DE102016212055A1 - System for automated driving of a vehicle - Google Patents

System for automated driving of a vehicle

Info

Publication number
DE102016212055A1
DE102016212055A1 DE102016212055.7A DE102016212055A DE102016212055A1 DE 102016212055 A1 DE102016212055 A1 DE 102016212055A1 DE 102016212055 A DE102016212055 A DE 102016212055A DE 102016212055 A1 DE102016212055 A1 DE 102016212055A1
Authority
DE
Germany
Prior art keywords
driving
vehicle
control device
position
automated
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
DE102016212055.7A
Other languages
German (de)
Inventor
Martin Böld
Lutz-Wolfgang Tiede
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Automotive GmbH
Original Assignee
Continental Automotive GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Automotive GmbH filed Critical Continental Automotive GmbH
Priority to DE102016212055.7A priority Critical patent/DE102016212055A1/en
Publication of DE102016212055A1 publication Critical patent/DE102016212055A1/en
Application status is Ceased legal-status Critical

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
    • B60W50/082Selecting or switching between different modes of propelling
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095Predicting travel path or likelihood of collision
    • B60W30/0956Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18Propelling the vehicle
    • B60W30/18009Propelling the vehicle related to particular drive situations
    • B60W30/18163Lane change; Overtaking manoeuvres
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
    • B60W50/085Changing the parameters of the control units, e.g. changing limit values, working points by control input
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08Interaction between the driver and the control system
    • B60W50/14Means for informing the driver, warning the driver or prompting a driver intervention
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00Input parameters relating to the driver
    • B60W2540/04Driver selection, e.g. driver confirmation
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10Longitudinal speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10Longitudinal speed
    • B60W2720/103Speed profile

Abstract

A system (10) for automatically driving a vehicle (1) comprises a control device (11) for controlling the vehicle (1) during automated driving and a sensor device (12) for detecting a state of an environment at a first position at which the Vehicle (1) is located. The control device (11) is designed to select a first or at least a second driving behavior for automated control of the vehicle (1) when the condition of the surroundings at the first position has been determined by the sensor device (12). The control device (11) is further configured to control the vehicle (1) during automated driving from the first position to the second position for performing a driving maneuver at the first position according to the selected first or at least second driving behavior.

Description

  • The invention relates to a system for automated driving of a vehicle.
  • A system for automated driving of a vehicle evaluates a plurality of data to make a decision to control the vehicle. This data contains a variety of different information that needs to be processed by the system. In particular, data from the vehicle to be controlled, data from other vehicles in the periphery of the vehicle to be controlled and / or data from the other infrastructure are received and evaluated by the system for automated driving. On the basis of the received parameters, the respective traffic situation is assessed and a driving strategy determined by the system. Due to the multitude of data to be processed and the need to always choose the safest driving behavior in every situation, in order to avoid a possible accident in any case, automated vehicles therefore come compared to a vehicle that is controlled by a human driver. in many cases progressing comparatively slowly.
  • As mentioned above, automated driving places the highest priority on safety. The actions of a system for automated driving must be safe and must not be inadmissible. In real traffic, however, there will always be situations that can not be completely safely and safely performed by both a human driver and an automated driving system. In many everyday driving situations, the information available to a system for automated driving from the vehicle sensors of the own vehicle or the environment is not sufficient to completely master a situation on the road. On the one hand, this may be due to the fact that the given parameters are not unambiguous or, for example, are not available at all. Also occur in real traffic situations again and again, in which a cooperative behavior of other road users is required to cope with a traffic situation.
  • For example, if a stationary vehicle obstructs the view of a vehicle camera, an automated driving system usually can not pass the stationary vehicle because there is no information about possible oncoming traffic. A human driver would usually solve this traffic situation by slowly groping into traffic. In contrast to a permanently installed in the vehicle sensors, such as a camera, a driver in such a situation has the opportunity, if necessary, to change his seating position in the vehicle to improve the view of the traffic situation.
