DE102015217487A1 - Device and method for the automated driving of a motor vehicle - Google Patents

Abstract

The invention relates to a device (1) for automatically driving a motor vehicle (50), comprising at least one sensor (2) for detecting an environment of the motor vehicle (50), at least one controller (4) for controlling at least one actuator (5) of the motor vehicle (50) and a memory (7) for storing an environment map, wherein the controller (4) is designed to evaluate from the at least one sensor (2) detected environment data to locate the motor vehicle (50) by means of the evaluated environment data in the environment map and controlling the at least one actuator (5) of the motor vehicle (50) so that a predetermined trajectory is traversed in an automated drive, and wherein the controller (4) comprises an emergency stop mechanism (8) which is designed such that, when present at least one termination criterion (11) the automated drive is stopped by the controller (4) the vehicle (50) via the at least one actuator (5) adhere wherein the Nothaltemechanismus (8) comprises a knock sensor (9) lt. Furthermore, the invention relates to an associated method.

Description

The invention relates to a device and a method for automated driving of a motor vehicle.

Modern motor vehicles have a variety of assistance systems that assist the driver in driving the vehicle. Increasingly, semi-autonomous and autonomous systems are used, which allow semi-automatic or fully automatic control of the motor vehicle without the driver having to sit in the motor vehicle.

It is known that automobiles can be automatically driven onto trajectories with the assistance of an assistance system. For example, in this way parking spaces in garages or in parking lots can be automatically controlled by the motor vehicle. For this purpose, the surroundings of the motor vehicle are usually detected by a sensor system and the motor vehicle is localized with the aid of the environment data generated by the sensor system in a stored environment map. A stored or calculated trajectory is then retrieved and the motor vehicle is automatically controlled by the assistance system on the trajectory in the parking lot.

In order to ensure the safety of a driver, a passenger and of surrounding persons and objects at all times, safety precautions are necessary which stop the automated driving of the motor vehicle in case of danger. It is known to control the automated drive via a remote control and in case of danger via this remote control also to stop. Here, however, the possibility of intervention remains limited to the controlling person.

From the DE 10 2009 041 587 A1 a driver assistance device is known with which the driver of a motor vehicle can easily recognize a dangerous situation during an autonomous parking operation of the motor vehicle. A driver assistance device is provided, the control device of which is designed to output control signals to a drive or steering device of the motor vehicle, which cause an autonomous parking operation to be carried out. The control device is also designed to receive commands from a remote control and to interrupt an already started parking operation of the motor vehicle after receiving a predetermined interruption command. At least one camera is coupled to the control device and obtains image data about a surrounding area of the motor vehicle. The control device sends signals to the remote control which comprise the image data obtained by the camera or image data calculated therefrom.

Furthermore, it is known that opening doors or a tailgate of the motor vehicle causes the termination of the automated drive, because the vehicle electronics detects the opening and engages accordingly.

Another particularly dangerous way to cause a demolition is an entry into the monitoring range of the sensors of the motor vehicle, so that the route of the motor vehicle is blocked, the blockage is detected in the environment and the automated drive is stopped by the vehicle electronics.

However, the known devices or actions to abort the automated ride are not very suitable for an emergency.

The invention is therefore based on the problem to provide an apparatus and a method for automated driving of a motor vehicle, in which a termination of an automated ride can be effected in a simpler and safer manner.

The technical problem is solved by a device with the features of claim 1 and a method having the features of claim 10. Advantageous embodiments of the invention will become apparent from the dependent claims.

In the following, a knock sensor is generally intended to designate a sensor which is suitable for detecting pulse-like mechanical or acoustic deflections and vibrations on the motor vehicle, in particular on a motor vehicle outer surface, and for converting it into an electrical signal.

Knocking is to be understood in the following as meaning both the colloquial use of the word and generally any acoustic signal with a pulse-like character.

The device for automated driving of a motor vehicle comprises at least one sensor for detecting an environment of the motor vehicle, at least one controller for controlling at least one actuator of the motor vehicle and a memory for storing an environment map, wherein the controller is designed such, from the at least one sensor detected environment data to evaluate the motor vehicle by means of the evaluated environment data in the environment map and to control the at least one actuator of the motor vehicle, so that a predetermined trajectory is traversed in an automated drive, and wherein the controller comprises an emergency stop mechanism, which is designed such that at Having at least one termination criterion the automated ride is stopped by the controller stops the motor vehicle via the at least one actuator, wherein the emergency stop mechanism has a knock sensor.

