with the steering wheel, whether the driver's foot or shoe is on the pedal, or the driver's eyes while driving directed in the forward direction.

From the DE 10 2013 002 778 A1 It is known to use an accelerator pedal, which is already present in the vehicle, to monitor the responsiveness of the driver. A possible decrease in the responsiveness of the driver can be determined by determining whether an accelerator pedal value exceeds a lower limit by the driver no longer exerts sufficient pressure on the accelerator pedal or unconsciously even takes his foot completely from the accelerator pedal.

In the DE 10 2008 010 832 A1 an output system for signals to the driver is described, which is adapted to provide the driver with a warning and / or information signal. For this purpose, it is proposed to output a uniform output signal for information, assistance and / or security information. In particular, the signal may take the form of at least one haptic signal, wherein at least one property of the haptic signal is selected depending on the urgency of the current situation and / or the direction in which the current situation occurs. For this purpose, it is proposed to provide the haptic signal with an intensity, a sequence or a rhythm and to transmit the haptic signal, for example via the seat, the steering wheel, the floor panel or the pedals.

The DE 10 2012 217 677 A1 discloses a method for controlling a haptic accelerator pedal in a motor vehicle. According to this method, the accelerator pedal can be displaced within a total displacement range against a counterforce proportional to a displacement path. Within a partial displacement range, a haptically detectable signal can be generated by generating an additional counterforce. In order to be able to signal to the driver that the exceeding of a specific position, for example a position corresponding to a maximum force value, is imminent, the additional counterforce can be reduced locally shortly before reaching the determined position, which can be perceived by the driver as if the accelerator pedal were engaged can feel.

DE 37 09 388 A1 discloses a device which is adapted to maintain a nearly constant driving speed (tempostat). Here, an accelerator pedal is pressed (kicked) by the driver as long as the driver wants to accelerate. If the tempo effect is canceled, the driver is a delay pedal (brake pedal) is actuated, the automatic - depending on the pedal angle - each causes a different effect.

DE 43 025 00 A1 . DE 199 223 38 A1 and DE 10 2012 217 677 A1 each reveal footswitches that perform a noticeable holding or stopping point as a force sink.

DE 10 2012 219 700 A1 discloses an accelerator pedal having an unactuated initial position, a first control range for inputting brake operation requests, and an adjoining second control range for inputting the train operating requirements.

DE 10 2007 035 424 A1 discloses a stepped accelerator pedal with a slight pressure point or with a slightly effective snap-in area. The user interface can be made multi-level or continuously adjustable, with a central storage can be provided. If the accelerator pedal is set to a neutral position or to a pressure point, this means sailing. If the new accelerator pedal is pushed forward beyond the neutral position or the pressure point, the vehicle accelerates. If the novel accelerator pedal is pushed back beyond the neutral position or the pressure point, the vehicle is delayed with recuperation.

DE 10 2013 010 076 A1 discloses using a Force Feedback accelerator pedal as a footrest in cruise control mode. For this purpose, the response force of the accelerator pedal is increased until it is higher, the force with which the foot presses on the pedal when it is placed without tension on the pedal. The increase in the response force in the accelerator pedal characteristic acts only on a short distance of the accelerator pedal. If the driver overrides this response, the cruise control switches off, and the characteristic returns to its normal characteristics.

Autonomous or semi-autonomous driving brings a significant advantage to the driver, especially when he can focus his attention on other non-driving tasks. In particular, the driver should be able to carry out autonomous or semi-autonomous driving while driving even secondary tasks, without running the risk that a non-continuous observation of the traffic and a related lack of situational awareness does not endanger others or themselves.

Performing secondary tasks, such as eating or drinking, reading or working, in particular using a smart phone, tablet or laptop, is particularly effective when both hands of the driver while driving freely available for these activities. Therefore, it is disadvantageous if at least one of the two hands a permanent steering wheel contact as authorization for autonomous or semi-autonomous control of the vehicle should be required. Nevertheless, even in the autonomous or semi-autonomous driving mode of the vehicle, the driver should always be able to remain in contact with the vehicle and be constantly available for the vehicle to receive warning and information signals.

Disclosure of the invention

This object is achieved by a method and a device for the autonomous or semi-autonomous control of a vehicle and by a vehicle which is equipped with such a device, having the features of the independent patent claims. Advantageous embodiments can be found in the dependent claims.