  • Other examples of critical traffic situations that make automated driving difficult include, for example, partially parked vehicles that narrow a lane or a cyclist ahead in a narrow street that is to be overhauled. If it is assumed that driving past the parked vehicles or overtaking the cyclist should take place at a minimum distance, for example a distance of 1 m, the continuation of travel is possible only if it is assumed that the oncoming traffic is particularly in the case of a narrow roadway width when driving past the own vehicle at the parked vehicles or at the preceding cyclist will move to the right. A human driver will observe the oncoming vehicles in such a situation and thus can estimate the oncoming traffic. After recognizing that the distance to an oncoming vehicle is sufficient, he will overtake a vehicle parked in front of him or a cyclist riding in front of him.
  • In the examples given above, a system for automated driving which can not assess the behavior of other road users or oncoming traffic in comparison to a human driver will not immediately carry out a necessary driving maneuver, for example passing or overtaking. Ultimately, it may happen that the system for automated driving, the vehicle continues to drive only when the traffic situation has improved. In the case of a parked vehicle on the roadway, this may result in the drive from the automated driving system continuing only when the parked / blocking vehicle has been removed. It can therefore occur a significant delay or extension of travel time, which in turn causes dissatisfaction and incomprehension in the vehicle occupants. The traffic situation can often only be overcome within a reasonable time by a driver undertaking the driving of the vehicle himself.
  • A concern of the present invention is to provide a system for automated driving of a vehicle that can handle traffic situations on the one hand as safe as possible and the on the other hand performs a driving maneuver in the shortest possible time. Another object of the present invention is to provide a vehicle for automated driving, which can handle a traffic situation as safe as possible and on the other hand can perform a driving maneuver in the shortest possible time.
  • A system for automated driving of a vehicle, which can master a traffic situation in an acceptable, as short a time as possible and yet safe and secure, is specified in patent claim 1.
  • The system includes a controller for controlling the vehicle in automated driving and a sensor device for detecting a state of an environment at a first position where the vehicle is located. The control device is designed to select a first or at least a second driving behavior for automated control of the vehicle when the condition of the surroundings at the first position has been determined by the sensor device. The control device is designed to control the vehicle during automated driving from the first position to the second position for performing a driving maneuver at the first position according to the selected first or at least second driving behavior.
  • An automated driving vehicle is defined in claim 15 and includes the above-mentioned automated driving system.
  • In one possible embodiment, the automated driving system includes a human machine interface (HMI) for communicating with the automated driving system controller. The man-machine interface may be configured to set a driving style of the vehicle in automated driving. The control device controls the driving behavior of the vehicle during automated driving as a function of the driving mode set on the man-machine interface. The occupant of an autonomously driving vehicle can decide by appropriate input of the driving of the vehicle in automated driving on which driving style he wants to perform his ride. The automated vehicle then moves according to this specification and uses different parameter settings for its decisions.
  • For the system for automated driving, a basic setting of the driving style or the driving behavior can first be set. In this default setting, the system chooses a driving style with optimally calculated distances and speeds. This corresponds to an energy-saving driving style with a high level of comfort for the vehicle occupants, since, for example, abrupt steering maneuvers or speed changes are dispensed with.
  • Through appropriate settings of the driving style parameters that characterize the driving behavior can be changed in intermediate stages, so that the autonomous driving can take place with a variety of different driving styles. While the basic setting of a safest possible driving style / a safest possible driving behavior can correspond with optimally calculated distances and speeds, the driving style can be changed so that other road users, for example, by braking or evading, may need to respond. As a result, for example, small gaps in oncoming traffic can be used to overtake.
  • Regardless of the driving mode set by the occupant at the man-machine interface, the vehicle continues to drive autonomously, however, depending on the set driving mode, with appropriately adapted parameters characterizing the driving behavior, which make it possible to cope more quickly with certain critical driving situations. The variation of the driving style / the driving behavior can be stepless or stepped. Furthermore, there is the possibility that a vehicle occupant selects certain driving patterns / rules according to which the system controls the driving behavior of the vehicle in certain traffic situations.
  • The system makes it possible to make the function of automated driving variable by driving the vehicle autonomously, but giving the person the opportunity to take on some of the responsibility through his (temporary) situation assessment. For example, if a driver recognizes that the system can not or at least not cope with a traffic situation with the set driving style, the driver may make such a temporary situation assessment and assist the system to manage the traffic situation, but the system will still be autonomous moves. However, the driver can stimulate a driving maneuver by an appropriate input into the man-machine interface.