Furthermore, a method for the automated driving of a motor vehicle is provided, comprising the following steps: detecting an environment of the motor vehicle by a sensor, locating the motor vehicle in an environment map by evaluating environment data generated from the detected environment, Automated driving along a predetermined trajectory Controlling an actuator of the motor vehicle, wherein an emergency stop mechanism breaks off the automated driving in the presence of at least one termination criterion and the motor vehicle is decelerated and brought to a halt, the emergency stop mechanism aborts the automated driving when a signal specified as a termination criterion signal was detected by a knock sensor.

The invention is based on the idea of using, as part of an emergency stop mechanism, a knock signal detected by a knock sensor as an abort criterion of an automated drive. Such a knock sensor may, for example, be sensitive to knock signals on a surface of an outer side of the motor vehicle. If the motor vehicle travels on a predetermined trajectory in an automated drive, then all surrounding persons have the possibility of effecting a termination of the automated drive by tapping on the surface of the outside of the motor vehicle, for example with the flat hand on a roof of the motor vehicle ,

The advantage of the invention is that no additional aids, e.g. a remote control or a mobile phone, are necessary to cause a termination of the automated driving of the motor vehicle in case of danger. The risk to a person causing the demolition is minimized because the person no longer needs to open a door or a tailgate of the motor vehicle during automated driving, or must go to the immediate route of the motor vehicle. The risk of tripping, mitschleifens or driving over can thus be minimized. The person causing the demolition need only be at arm's length to the motor vehicle in order to be able to knock on or off the motor vehicle. In principle, the entire surface of the motor vehicle can also serve as an "emergency stop button".

Furthermore, of course, further termination criteria are also possible, for example, the already known opening a door or a tailgate of the motor vehicle or a demolition via a remote control. Thus, the device according to the invention and the method above all act as an additional and, above all, significantly improved safety precaution.

The knock sensor can be designed in several ways. A particularly simple and effective method for detecting knocking sounds is the use of a structure-borne sound sensor. The structure-borne sound sensor is firmly connected to the motor vehicle, for example via a body, so that sound that is produced by knocking on the motor vehicle, for example on the vehicle roof, can be detected well. A further embodiment of the invention therefore provides that the knock sensor comprises a structure-borne sound sensor.

The knock sensor can also be designed as a pressure sensor. In a further embodiment it is therefore provided that the knock sensor comprises a pressure sensor. With the help of the pressure sensor, for example, deformations of body parts of the motor vehicle, as they occur during knocking, can be measured and used for further evaluation as an electrical signal.

Also possible is an embodiment in which it is provided that the knock sensor comprises a force sensor.

A further embodiment provides that the knock sensor comprises an acceleration sensor. With the help of such an acceleration sensor, for example, mechanical deflections of certain body parts, as they typically occur during tapping, can be detected and utilized.

The type of knock sensor can be chosen freely in principle. As a knock sensor, for example, even existing in the motor vehicle sensors which are suitable for detecting a knock signal can be used.

In a further embodiment, it is provided that the emergency stop mechanism comprises an evaluation device for reworking and evaluating a signal detected by the knock sensor. This has the advantage that a knock signal detected by the knock sensor can be made plausible. In order to prevent false triggering, it is expedient to rework and evaluate the signal detected by the knock sensor.

In one embodiment, it is provided that the evaluation device is designed to analyze an amplitude and / or a temporal structure of the detected signal, and the at least one termination criterion a predetermined amplitude and / or a predetermined amplitude range and / or a predetermined time Structure includes. This has the advantage that, in the context of a simple plausibility check, it is ensured that not every signal detected by the knock sensor causes a termination of the automated drive.

For example, knocking sounds detected by the knocking sensor, such as, e.g. the uniform drumming of raindrops on the roof of the motor vehicle, are detected by the evaluation and discarded as noise. Such a rain would then cause no demolition of the automated ride. Other such noise are, for example, bumps on the road and caused by the engine vibration.

In the definition of the at least one termination criterion or associated signal parameters for the evaluation should always safety requirements have priority, so that a false triggering a termination of the automated drive noise should be tolerated (false positive decision, error 2nd type) rather than a non - Canceling the automated drive despite the presence of a knock signal (wrong-negative decision, error 1st kind).

For example, a typical knock signal to cancel an automated trip may be knocking at a predetermined rate at least once. Such a knocking signal can be detected in the evaluation device in a simple manner with the aid of a threshold detector having a predetermined threshold value. Below the predetermined threshold, there is then no abort of the automated ride.