In a first aspect, the present invention relates to a device for autonomous or semi-autonomous control of a vehicle. In this case, the term "autonomous control" of the vehicle is understood to mean a procedure in which the vehicle, after receiving authorization from the driver, carries out a longitudinally and transversely controlled driving operation without the driver having to intervene in the driving operation. The "semi-autonomous control" of the vehicle therefore describes a procedure in which the vehicle takes over only a part of the driving operation, so that at least one of the associated tasks remains with the driver. An example of semi-autonomous driving is the operation of a delivery truck or government vehicle, such as the police, fire or ambulance, in a pedestrian area, particularly when the vehicle is to be moved by or in a moving crowd. While the autonomous driving mode in this case would require a high safety distance to the moving subjects and objects for safety reasons, since people would first have to go to the side to make for the vehicle an alley, the distance to the vehicle could be quite less than the distance that would be allowed in autonomous driving, so that this could cause large gaps, the vehicle would have to stop again or break his way, could here a interaction of the vehicle with the driver, especially using the device presented here, yet one Allow driving in the context of semi-autonomous driving.

The described device comprises at least one haptic interface between the driver and the vehicle. Here, the term "haptic interface", which may also be referred to as a "tactile interface" includes means for interaction between the driver and the vehicle, by means of which the driver by a delivery of forces and tactile stimuli can give a signal to the vehicle. The haptic interface is designed as a bi-directional haptic interface, which allows the vehicle to transmit a signal to the driver by providing mechanical stimuli which are active and / or intuitively perceptible by the driver.

According to the present invention, the haptic interface between the driver and the vehicle is operable by means of the driver's foot. This is understood to mean that the driver can use the foot or with an object that is firmly but detachably connected to the foot, in particular a shoe, to operate the haptic interface set here in order to transmit settings to the vehicle and, preferably, from the vehicle Vehicle perceived via the haptic interface signals emitted.

According to the invention, the haptic interface has at least three mutually distinguishable statuses, which are adjustable with the driver's foot. Here, the term "status" refers to a mode which the haptic interface can assume and which can be changed by an actuation of the haptic interface by the driver's foot. In addition, the vehicle could have at least one further operating mode which could be adjustable in the vehicle by means of at least one further operating element separate from the haptic interface.

According to the present invention, the haptic interface has a first status, which is characterized in that in the first status the driver's foot is separated from the haptic interface. Thus, the first status occurs in particular when the vehicle is at rest, for example in a parking position of the vehicle, regardless of whether the driver is inside or outside the driver's seat or the vehicle. Furthermore, in a particular embodiment, the haptic interface can also be set up in such a way that it allows the driver to take his foot from the haptic interface, in particular for a short period of time during driving, for instance for the brief relaxation of the driver's posture. However, in this case an authorization for autonomous or semi-autonomous control of the vehicle, which is described in more detail below, can not be dispensed with, it can be provided in this embodiment that an existing authorization by the driver can also be maintained in the first status of the haptic interface, in particular by actuating a control element other than the haptic interface in the vehicle, such as by touching the steering wheel with at least one hand and / or by pressing one or more buttons in a control panel of the vehicle.

The present haptic interface also has a second status, which is also adjustable with the driver's foot. Here, the adjustment of the second status of the haptic interface comprises an authorization for the autonomous or semi-autonomous control of the vehicle. By setting the haptic interface in the second status, such as by switching the haptic interface from the first status to the second status, the vehicle receives the authorization to take over the autonomous or semi-autonomous operation of the vehicle according to the respective default settings. It can be provided that the authorization does not take place immediately after reaching the second status, but that the second status must first be maintained over a short period of time, in particular from 0.5 to 5 seconds, preferably from 1 to 2 seconds, before the Authorization for autonomous or teilautonemem driving through the vehicle is considered granted. Authorization to autonomously or partially autonomously control the vehicle is maintained via autonomous or semi-autonomous vehicle driving by having the driver leave the foot on the haptic interface such that the haptic interface remains in the second state. As described above, in a particular embodiment, the driver can alternatively change to the first status, in which case the authorization for autonomous or semi-autonomous control of the vehicle only remains if additionally an actuation of a control element other than the haptic interface in the vehicle by the Driver is done.

