DE102016210452B4 - Method and device for a vehicle with an emergency assistance unit - Google Patents

Abstract

Method for a vehicle that can be operated autonomously and manually, whereby a transition between a manual and an autonomous or between an autonomous and a manual driving operation occurs when a driver lets go of a means for steering the vehicle or takes his hand again , and in addition a driver's intention to change driving mode is checked for plausibility, characterized in that a transition from manual to autonomous driving mode takes place when the driver removes his hands from the means for steering the vehicle and the plausibility check of the driver's intention to change driving mode is positive .

Description

The present invention relates to the technical field of systems for the autonomous operation of vehicles.

Driver assistance systems are now part of many production vehicles. Examples of driver assistance systems are the emergency brake assistant, which initiates automatic braking to prevent an impending collision, and adaptive follow-up control (ACC), which adapts the speed of a vehicle to the speed of the vehicle in front.

Other examples are lane keeping systems that issue a warning to the driver if the vehicle is about to leave its lane or autonomously steer the vehicle back into its lane.

Autonomous vehicles can be viewed as a further development of driver assistance systems. Autonomous vehicles take over all driving tasks and not just selected functions as described above. In addition, with a driver assistance system, the driver must actively monitor the traffic situation at all times, whereas with an autonomously driving system, the driver can also turn to other tasks.

If autonomous or assisted driving cannot be maintained, e.g. due to the failure of a hardware component, faulty or missing environmental data or a complex traffic situation, a takeover signal is issued to the driver.

In the disclosure document DE 10 2013 009 400 A1 it is proposed that if the driver of a vehicle supported in lateral control does not have his hands on the steering wheel, ie does not take over after a request to take over, emergency assistance is initiated. The emergency assistance brings the vehicle into a safe state without the driver having to do anything, ie the vehicle is brought to a standstill.

A method for detecting a steering wheel contact by a driver is in the published application DE 10 2011 013 023 A1 disclosed. A current driver activity with regard to a steering wheel contact is determined on the basis of the input variables manual steering torque, manual steering torque speed, image processing features recorded with an image sensor, data from a capacitive sensor and data from an inductive sensor.

The disclosure document DE 10 2013 010 928 A1 discloses a method in which a driver assistance system is activated if it is detected that the driver is not touching the steering wheel with any hand, the longitudinal guidance and/or lateral guidance of the motor vehicle being controlled by means of the activated driver assistance system according to at least one predetermined criterion.

the DE 10 2009 028 647 A1 relates to a method for detecting an operating state of a steering wheel in a vehicle, the operating state describing whether a driver is operating a steering wheel in a vehicle and in particular whether the driver has at least one hand on the steering wheel or has taken both hands off the steering wheel. It also describes how different signals or differently processed signals that are available for detecting the operating status of the steering wheel can be used to check the operating status for plausibility, so that, for example, a change in the operating status can only be concluded if at least two of three different methods for detecting the current operating status deliver a matching result.

As a rule, a vehicle that can be operated autonomously can also be operated manually. The driver decides on the currently desired operating mode. This raises the question of how the driver can safely and intuitively initiate a change of operating mode.

This object is solved by the features of the independent claims.

According to the invention, a method for a vehicle that can be operated autonomously and manually is specified, with a transition between manual and autonomous driving or vice versa taking place when a driver lets go of a means for steering the vehicle or takes control of it again , and also a driver's intention to change the driving mode is checked for plausibility. As described in the prior art, releasing a steering wheel does not yet clearly indicate an intention on the part of the driver. The situation could have arisen that a driver is unable to drive, for example due to a sudden physical impairment (heart attack, shock, spasm...) and either unintentionally touches or lets go of the steering means. If a driver is unfit to drive, the vehicle would have to be brought into a safe condition with the help of an emergency assistant. An unintentional touching or releasing of the steering means could also be caused by a distracted or inattentive driver. In contrast to this, in the present invention, an intentional Changes between the operating modes can be initiated by a driver via the means for steering a vehicle. In order to secure this transition, a plausibility check is also proposed. Only when this is positive is the change in operating mode completed.

The invention provides that the transition from a manual to an autonomous driving mode takes place when the driver removes his hands from the means for steering the vehicle and the plausibility check of the driver's intention to change the driving mode is positive.

The plausibility check is preferably positive if at least one of the conditions specified below is met.