  • For example, if the system can not drive past a lane-parked vehicle because the parked vehicle obstructs the view of the vehicle sensor system, such as a vehicle camera, of the autonomous vehicle, the operator may enter the system by an appropriate input to the human engine Interface for a maneuver. The control device can output via the human-machine interface, for example, that the The present traffic situation can not be mastered by the system since there is a parked car on the right-hand lane, and the possible oncoming traffic can not be estimated since the view for the vehicle camera is blocked to the front by the parked car.
  • In contrast to the permanently installed vehicle sensor system, the driver can detect the situation in front of the parked car better than the system for automated driving by changing his sitting position, his angle of view, etc. In the present example, if the driver evaluates the traffic situation so that he considers driving past the parked vehicle to be safe, the driver can give the system clearance to drive past the parked vehicle. Upon receipt of the release, the controller then autonomously steers the vehicle past the obstacle. For this purpose, the control device optionally changes from the set driving behavior into another mode of the driving behavior, for example into a driving mode with smaller safety distances, and continues to drive carefully. For the purpose of proving that a driver has released a maneuver, such an instruction may be stored.
  • According to a further possible embodiment, the driving behavior of the vehicle can be changed by the control device itself. For example, the system may control the autonomous vehicle at the beginning of a ride with the default setting, for example, a setting with large safety margins. However, if a certain traffic situation can not be mastered after a defined time, the control circuit automatically switches over to a different driving behavior in which, for example, smaller gaps in oncoming traffic are used for overtaking in order to cope with the traffic situation in an acceptable time.
  • By changing the driving behavior of the vehicle, automated driving can be made realistic. Switching from an energy-saving / comfortable driving behavior to a more sporty driving behavior leads for example to a faster initiation of an overtaking process and thus to a faster arrival at a destination. As a result, delays can be avoided and the satisfaction of the vehicle occupants can be increased.
  • According to a possible embodiment, the system comprises a memory device for storing rules according to which the control device autonomously controls the vehicle. In the default setting, the control device controls the vehicle in automated driving compliant. However, there is also the possibility that a vehicle occupant can deliberately disable rules. In the default setting, it can be stored in the memory device, for example, that solid lines must never be run over. However, there is now also the possibility by appropriate input into the man-machine interface, certain information / rules not to consider or override. The driver can instruct the control device by entering into the man-machine interface, for example, that a hard shoulder may be run over when this is released, for example, in the area of a construction site for driving. The overriding of preset rules for automated driving by a vehicle occupant may be documented for the purpose of detection in the storage device by storing corresponding parameters.
  • Embodiments of a system 10 for automated driving or a vehicle 1 for automated driving, in which such a system 10 is built for automated driving, which allows the safest possible autonomous driving and driving at the same time with a small or at least reasonable time are in the 1 and 2 shown. It shows
  • 1 an exterior view of a vehicle with an automated driving system; and
  • 2 an interior view of a vehicle with an automated driving system.
  • The system 10 comprises a control device 11 for controlling the vehicle 1 in automated driving and a sensor device 12 for detecting a state of an environment at a first position where the vehicle is 1 located. The control device 11 is adapted to a first or at least a second driving behavior for automated control of the vehicle 1 when selecting from the sensor device 12 the condition of the environment has been established at the first position. The control device 11 is further adapted to the vehicle 1 in automated driving from the first position to a second position for performing a driving maneuver at the first position according to the selected first or at least second driving behavior.
  • This means that the control device 11 in one and the same state of the environment for controlling the vehicle, the first driving behavior or the at least second driving behavior can be selected and controls the vehicle accordingly. For example, when the vehicle is in a state of environment at a position of the vehicle children playing on a roadway, the control device 11 steer the vehicle to drive on according to the first driving behavior or the second driving behavior.
  • The first driving behavior can be preset as a basic setting. Such a driving behavior corresponds, for example, a driving with large, optimally calculated safety distances and the implementation of a driving maneuver with slow speed changes. This is synonymous with a comfortable driving style in which the driver may even sleep and need not expect to be startled by abrupt braking or acceleration changes. When the controller 11 selects the first driving behavior is the vehicle 1 For example, first wait a long time at a sufficient distance from the children playing until the current state of the environment of the vehicle has changed, for example, the children playing have moved away from the road. Only then will the system continue autonomous driving.