In particular, to motivate the driver to leave the foot on the haptic interface in such a way that it assumes the second status and subsequently remains in the second status, there is a reduction of a counterforce which the haptic interface in the second status has on the foot intended by the driver. In this case, the reduction in the counterforce on the foot of the driver can advantageously be predetermined in such a way that the reduction of the counterforce for the driver's foot can be perceived as a latching of the haptic interface in the second status. The counterforce may in this case fall to a value below 75%, preferably below 50%, particularly preferably below 25%, of the counterforce prevailing immediately outside the second status. However, it is particularly advantageous for operating the haptic interface and / or for the contact of the foot with the haptic interface if there is always a counterforce greater than 0%. The value for the However, reduction of the counterforce in the second status may be selected, in particular, depending on an absolute value of the counterforce in the second status, such that a low absolute value of the decrease is selected in the second status with a high absolute value of the counterforce in comparison to a small one Absolute value of the counterforce in the second status. Advantageous embodiments for reducing the counterforce in the second status of the haptic interface can be found in the further description and in the examples. Regardless of the actual configuration of the drag force in the haptic interface, this feature may in particular result in the driver being given a particular incentive to endeavor to always keep his foot on the haptic interface in a manner that thereby achieves the second status the haptic interface remains occupied and thus the vehicle retains the authorization for autonomous or semi-autonomous control of the vehicle.

Since the haptic interface is present as a bi-directional haptic interface, this type of configuration of the opposing force and the thereby achieved readiness of the driver to hold the haptic interface in the second status allows at least one haptic perceptible signal to the foot in the second status the driver is deliverable. On the one hand, this can ensure that the driver can perceive the corresponding haptic signal directly or indirectly through the shoe by means of his foot located on the haptic interface and, secondly, that there is a large free space in that there is as little counterforce as possible Reference may be made to the design of the haptic perceptible signal, in particular with respect to its intensity and shape. As a result of the fact that the counterforce in the second status of the haptic interface occupies only a small value, as described above, even low intensities for the haptic-perceptible signal can suffice to transmit a warning and / or information signal to the driver in this way.

In a particularly preferred embodiment, the haptic perceptible signals can be delivered to the foot of the driver in the form of at least one pulse or at least one pulse sequence, wherein the pulse or pulse sequence can preferably be generated by means of vibrations of the haptic interface, in particular by using suitable actuators , In this case, at least one property of the haptic signal, in particular an intensity, a sequence and / or a frequency of the haptic signal, can be set in order in this way to transmit haptic-perceptible signals which can be distinguished from one another by the driver's foot. In practice, however, at most up to 10 mutually distinguishable haptic perceptible signals can be transmitted.

Therefore, it can be particularly advantageous if the haptic-perceptible signal additionally or alternatively merely sends the driver an indication of a category of signals. The term "category" here in each case a kind of signals summarized, which have a common purpose or a similar content. For example, the active haptic interface can deliver a short pulse sequence of high intensity, which can be understood as an indication of the category "warning signal". By contrast, in this example, a single, double, or triple pulse of low amplitude may be indicative of the category of "information," such as environmental conditions such as rain or fog, or indicative in one direction. be understood about in a context with a navigation system. In this embodiment, the bi-directional haptic interface can therefore give the driver an immediate indication, by means of the haptic-perceptible signal, into which category he should classify the haptic-perceptible signal. Further information for the driver may in this case preferably be provided by means of a separate information display in the vehicle. This may be advantageous, in particular, if the category "information" has been selected and the driver has further information about the separate information display, which may be mounted in the vehicle or which may be provided in the form of a "head-up" display (HUD), can take. In contrast, a signal which can be assigned to the category "warning signal", however, can be assigned a short, clear salary. For example, it can be provided that the content "Warning: braking!" Is assigned to a short pulse sequence of high intensity, so that the driver can immediately follow the instruction given thereby, without having to rely on obtaining additional information from the separate information display first. Further embodiments are possible.

According to the invention, the haptic interface has a third status, which is also adjustable with the driver's foot. In this third status, a braking effect on the vehicle can be exercised by means of the haptic interface by means of an actuation by means of the driver's foot. In this way, the highest possible braking readiness can be ensured by the driver at any time. In particular, this haptic interface capability can give the driver a sense of control over the vehicle even during the autonomous or semi-autonomous Driving can thus promote a perceived by the driver safety in relation to possibly unpredictable situations and thus allow a driver's confidence in the technique of autonomous or semi-autonomous control of the vehicle. In particular, this can be a positive influence on the acceptance of the driver caused, especially in a practical introduction of automated or semi-automated driving in the field. In addition, an always existing contact of the driver to the haptic interface, which is adjustable in the third state, in which a braking action on the vehicle is exercisable, also in relation to a registration of the vehicle or liability in accidents could be advantageous.