The driver's hands are near the steering means. The distance between the hands and the steering means can be determined, for example, with a vehicle interior camera. If, for example, a specified threshold value for the distance from one hand or both hands is exceeded, there is no positive plausibility check based on this feature.

Alternatively or additionally, the position of the hands can be monitored with a vehicle interior camera. Based on stored criteria, a decision is made as to whether the position of the hands leads to a positive or negative plausibility check.

Another criterion for the plausibility check is the head position or the direction in which the driver is looking, which is recorded, for example, with a vehicle interior camera. Head posture or line of sight are checked in relation to the traffic situation. For example, a check is carried out to determine whether the line of vision is directed towards the route ahead that will be traveled in the near future. If the position of the head or the direction in which you are looking indicate that the driver is paying attention to what is happening on the road, the result of the plausibility check is positive and confirms the intended change of operating mode.

The plausibility check can also be based on the evaluation of previous operating modes. If the vehicle was previously in an autonomous driving mode and this autonomous driving is less than a period of time that is less than a predetermined threshold value, only a (brief) interruption of the autonomous driving mode by a manual driving mode is assumed.

Another criterion for the plausibility check is the information as to whether the currently traveled route section is approved for autonomous driving. This means in particular a release or recommendation from an authority or similar. This release or recommendation may depend, among other things, on the degree of expansion of the route (visibility of lane markings, traffic signs, availability of route information from telematics services ...) or a route load from road users and may be temporary or permanent. The information as to whether the currently traveled route section is approved for autonomous driving can be displayed by traffic signs or made available by telematics services or stored in an electronic map, preferably in a map for a navigation system.

In a further positive embodiment of the invention, a transition from autonomous to manual driving occurs when the driver takes control of the means for steering the vehicle again and the plausibility check of the driver's intention to change driving is positive.

The plausibility check is preferably positive if at least one of the conditions specified below is met.

A torque is introduced by the driver via the steering means. This is interpreted as a positive signal that the driver is ready and willing to carry out the driving task himself. The torque or steering torque can also be a resulting counter-torque as a reaction to a test sequence, the test sequence being part of the method according to the invention. In this case, the plausibility check is positive.

Another criterion for the plausibility check is the head position or the direction in which the driver is looking, which is recorded, for example, with a vehicle interior camera. Head posture or line of sight are checked in relation to the traffic situation. For example, a check is carried out to determine whether the line of vision is directed towards the route ahead that will be traveled in the near future. If the position of the head or the direction in which you are looking indicate that the driver is paying attention to what is happening on the road, the result of the plausibility check is positive and confirms the intended change of operating mode.

The plausibility check can also be based on the evaluation of previous operating modes. If the vehicle was previously performed in a manual driving mode and this manual driving is less than a period of time that is less than a predetermined threshold value, only a (brief) interruption of the manual Driving operation assumed by an autonomous driving operation.

Another criterion for the plausibility check is the information as to whether the route section currently being traveled on has been released or recommended for autonomous driving and whether this release or recommendation will end shortly. This means in particular a release or recommendation from an authority or similar. This release or recommendation may depend, among other things, on the degree of expansion of the route (visibility of lane markings, traffic signs, availability of route information from telematics services ...) or a route load from road users and may be temporary or permanent. The information as to whether the currently traveled route section is approved for autonomous driving can be displayed by traffic signs or made available by telematics services or stored in an electronic map, preferably in a map for a navigation system. If the release for autonomous driving for the currently traveled route section ends shortly, it is assumed that the end of autonomous driving is intended by the driver and the result of the plausibility check is positive.

A preferred embodiment of the invention provides that, before a transition between manual and autonomous driving operation, the existence of an emergency situation is checked and an emergency situation is ruled out. An emergency situation occurs, for example, when a driver is unable to drive due to a sudden physical impairment (heart attack, shock, cramp...). Other reasons for the inability to drive can be tiredness or severe distraction on the part of the driver. In this case, emergency assistance is preferably initiated. The emergency assistance brings the vehicle into a safe state without the driver having to do anything, i.e. the vehicle is brought to a standstill.

In addition, a device for the method described above is claimed. The device comprises an electronic non-volatile memory on which the method is stored. In addition, a computing unit is provided for executing the method. The device can be connected to means for checking the plausibility of the driver's intention and to a control unit for autonomous driving. In a further positive embodiment, the device is arranged in the control unit for autonomous driving.