  • If, on the other hand, the control device 11 For example, if the second driving behavior is selected for autonomous driving, the journey is continued even if the children are only on one half of the road and no oncoming traffic occurs on the oncoming lane. In this case, the vehicle slowly drives past the children, taking advantage of the oncoming lane, without waiting for the children to be completely clear of the lane. The second driving behavior therefore corresponds to a time-optimized or time-saving, but possibly less comfortable driving behavior for the vehicle occupants, since when driving past the children with a sudden stop must be expected.
  • According to one possible embodiment, the system comprises 10 for automated driving a human-machine interface / HMI (Human Machine Interface) 13 for communication between the controller 11 and a vehicle occupant. The human-machine interface can, for example, a screen unit 15 , in particular a touch-sensitive screen, or a switch / rotary switch / slider 17 or a speaker / microphone 18 be.
  • The man-machine interface 13 is designed to adjust a driving style of the vehicle. A vehicle occupant can use the man-machine interface 13 For example, set a first and at least a second driving of the vehicle in automated driving. The control device 11 is designed to be the vehicle 1 in automated driving to perform the driving maneuver at the first position according to the first driving behavior when controlled by the sensor device 12 the condition of the environment has been determined at the first position and the first driving style is set. Furthermore, the control device 11 designed to be the vehicle 1 in the automated driving to perform the driving maneuver at the first position according to the second driving behavior when controlled by the sensor device 12 the state of the environment has been established at the first position and the second driving at the man-machine interface 13 is set.
  • The control device 11 thus adapts the driving behavior for a driving maneuver to the set driving style. Depending on the set driving style, the same traffic situation is managed by a different driving behavior, that is, by a first or at least a second possible driving behavior of the vehicle.
  • According to one possible embodiment, for a specific traffic situation, a specific driving style can be achieved by appropriate input into the human-machine interface 13 be specified. A further embodiment of the method provides that, regardless of a specific traffic situation, for example, during the entire journey of a vehicle, a specific driving style by appropriate input to the man-machine interface 13 is predetermined by an occupant of the vehicle.
  • For example, a vehicle occupant may choose a driving mode in which the autonomous driving with large, optimally calculated safety distances takes place, or set a driving style in which, for example, smaller gaps in oncoming traffic can be used for overtaking, faster speed changes or abrupt braking maneuvers are allowed. The first driving style corresponds to a more comfortable driving behavior, while the second driving style corresponds to a less comfortable driving behavior in which a vehicle occupant, for example, can not sleep without being alarmed. The driving style can be stepless or stepped or varied according to driving patterns to be defined.
  • According to a possible embodiment, the automated driving system comprises a storage device 14 for storing at least one parameter indicating a setting of the automated driving system.
  • According to one possible embodiment, the human-machine interface is 13 formed for inputting a release signal for performing the driving maneuver by means of the automated driving. The control device 11 is particular designed to select the second driving behavior for carrying out the driving maneuver at the first position, if by the sensor device 12 the state of the environment has been determined at the first position and the control device 11 the automated driving first controls according to the first driving behavior and the control device 11 the enable signal from the man-machine interface 13 receives and the controller 11 determines that the driving maneuver according to the first driving behavior is not feasible.
  • The above-mentioned embodiment will be explained in more detail with reference to possible situations.
  • In automated driving, the case may occur that the control device 11 determines that a traffic situation with the set driving style / the set driving behavior, for example, with a first driving style / a first driving behavior can be managed. The first driving style / the first driving behavior can be preset as a basic setting. In the set first driving mode, for example, the automated driving takes place with large, optimally calculated safety distances, and a driving maneuver is performed with slow speed changes. The control device 11 controls in this case, the vehicle for performing a driving maneuver autonomously according to the first driving behavior. The perceived ride comfort is high and the responsibility for autonomous driving lies with the system.
  • In a second case, the control device determines that a traffic situation can be handled autonomously, but not with the selected (first) driving behavior. Instead, the situation can be mastered by means of the second driving behavior. The controller may pass its assessment to a driver via the man-machine interface 13 report. The driver gives permission to the system to execute the maneuver by entering the release signal. The control device 11 then changes the driving behavior and selects the second driving behavior. The driving maneuver is carried out by means of the second driving behavior. In the second driving behavior, for example, smaller safety distances and sudden braking maneuvers are permitted, which corresponds to a driving style with a lower level of comfort for the vehicle occupants. The responsibility for autonomous driving lies partly with the system and partly with the driver.