In a first embodiment, the haptic interface may have an active haptic pedal. In this embodiment, each of the three haptic interface states described above can be adjustable, in particular, by reaching a position of the haptic pedal. Within a total displacement range, the pedal can assume different positions for this, which can be assigned to the first status, the second status or the third status. By using suitable actuators, the reduction of the counterforce required in the second status to the foot of the driver can be predefinable. Also, these or other actuators may be provided to allow the delivery of haptic perceptible signals to the driver. It is known from the prior art that a conventional vehicle may have at least one accelerator pedal, which may also be referred to as an accelerator pedal, as well as a brake pedal and optionally a further clutch pedal. According to the present embodiment of the invention, however, with the haptic active pedal a braking effect to be achieved, which is particularly comparable to the brake pedal used in the conventional vehicle. For further embodiments of the active haptic pedal reference is made to the embodiments.

In a second embodiment, the haptic interface can have at least one active haptic area set up in the vehicle, the haptic area having at least one active haptic display. The "haptic area" here is understood to mean an interface in the form of a device which can detect inputs of the driver by the foot, depending on the configuration, pressure-sensitive or also distance-sensitive and, preferably, also generate haptic perceptible signals. The haptic area is hereby mounted in a position accessible to the driver's foot.

In this case, the haptic region can be designed as a separate device which is introduced into the vehicle. Alternatively or additionally, the haptic region can be introduced into the footwell of the vehicle, for example into a floor panel, or into a component of the vehicle adjoining the footwell of the vehicle. In this case, the haptic region can be designed as a uniform active haptic surface or have a plurality of haptically active partial surfaces, which can be mounted vertically, horizontally or at an angle of inclination with respect to a part of the vehicle, fixed or variable. The haptic area does not have to be directly accessible as such, but it can also be covered by cladding materials, as long as this ensures a required functionality of the haptic area. Alternatively or additionally, the haptic interface can be firmly connected to the driver's seat. In this way, it can be made possible that in the case of a plurality of existing positions of the driver or of the driver's seat, the haptic region can be made to rotate in accordance with the position of the driver or of the driver's seat. Advantageously, in this case at least one foot on a suitable device, in particular a footrest adapted thereto, are parked, which is preferably firmly connected to the seat.

In a particularly preferred embodiment, the haptic region is set up such that the reduction of the counterforce to the driver's foot in the second status is achieved by the counterforce on the haptic region corresponding to the weight of the foot arranged on the haptic region. This can be realized in particular by the fact that, when switching from the first status to the second status of the haptic interface, an increase in the counterforce is first provided, and a decrease in the counterforce when the second status is reached. In the event that the haptic interface is in the form of the haptic area, this requirement can be realized, in particular, by the driver initially having to exert pressure on the haptic area in order to switch from the first status to the second status of the haptic area which a pressure force can be exerted on the haptic area, which exceeds the already existing weight force of the foot on the haptic area, while after reaching the second status of the haptic area it may be sufficient if the foot of the driver so remains on the haptic area, that he can only exercise the already existing weight of the foot on the haptic area. As described above, in the case of the driver taking the foot off the haptic area during the second status, the haptic area may transition to the first status. nevertheless the authorization for autonomous or semi-autonomous control of the vehicle is maintained when the driver maintains authorization by operating a control element other than the haptic interface in the vehicle.

In a further advantageous embodiment, the course of the counterforce in the second status on reaching the second status starting from the first status via a falling edge and leaving the second status in the direction of the third status via a rising edge. In this way, the above-described perception of the engagement of the haptic interface in the second status by the driver can be adjusted in a particularly advantageous manner. In addition, thereby the responsiveness of the driver can be determined and in particular by issuing a signal to the driver, preferably a haptic perceptible signal to the driver's foot, if necessary, be restored. Should the driver's foot reach the falling edge or the rising edge in the course of the drag force in the haptic interface, this can serve as a trigger for providing a corresponding signal to the driver.

The present invention further relates to a vehicle having a device described for autonomous or semi-autonomous control of the vehicle. The here provided haptic interface between the driver and the vehicle may be configured in particular in the form of an active haptic pedal and / or an active haptic area, wherein the haptic interface is introduced into the vehicle such that it can be reached with the driver's foot, wherein by means of the driver's foot one of at least three mutually distinguishable status of the haptic interface is adjustable. For further details regarding the haptic interface mounted in the vehicle, reference is made to the above description and to the embodiments.