• In 1 ist das erfindungsgemäße Verfahren schematisch für den Fall einen aktuellen manuellen Fahrbetriebs dargestellt. Während des manuellen Fahrbetriebs wird erkannt, dass der Fahrer die Lenkmittel loslässt. Die Erkennung kann beispielsweise mittels kapazitiver oder induktiver Sensoren am Lenkmittel oder dem Fehlen einer Lenkaktivität des Fahrers erfolgen. In diesem Fall wird plausibilisiert, ob ein Übergang in einen autonomen Fahrbetrieb vom Fahrer beabsichtigt ist. Fällt die Plausibilisierung positiv aus, wird in den autonomen Fahrbetrieb gewechselt. Fällt die Plausibilisierung negativ aus, wird der manuelle Fahrbetrieb aufrechterhalten. In 3 ist ein weiteres Ausführungsbeispiel der Erfindung schematisch dargestellt. Dieses Ausführungsbeipiel unterscheidet sich von dem in 1 dargestellten Beispiel dadurch, dass zusätzlich eine Prüfung vorgesehen ist, ob ein Notfall vorliegt. Eine Notfallsituation liegt z.B. vor, wenn ein Fahrer aufgrund einer plötzlich auftretenden körperlichen Beeinträchtigung (Herzanfall, Schock, Krampf ...) fahrunfähig ist. Weitere Gründe für eine Fahrunfähigkeit können Müdigkeit oder eine starke Ablenkung des Fahrers sein. Eine Erkennung einer Notfallsituation kann z.B. mit einer Innenraumkamera erfolgen, die Körperhaltung und/oder Blickrichtung des Fahrers aufzeichnet. Alternativ oder zusätzlich können Mitteln zur Überwachung von Puls und/oder Herzfrequenz und/oder Atmung des Fahrers vorgesehen sein. Liegt ein Notfall vor, so wird eine Notfallassistenz eingeleitet. Liegt kein Notfall vor, so wird das erfindungsgemäße Verfahren mit der Plausibilisierung der Fahrerabsicht zum Wechsel in einen anderen Betriebsmodus weitergeführt.
• In 2 ist das erfindungsgemäße Verfahren schematisch für den Fall einen aktuellen autonomen Fahrbetriebs dargestellt. Während des autonomen Fahrbetriebs wird erkannt, dass der Fahrer eine oder zwei Hände an die Lenkmittel legt. Die Erkennung kann beispielsweise mittels kapazitiver oder induktiver Sensoren am Lenkmittel oder dem Erkennen einer Lenkaktivität des Fahrers erfolgen. In diesem Fall wird plausibilisiert, ob ein Übergang in einen manuellen Fahrbetrieb vom Fahrer beabsichtigt ist. Fällt die Plausibilisierung positiv aus, wird in den manuellen Fahrbetrieb gewechselt. Fällt die Plausibilisierung negativ aus, wird der autonome Fahrbetrieb aufrechterhalten. Es ist für den Fachmann selbstverständlich, dass auch dieses Ausführungsbeispiel mit einer Notfallerkennung wie in 3 gezeigt ausgeführt werden kann. Auch hier würde dann ganz analog nach der Erkennung von zumindest einer Hand an den Lenkmitteln eine Prüfung, ob ein Notfall vorliegt, erfolgen. Liegt ein Notfall vor, so wird eine Notfallassistenz eingeleitet. Liegt kein Notfall vor, so wird das erfindungsgemäße Verfahren mit der Plausibilisierung der Fahrerabsicht zum Wechsel in einen anderen Betriebsmodus weitergeführt.
• 4 zeigt die erfindungsgemäße Vorrichtung, die von einer gestrichelten Linie umgeben ist. Die Vorrichtung umfasst zumindest eine Recheneinheit zur Ausführung des erfindungsgemäßen Verfahrens und einen nichtflüchtigen elektronischen Speicher auf dem das erfindungsgemäße Verfahren hinterlegt ist.

The invention is described in more detail below using exemplary embodiments and figures.