  • In a third situation, the control device 11 determines that there is a traffic situation in which autonomous driving is not recommended. By appropriate output at the man-machine interface 13 This assessment can be communicated to the driver. The driver, who can better assess the prevailing traffic situation, for example, because he can see the oncoming lane, which may not be "visible" to the sensors of the vehicle due to an obstacle, can at the man-machine interface 13 enter the enable signal. The control device 11 performs the driving maneuver by means of the automated driving with the second driving behavior (low comfort) after receiving the release signal, wherein driver assistance systems, such as emergency brake assist, lane departure warning, etc., are active. In this case, the responsibility for the autonomous execution of the driving maneuver lies with the person who issued the clearance signal.
  • To document that the driver has released a driving maneuver for autonomous driving, although this by the control device 11 is therefore not recommended and therefore the responsibility for carrying out the driving maneuver lies with the driver, the control device 11 be designed to be in the memory device 14 store at least a first parameter indicating that an input of the enable signal for performing the driving maneuver in the man-machine interface 13 is done.
  • Another case occurs when the controller determines that there is a situation that can not be met by the automated driving system. In this case, the control device 11 at the human-machine interface 13 Issue a signal that prompts for the acquisition of the vehicle for performing the maneuver maneuver.
  • According to a possible embodiment, the control device 11 adapted to the braking and / or acceleration behavior and / or the speed and / or the steering behavior of the vehicle 1 for carrying out the driving maneuver in dependence on the selected driving behavior of the vehicle 1 to control. According to another embodiment of the automated driving system, the control device is 11 designed to determine the time of starting the vehicle 1 at the first position to perform the driving maneuver depending on the selected first or at least second driving behavior.
  • Depending on the set driving style, for example, overtaking processes are initiated faster or slower. Furthermore, acceleration and / or braking maneuvers are more uneven or more uniform. In addition, steering wheel movements occur faster depending on the set driving style, that is with a larger deflection in a certain time, or slower. In addition, the time of starting at the first position for initiating a driving maneuver in a set second driving manner, for example, before the time of starting the vehicle at a set first driving style.
  • In the following, examples are given of how different traffic situations are handled differently by the system for automated driving depending on the selected driving behavior.
  • A first example is the parking out of a parking lot. In this case, the situation arises that the ausparkende vehicle must enter a road. In the case of automated driving, as well as in the case of vehicle control by a driver, the first few meters are first of all at low speed, with the vehicle having to thread itself into the possibly flowing traffic. In automated driving, the same driving maneuver occurs with the help of information that indicates the state of the environment of the vehicle and sometimes more or less sufficiently available. By means of an appropriate input into the man-machine interface, a vehicle occupant can decide whether his automatically parked vehicle should master this situation more quickly or more slowly depending on the set driving mode. Threading into traffic needs a certain gap. Depending on the selected driving style, this gap may be larger or smaller. Is from the controller 11 a driving style has been selected in which even smaller holes are allowed to be threaded into traffic, the vehicle may have to accelerate violently, which does not correspond to a comfortable driving style, but is faster, because first, a smaller gap is exploited and second, the pure process faster goes on.
  • As another traffic situation, a state of the surroundings of a vehicle is considered, in which a truck stands in front of an intersection, blocks a lane side and obstructs the view to the front. When an automated vehicle arrives behind the truck, the cameras and other sensors of the vehicle can not "pass by" the truck, so that the situation in front of the truck can not be clearly detected by the automated driving system. Furthermore, it is assumed that further information from the periphery of the vehicle is not or only insufficiently available. The driver, who may be able to see the oncoming lane, can in this case at the man-machine interface 13 Enter the release signal for driving past the truck by automated driving if the driver considers the situation to be sufficiently safe. As a rule, the oncoming lane must be used. In this situation, the vehicle remains permanently ready to brake, and the driver must be aware that it can come to an abrupt stop.