1. a) Bereitstellen der haptischen Schnittstelle in einem ersten Status, in welchem der Fuß des Fahrers von der haptischen Schnittstelle getrennt ist;
2. b) Einstellen des Status der haptischen Schnittstelle durch den Fahrer in einen zweiten Status, wodurch eine Autorisierung zum autonomen oder teilautonomen Steuern des Fahrzeugs erfolgt;
3. c) Kontinuierliches Halten der haptischen Schnittstelle durch den Fahrer in dem zweiten Status;
4. d) Abgeben von Signalen durch das Fahrzeug an den Fuß des Fahrers über die sich in dem zweiten Status befindliche bidirektionale haptische Schnittstelle;
5. e) Einstellen des Status der haptischen Schnittstelle durch den Fahrer in einen dritten Status, um eine Bremswirkung auf das Fahrzeug auszuüben;
6. f) Einstellen des Status der haptischen Schnittstelle durch den Fahrer in den ersten Status, wobei die Autorisierung zum autonomen oder teilautonomen Steuern des Fahrzeugs durch eine Betätigung eines von der haptischen Schnittstelle verschiedenen Bedienelements in dem Fahrzeug aufrechterhalten bleibt; und
7. g) Einstellen des Status der haptischen Schnittstelle durch den Fahrer in den ersten Status, um die Autorisierung zum autonomen oder teilautonomen Steuern des Fahrzeugs aufzuheben.

In a further aspect, the present invention relates to a method for autonomous or semi-autonomous control of a vehicle. This method is characterized in that in this case a device described above or below is used for autonomous or semi-autonomous control of the vehicle. In this case, the method can be used to advantage, in particular to enable at least one of the following method steps:

1. a) providing the haptic interface in a first state in which the driver's foot is disconnected from the haptic interface;
2. b) setting the status of the haptic interface by the driver in a second status, whereby an authorization for autonomous or semi-autonomous control of the vehicle takes place;
3. c) keeping the haptic interface continuous by the driver in the second status;
4. d) delivering signals by the vehicle to the driver's foot via the bidirectional haptic interface in the second state;
5. e) setting the status of the haptic interface by the driver in a third state to exert a braking effect on the vehicle;
6. f) setting the status of the haptic interface by the driver to the first status, wherein the authorization for autonomous or semi-autonomous control of the vehicle is maintained by an actuation of a control element other than the haptic interface in the vehicle; and
7. g) setting the status of the haptic interface by the driver in the first status to cancel the authorization for autonomous or semi-autonomous control of the vehicle.

To carry out the method according to the invention, an electronically controllable device, in particular a vehicle-mounted integrated computer, may be provided, which has a program code which is set up to carry out the method. For further details with respect to the method, reference is also made to the rest of the description and the embodiments.

Advantages of the invention

The device according to the invention for the autonomous or semi-autonomous control of a vehicle, which has at least one haptic interface, in particular in the form of an active haptic pedal or an active haptic area, makes it possible, through an almost constant connection between the driver and the vehicle, by the driver's foot to provide both an authorization for autonomous or semi-autonomous driving and at the same time to ensure braking readiness by the driver. In particular, in the event that exactly one haptic interface between the driver and the vehicle is provided, that is sufficient an intended interface for both the provision of authorization and the permanent connection between the driver and the vehicle. Since the haptic interface is provided in the footwell of the vehicle and is operable by the driver's foot, fingers and hands remain free during travel, allowing the driver to perform the secondary tasks described above while driving, so that the driver can actually use the added value given by automated or semi-automated driving.

By virtue of the haptic interface having a status in which the setting of the authorization for the autonomous or semi-autonomous method is combined with a reduction of the counterforce on the driver's foot, the driver has a clear and unambiguous incentive while driving in this status so as to maintain the authorization and, preferably, to remain in communication with the vehicle for the continuous reception of signals. Nevertheless, the haptic interface also has an additional status in which a braking effect on the vehicle can be exercised via one and the same haptic interface. This gives the driver a sense of control over the vehicle, which can promote both driver perceived safety and driver confidence in autonomous or semi-autonomous vehicle control.