In one embodiment, it is provided that the emergency stop mechanism comprises a deactivation device, wherein the deactivation device is designed such that it can deactivate the emergency stop mechanism. Deactivation can be done automatically or manually by the driver. An automatic deactivation of the emergency stop mechanism can be achieved, for example, by means of simple logical queries as to whether predetermined criteria are met. Such a criterion may be, for example, a minimum speed of the motor vehicle, above which a deactivation takes place. Manual deactivation can be done at any time. As a result, a high level of ride comfort can be maintained.

In a further embodiment it is provided that the deactivation device automatically deactivates the emergency stop mechanism if no automated drive is performed. This automatically increases ride comfort during all non-automated trips.

It is in principle possible to use the emergency stop mechanism in addition to its application during automated rides in other situations. Thus, the emergency stop mechanism, for example, in non-automated reverse parking or other non-automated trips to stop driving, that is, for the automated braking of the motor vehicle via the actuators, are used.

In a further embodiment of the invention, it is provided that the at least one termination criterion is defined as the absence of a regular knock signal at the knock sensor. The effect of the knock signal is in principle then reversed. This has the advantage that a deadman switch can be realized. Then, not an occurrence of a knock signal is treated as a termination criterion, but an absence of a knock signal with otherwise regular knocking.

The invention will be explained in more detail with reference to preferred embodiments with reference to the figures. Hereby show:

1 a schematic representation of an embodiment of the device for automated driving of a motor vehicle;

2 a schematic representation of the position of a knock sensor on a roof of a motor vehicle.

In 1 is schematically an embodiment of a device 1 for the automated driving of a motor vehicle 50 shown. The device 1 includes a sensor system 2 and optional other sensors 3 showing the environment of the motor vehicle 50 to capture. Furthermore, the device comprises 1 a controller 4 which at least one actuators 5 and optionally further actuators as required 6 of the motor vehicle 50 controls, as well as a memory 7 , in which an environment map and at least one trajectory are stored. The control 4 includes an emergency stop mechanism 8th , where the emergency stop mechanism 8th a knock sensor 9 and optionally an evaluation device 10 and a deactivator 12 includes.

The controlled by the controller at least one actuator 5 and the other actuators 6 of the motor vehicle 50 for example, are designed to automatically control steering, switching, braking and drive systems, so that an automated ride is possible.

The knock sensor 9 can optionally or alternatively, depending on the embodiment, at least one structure-borne sound sensor 30 , at least one pressure sensor 31 , at least one force sensor 32 or at least one acceleration sensor 33 which individually or in combination detect a knock signal. Any combinations of two or more of the different sensors are possible.

In this embodiment, it is assumed by way of example that the knock sensor 9 on an entire surface of an outside 51 of the motor vehicle 50 is sensitive.

The device 1 detected by the at least one sensor 2 an environment of the motor vehicle 50 , The controller locates the collected data 4 the car 50 in the store 7 stored environment map. Detects the controller 4 For example, a free parking space to which a trajectory of the current position of the motor vehicle 50 in the store 7 is deposited or can such a trajectory otherwise provide, for example by calculating, the driver of the motor vehicle 50 select the trajectory. If the driver has selected and thus predetermined the trajectory, the driver starts the automated journey along the predetermined trajectory, for example by getting out and giving a start signal with the aid of a remote control. The car 50 will now be on the controller 4 that the at least one actuators 5 controls, automatically driven on the given trajectory.

It is assumed that the driver during the automated ride next to the motor vehicle 50 stands and monitors the parking process. Furthermore, it is now assumed for the sake of clarity that suddenly a child runs behind a rolling ball and in the direction of the reverse parked motor vehicle 50 emotional. Due to the direction of movement of the child is foreseeable that it is in a few seconds behind the motor vehicle 50 and thus will be located in the direct route. The driver recognizes the danger and knocks hard on the outside 51 of the motor vehicle 50 on a roof, for example 52 , The knock sensor 9 detects the knocking and the emergency stop mechanism 8th recognizes that it is at least one abort criterion 11 for the automated ride. The control 4 is then from the emergency stop mechanism 8th instructed that motor vehicle 50 stop what the controller 4 via appropriate control commands or signals to the actuators 5 , which the brake and the drive system of the motor vehicle 50 controls, also causes.