• In 1 the method according to the invention is shown schematically for the case of a current manual driving operation. During manual driving, it is recognized that the driver lets go of the steering means. The detection can take place, for example, by means of capacitive or inductive sensors on the steering means or the lack of steering activity by the driver. In this case, a plausibility check is carried out to determine whether the driver intends to switch to autonomous driving. If the plausibility check is positive, the system switches to autonomous driving. If the plausibility check is negative, manual driving is maintained. In 3 another embodiment of the invention is shown schematically. This embodiment differs from that in 1 illustrated example in that an additional check is provided to determine whether an emergency exists. An emergency situation occurs, for example, when a driver is unable to drive due to a sudden physical impairment (heart attack, shock, cramp...). Other reasons for the inability to drive can be tiredness or severe distraction on the part of the driver. An emergency situation can be detected, for example, with an interior camera that records the driver's posture and/or line of sight. Alternatively or additionally, means for monitoring the driver's pulse and/or heart rate and/or breathing can be provided. In the event of an emergency, emergency assistance will be initiated. If there is no emergency, the method according to the invention is continued with the plausibility check of the driver's intention to switch to another operating mode.
• In 2 the method according to the invention is shown schematically for the case of a current autonomous driving operation. During autonomous driving, it is detected that the driver places one or two hands on the steering means. The detection can take place, for example, by means of capacitive or inductive sensors on the steering means or the detection of a steering activity by the driver. In this case, a plausibility check is carried out to determine whether the driver intends to switch to manual driving mode. If the plausibility check is positive, the system switches to manual driving mode. If the plausibility check is negative, autonomous driving is maintained. It goes without saying for a person skilled in the art that this exemplary embodiment with emergency detection as in 3 shown can be executed. Here, too, a check would then be carried out in a very analogous manner after at least one hand on the steering means has been recognized as to whether an emergency is present. In the event of an emergency, emergency assistance will be initiated. If there is no emergency, the method according to the invention with the plausibility check of the driver's intention to switch to another operating mode.
• 4 shows the device according to the invention surrounded by a dashed line. The device comprises at least one computing unit for executing the method according to the invention and a non-volatile electronic memory on which the method according to the invention is stored.

The device is connected to a control unit for autonomous driving and means for checking the plausibility of the driver's intention. The means for checking the plausibility of the driver's intention provide the input variables (e.g. distance of the hands to the steering wheel, information about the release of a route section for autonomous driving, head position or the driver's line of sight, type and duration of previous driving,...). The plausibility check is carried out using the input variables in the device according to the invention.

Claims (8)

Method for a vehicle that can be operated autonomously and manually, with a transition between manual and autonomous or between autonomous and manual driving operation taking place when a driver lets go of a means for steering the vehicle or takes control of it again , and also a driver's intention to change the driving mode is checked for plausibility, characterized in that a transition from a manual to an autonomous driving mode takes place when the driver removes his hands from the means for steering the vehicle and the plausibility check of the driver's intention to change the driving mode is positive is. procedure after claim 1 , characterized in that a plausibility check of the driver's intention to switch from manual to autonomous driving is positive if at least one of the following conditions is met: a) the driver's hands are in the vicinity of the means for steering b) the posture of the hands is specified Criteria corresponds to c) attention to the traffic situation is recognized based on the position of the head or the direction in which the driver is looking d) the vehicle was operated autonomously at least once in a predetermined previous period of time e) the vehicle drives on a section of road that has been approved for autonomous driving. procedure after claim 1 , characterized in that a transition from an autonomous to a manual driving mode takes place when the driver takes control of the means for steering the vehicle again and the plausibility check of the driver's intention to change the driving mode is positive. procedure after claim 3 , characterized in that a plausibility check of the driver's intention to switch from autonomous to manual driving mode is positive if at least one of the following conditions is met a) a torque is applied by the driver via the steering means b) based on the position of the head or the direction in which the driver is looking driver's attention to the traffic situation is detected c) the vehicle was operated manually at least once in a predetermined past period of time d) autonomous driving is activated for a period of time less than a predetermined threshold value e) the vehicle drives on a route section that is for autonomous Driving has been approved, with the approved route section ending shortly. Method according to one of the preceding claims, characterized in that before a transition between manual and autonomous driving operation, the existence of an emergency situation is checked and an emergency situation is ruled out. Device for a method according to one of the preceding claims, comprising an electronic non-volatile memory on which the method is stored and a computing unit for executing the method, wherein the device can be connected to means for plausibility checking of the driver's intention and a control unit for autonomous driving. device after claim 6 , characterized in that the device is arranged in a control unit for autonomous driving. Vehicle that can be operated manually and autonomously, with a device according to claim 6 or 7 .

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