Thus, the present invention provides an apparatus and a method as well as a vehicle equipped with the device, which can be expected to have a positive influence on the acceptance of the automated or semi-automated driving operation of the vehicle by the driver. The described haptic interface could also bring benefits in regulatory and liability issues.

list of figures

• 1 ein bevorzugtes Ausführungsbeispiel für eine erfindungsgemäße Vorrichtung zum autonomen oder teilautonomen Steuern eines Fahrzeugs, wobei die haptische Schnittstelle zwischen dem Fahrer und dem Fahrzeug in Form eines aktiven haptischen Pedals ausgestaltet ist;
• 2 eine Kennlinie für den Verlauf der Gegenkraft F_p gegenüber einer Position s_p des haptischen Pedals innerhalb eines Gesamtverlagerungsbereichs des haptischen Pedals; und
• 3 ein weiteres, bevorzugtes Ausführungsbeispiel für eine erfindungsgemäße Vorrichtung, wobei die haptische Schnittstelle in Form eines haptischen Bereichs ausgestaltet ist.

Preferred embodiments of the present invention are illustrated in the figures and will be explained in more detail in the following description without limiting the generality. Hereby show:

• 1 a preferred embodiment of an inventive device for autonomous or semi-autonomous control of a vehicle, wherein the haptic interface between the driver and the vehicle is designed in the form of an active haptic pedal;
• 2 a characteristic curve for the course of the opposing force F _p with respect to a position s _{p of} the haptic pedal within a total displacement range of the haptic pedal; and
• 3 a further preferred embodiment of a device according to the invention, wherein the haptic interface is designed in the form of a haptic region.

Embodiments of the invention

In 1 is schematically a device 110 for (partially) autonomously controlling a vehicle. The device 110 has at least one haptic interface 112 between the driver and the vehicle. In the embodiment shown here, the haptic interface 112 in the form of an active haptic pedal 114 designed. The haptic pedal 114 is as a haptic interface 112 in this case arranged in the vehicle so that they with a foot or shoe 116 the driver is operable.

Here is the haptic pedal 114 designed such that it has three distinct states 118 which, in each case with the foot or the shoe 116 the driver are adjustable. The setting of different status 118 This is done by exerting a force on the haptic pedal 114 in a way that status 118 the haptic pedal 114 by reaching a position 120 the haptic pedal 114 is adjustable. Within a total displacement range, the haptic pedal 114 different positions 120 take what a first status 122 , a second status 124 or a third status 126 can be assigned.

Because the haptic pedal 114 in the present embodiment of the three states mentioned 118 is the haptic pedal 114 in 1 shown schematically in triplicate, each of the three representations one of the three above or below explained in more detail status 118 equivalent. In 1 Here, the moment is shown in which the driver by pressing his foot or shoe 116 the first status 122 picks up and the haptic pedal 114 by changing its position 120 in the second status 124 begins to shift.

The haptic pedal 114 this can be the first status 122 which is characterized in that in the first status 122 the foot or shoe 116 the driver of the haptic pedal 114 is disconnected. In the first status 122 is the vehicle in a resting state or the driver can, preferably for a short time, the foot or shoe 116 from the haptic pedal 114 take authorization with the autonomous or semi-autonomous control of the vehicle is then given if the authorization by pressing one of the haptic interface 112 is given by the driver different control element in the vehicle.

Upon commencement of the driving operation, the driver enters the vehicle, wherein a seat occupancy recognition, a good lock monitoring and, if appropriate, a camera can ensure that the driver is in a running position suitable for driving the vehicle. The driver then puts his foot or shoe 116 , preferably the right foot or shoe 116 , on the haptic pedal 114 which is in the first status 122 is located and adjusts by applying a force to the haptic pedal 114 a first pedal stroke, until the haptic pedal 114 the second status 124 reached. This takes place in the second status 124 a reduction in drag F _p through the haptic pedal 114 on the foot or shoe 116 the driver in a way that the driver this reduction of drag F _p as a snap of the haptic pedal 114 in the second status 124 can perceive haptic. Reaching the position 120 the haptic pedal 114 in the second status 124 gives the vehicle directly or, preferably, after a short period of time, preferably from 0.5 to 5 seconds, more preferably from 1 to 2 seconds, the authorization for the (partially) automated driving operation, which by a subsequent, preferably continuous holding the haptic pedal 114 in this position 120 , which is the second status 124 corresponds, is maintained. As a result, the vehicle performs (partially) automated driving and the driver receives a continuous stimulus, the haptic pedal 114 always in the area of the second status 124 to keep.