To recognize the at least one termination criterion 11 For example, the evaluation 10 be used. This evaluates the knock sensor 9 detected knock signals. If necessary, the evaluation device 10 the detected knock signals also re-processed, for example by using filters, noise suppressors or threshold detectors. Is this at least one abort criterion 11 for example, as a strong knock on the outside at least once 51 the surface of the motor vehicle 50 defined, such a knocking signal can be detected by setting a threshold value. If the set threshold is reached or exceeded, for example by a single knock on the outside 51 of the motor vehicle 50 , as assumed above, recognizes the evaluation 10 in that the at least one termination criterion 11 is satisfied and gives a corresponding signal to the controller 4 out. The control 4 then breaks the automated drive by controlling the actuators 5 . 6 from and the motor vehicle 50 is slowed down.

2 schematically shows an embodiment, which in 1 shown and already described embodiment of the device 1 equivalent. As an example, here is the position of the knock sensor 9 on the motor vehicle 50 shown. The knock sensor 9 is here on a roof 52 of the motor vehicle 52 , For example, not visible from the outside on an inner side of a body, installed.

Of course it is possible to use the knock sensor 9 and / or other knock sensors at other positions of the motor vehicle 50 to obstruct.

LIST OF REFERENCE NUMBERS

1

contraption

2

sensors

3

additional sensors

4

control

5

actuators

6

more actuators

7

Storage

8th

Nothaltemechanismus

9

knock sensor

10

evaluation

11

termination criterion

12

deactivation device

30

Acoustic emission sensor

31

pressure sensor

32

force sensor

33

accelerometer

50

motor vehicle

51

outside

52

top, roof

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102009041587 A1 [0005]

Claims (10)

Contraption ( 1 ) for the automated driving of a motor vehicle ( 50 ), comprising at least one sensor system ( 2 ) for detecting an environment of the motor vehicle ( 50 ), at least one controller ( 4 ) for controlling at least one actuator system ( 5 ) of the motor vehicle ( 50 ) and a memory ( 7 ) for storing an environment map, wherein the controller ( 4 ) is formed by the at least one sensor system ( 2 ) evaluated environmental data, the motor vehicle ( 50 ) by means of the evaluated environment data in the environment map and the at least one actuators ( 5 ) of the motor vehicle ( 50 ), so that a given trajectory is traversed in an automated drive, and wherein the controller ( 4 ) an emergency stop mechanism ( 8th ), which is designed in such a way that if at least one termination criterion ( 11 ) the automated drive is stopped by the controller ( 4 ) the car ( 50 ) about the at least one actuators ( 5 ), characterized in that the emergency stop mechanism ( 8th ) a knock sensor ( 9 ) having. Contraption ( 1 ) according to claim 1, characterized in that the knock sensor ( 9 ) a structure-borne sound sensor ( 30 ). Contraption ( 1 ) according to claim 1 or 2, characterized in that the knock sensor ( 9 ) a pressure sensor ( 31 ). Contraption ( 1 ) according to one of the preceding claims, characterized in that the knock sensor ( 9 ) a force sensor ( 32 ). Contraption ( 1 ) according to one of the preceding claims, characterized in that the knock sensor ( 9 ) an acceleration sensor ( 33 ). Contraption ( 1 ) according to one of the preceding claims, characterized in that the emergency stop mechanism ( 8th ) an evaluation device ( 10 ) for reworking and evaluating a by the knock sensor ( 9 ) detected signal. Contraption ( 1 ) according to claim 6, characterized in that the evaluation device ( 10 ) is designed to analyze an amplitude and / or a temporal course of the detected signal, and the at least one termination criterion ( 11 ) comprises a predetermined amplitude and / or a predetermined amplitude range and / or a predetermined time course. Contraption ( 1 ) according to one of the preceding claims, characterized in that the emergency stop mechanism ( 10 ) a deactivation device ( 12 ), wherein the deactivation device ( 12 ) is designed such that it the emergency stop mechanism ( 10 ) can disable. Contraption ( 1 ) according to claim 8, characterized in that the deactivation device ( 12 ) the emergency stop mechanism ( 10 ) is automatically deactivated if no automated drive is performed. Method for the automated driving of a motor vehicle ( 50 ), comprising the following steps: detecting an environment of the motor vehicle ( 50 ) by at least one sensor ( 2 ), Locating the motor vehicle ( 50 ) in an environment map by evaluating environment data generated from the detected environment, Automated driving along a predetermined trajectory by controlling an actuator system ( 5 ) of the motor vehicle ( 50 ), whereby an emergency stop mechanism ( 8th ) the automated driving if at least one termination criterion ( 11 ) and the motor vehicle ( 11 ) is braked and brought to a halt, characterized in that the emergency stop mechanism ( 8th ) aborts automated driving when triggered by a knock sensor ( 9 ) as a termination criterion ( 11 ) predetermined signal has been detected.

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