If an unpredictable situation occurs during the (partially) automated driving operation, such as a technical defect, the haptic pedal becomes active 114 in the second status 124 a haptic perceptible signal 128 generated by the foot 116 is perceptible to the driver. The driver can in this case or independently of the receipt of the haptic perceptible signal 128 , optionally immediately, initiate a braking process in which he the haptic pedal 114 in the third status 126 brings in which he is able to exert a braking effect on the vehicle. In this way, the driver can have one and the same haptic interface 112 also decelerate the vehicle or bring it to a standstill. As a result, he can thus obtain the above-described sense of control over the vehicle.

In 2 is a schematic diagram 130 for the drag F _p the haptic pedal 114 as a function of position 120 s _p in relation to the total displacement range of the haptic pedal 114 shown. In the first status 122 in which the foot or shoe 116 the driver of the haptic pedal 114 is disconnected, holds the haptic pedal 114 in its rest area, so that in this mode no drag F _p needs to be generated. When switching from the first status 122 to the second status, an increase of the counterforce takes place first F _p in terms of position 120 s _p , wherein upon reaching the second status, a subsequent decrease in drag F _p is provided. In the present embodiment according to 2 has the characteristic 130 the drag F _p in the second status 124 both a falling edge 132 as well as a rising edge 134 on, each of which is the area of reduced drag F _p in the second status 124 limit.

Those in the second status 124 reduced drag F _p allows in particular, in the second status 124 the at least one haptic perceptible signal 128 on the foot or shoe 116 of the driver. Likewise, when reaching the falling edge 132 or the rising edge 134 likewise the haptic perceptible signal 128 on the foot or shoe 116 be issued to the driver, in particular in order to maintain responsiveness of the driver and to move the driver to the haptic pedal 114 in the second status 124 to keep.

When passing through the haptic pedal 114 over a pressure point 136 The haptic pedal goes out 114 in the third traffic jam 126 About and it is, as in a conventional brake pedal, generates a corresponding braking force on the wheels of the vehicle. As a result, it can be ensured that the driver, as a controlling and influencing organ, is ready to brake at any time, stands with his foot on the brake, can also be integrated into the vehicle control and / or guidance.

Such a situation could occur, in particular, if sole autonomous driving of the vehicle could no longer be permitted as a result of environmental conditions or of the state of the vehicle system. For example, in a case in which a sensor system is designed to be redundant twice, a redundancy level could disappear as a result of a diagnosed error. Although there would be no restriction in the functionality of the vehicle due to the existing redundancy, but for safety reasons, a further drive in autonomous mode would no longer be possible here could by adding the driver as an additional multifunctional sensor and actuator, which via the active haptic interface 112 on the foot or shoe 116 is connected to the vehicle, yet a continuation of the driving operation are possible.

In 3 schematically is another embodiment of the device according to the invention 110 for the (partially) autonomous control of a vehicle, which is a haptic interface 112 in the form of an active haptic area 138 having. The haptic area 138 is in this case arranged in the interior of the vehicle that he with the foot or shoe 116 the driver is operable. As long as the foot or shoe 116 the driver of the haptic area 138 is separated, is the haptic area 138 in the first status 122 , To reach the second status 124 the haptic area 138 It is necessary that the foot or shoe 116 the driver a compressive force on at least a portion of the haptic area 138 exercises, which exceeds the existing weight of the foot on the haptic area. This can also be avoided, for example, that the haptic interface 112 already by simply laying on the foot or shoe 116 the driver on the haptic area 138 which exerts a force of gravity on the haptic area 138 corresponds to the second status 124 passes in which the authorization for (partially) autonomous driving is granted.

Is the haptic area 138 in the second status 124 Thus, a recording of the (semi) automated driving and due to the reduction of the counterforce on the foot or shoe takes place 116 the driver is already sufficient to stop the foot or shoe 116 the driver on the haptic area 138 to maintain the authorization. Furthermore, in the second state, tactile signals are perceivable 128 on the foot or shoe 116 the driver can be delivered.

When applying a further compressive force, which is well above the weight of the foot, here also the third status 126 the haptic area 138 be reached, in which a braking in the vehicle is exercised.

The haptic area 138 may have several haptically active faces or alternatively be configured in the form of a single haptically active surface. The active haptic interface 138 may be provided as a separate device in the vehicle or incorporated as an integral part of the floor panel in the footwell or in a component adjacent to the footwell of the vehicle. In a particular embodiment, the haptic area 138 over a rigid connection 140 with which the haptic area can be connected to the driver's seat. This type of configuration can be particularly advantageous when the driver's seat has several positions, and the haptic area 138 can be rotated according to the position of the driver or the driver's seat. Preferably, at least the relevant foot or shoe can be parked on a footrest, which can also be firmly connected to the seat.

LIST OF REFERENCE NUMBERS

110

Device for (partially) autonomous control of a vehicle

112

(bidirectional) haptic interface

114

(active) haptic pedal

116

Foot or shoe

118

status

120

position

122

first status

124

second status

126

third status

128

haptic perceptible signal

130

curve

132

falling edge

134

rising edge

136

pressure point

138

(active) haptic area

140

rigid connection

Claims (12)

A device (110) for autonomously or partially autonomously controlling a vehicle, wherein at least one haptic interface (112) is provided between a driver and the vehicle, the haptic interface (112) having at least three distinguishable statuses (118), each status (118) designates an operating mode of the vehicle, which is adjustable in each case by an actuation of the haptic interface (112) by the foot (116) of the driver, wherein the haptic interface (112) is designed as a bi-directional haptic interface, wherein the haptic interface ( 112) is arranged such that - a first status (122) is adjustable, in which the driver's foot (116) is disconnected from the haptic interface (112), - a second status (124) is adjustable, in which a reduction a counterforce on the foot (116) of the driver is provided, wherein a setting of the second status (124) an authorization z autonomous or semi-autonomous control of the vehicle, and wherein in the second status (124) at least one tactile signal (128) is deliverable to the driver's foot (116), and - a third status (126) is adjustable in which the haptic interface (112) by a Operation by means of the foot (116) of the driver a braking effect on the vehicle is exercisable. Apparatus (110) according to the preceding claim, wherein upon switching from the first status (122) to the second status (124) of the haptic interface (112), an increase in drag and upon reaching the second status (124) of the haptic interface (112) a decrease in the counterforce is provided. The apparatus (110) of any one of the preceding claims, wherein the haptic detectable signal (128) includes an indication to the driver of a category of signals, the category summarizing a type of signal having a common purpose or similar content, wherein in the vehicle, a separate information display for providing further information for the driver is provided at least from the category. The apparatus (110) of one of the preceding claims, wherein a counterforce trajectory in the second status (124) includes a trailing edge (132) and a trailing edge (134), upon reaching the trailing edge (132) or the trailing edge (132) Flank (134) a signal to the driver, in particular the haptic signal (128) to the foot (116) of the driver, can be issued. The apparatus (110) of any one of the preceding claims, wherein the haptic interface (112) comprises an active haptic pedal (114), wherein the status (118) of the haptic interface (112) is reached by reaching a position (120) of the haptic pedal (114 ) is adjustable. The device (110) of the preceding claim, wherein the haptic pedal (114) transitions into the third jam (126) upon passage of the haptic pedal (114) past a pressure point (136). Device (110) according to one of the preceding claims, wherein the haptic interface (112) comprises at least one active haptic area (138) arranged in the vehicle, in particular at least one active haptic display, wherein the haptic area (138) for the foot (116) of the driver, wherein the status (118) of the haptic interface (112) is adjustable by applying a compressive force and / or a weight force on the haptic region (138). Device (110) according to the preceding claim, wherein the haptic region (138) - designed as a separate device, - Is introduced into the footwell of the vehicle or in an adjacent to the footwell component of the vehicle, and / or - is firmly connected to a seat for the driver. Device (110) according to one of the two preceding claims, wherein the haptic region (138) is set up such that in the second state (124) the opposing force corresponds to the weight of the driver's foot (116) arranged on the haptic region (138) and the third status (126) of the haptic region (138) in which braking is applied in the vehicle is achieved upon application of a further compressive force well above the weight of the foot (116). The apparatus (110) of any one of the preceding claims, wherein the haptic interface (112) is arranged such that the first status (122) of the haptic interface (112) then comprises the authorization to autonomously or partially autonomously control the vehicle when the authorization by Actuation of a different from the haptic interface control element in the vehicle by the driver is present. Vehicle equipped with a device (110) for autonomous or semi-autonomous control of the vehicle according to one of the preceding claims. Method for the autonomous or semi-autonomous control of a vehicle, wherein a device (110) for the autonomous or semi-autonomous control of the vehicle according to one of the preceding claims relating to the device is used.

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