  • As another example, a parked on the roadside vehicle is considered, which protrudes partially into the lane. If such an obstacle appears on the right-hand side of the road and blocks the original lane, then the automated driving system must decide whether to make a complete lane change or if it is sufficient to leave the lane only partially. Without oncoming traffic, the system will allow a change to the opposite lane. Depending on the selected driving style or the selected driving behavior, the system will wait once in the case of oncoming traffic and drive past in the other case, even if a part of the oncoming traffic lane is used for this purpose. The selection of these two variants of the driving behavior is also applicable to multi-lane roads and on overtaking on roads with oncoming traffic.
  • A similar situation arises when a two-wheeled vehicle drives on a single-lane road and thus reduces the usable roadway width for the passing, automated vehicle. This can occur in both directions, as in cities often one-way streets may also be driven in the opposite direction. If both vehicles, that is, the automated moving vehicle and the two-wheeler, are traveling in the same direction, an overtaking process is not absolutely necessary, since the automated vehicle can drive the cyclist slowly safely. However, if the cyclist is accommodating in the one-way street, the automated vehicle must respond by stopping or dodging, for example. For example, a fast cyclist who is detected too late by the system would cause an abrupt emergency braking that endangers the subsequent traffic. In such a situation can be decided by appropriate adjustment of the driving style of the vehicle, how fast, at what distance or after what waiting time of the cyclist to be passed.
  • According to another possible embodiment, the system comprises 10 for automated driving a navigation device 16 for inputting a travel time to travel from the first to the second position. The control device 11 may be configured to control the vehicle for performing the driving maneuver depending on the input driving time according to the first or the second driving behavior. For example, when the desired travel time is set short, the controller selects 11 automatically a driving behavior in which driving maneuvers faster, that is, for example, taking advantage of smaller gaps / safety distances for a passing process, performed. If, however, the desired travel time may be longer, is by the controller 11 a more comfortable handling with less acceleration, fewer overtaking maneuvers etc. selected for automated driving.
  • According to another embodiment of the system 10 for automated driving is the controller 11 adapted to select the first driving behavior for carrying out the driving maneuver at the first position, if by the sensor device 12 the state of the environment has been determined at the first position and the control device 11 determines that the driving maneuver in a given time according to the first driving style is feasible. Furthermore, the control device 11 designed to select the second driving behavior for carrying out the driving maneuver at the first position, if by the sensor device 12 the state of the environment has been determined at the first position and the control device 11 determines that the driving maneuver in a given time according to the first driving style is not feasible or according to the second driving style is feasible.
  • In this embodiment, the system fits 10 the driving behavior depending on a predetermined waiting time, which is waited to master a certain traffic situation by means of the first driving behavior, automatically. When the controller 11 For example, states that after the lapse of the waiting time a traffic situation can not be mastered with the help of the first driving behavior, it automatically selects the second driving behavior, for example a more sporty driving behavior, in order to cope with the traffic situation.
  • According to another possible embodiment, the storage device is 14 for storing rules issued by the controller 11 to be observed for automated driving, trained. Furthermore, the human-machine interface 13 for enabling and disregarding compliance with rules by the automated driving system. The man-machine interface 13 is in communication with the controller 11 to the controller 11 indicate whether compliance with the rules has been enabled or that attention to at least one of the rules has been disabled. The deactivation may have been performed by a vehicle occupant.
  • The control device 11 is designed to perform the driving maneuver independently of the selected driving behavior in accordance with rules in accordance with the stored rules, if the observance of the rules is activated. The control device 11 is further adapted to perform the driving maneuver bypassing the at least one rule, if the observance of the at least one rule is disabled.
  • In order to document that a vehicle occupant has deliberately overruled a rule, may in the memory device 14 a corresponding parameter is stored indicating that one of the rules has been disabled by a vehicle occupant. This can be used to demonstrate that a vehicle occupant has deliberately prevented the observance of a rule by the automated driving system and the system has not disregarded the rule, for example due to a system error.
  • According to another possible embodiment, the control device 11 be adapted to the automated driving of the vehicle 1 to interrupt when the control device 11 determines that the execution of a maneuver by means of the automated driving is inadmissible due to the state of the environment at the first position of the vehicle and the selected driving behavior of the vehicle. The control device 11 is designed to send a signal to the man-machine interface 13 output that prompts the driver to non-automated execution of the driving maneuver when the control device 11 determines that the execution of the maneuver by means of the automated driving system is inadmissible.
  • According to another possible embodiment of the automated driving system, the control device is 11 designed to check whether a driving maneuver is at least partly non-compliant. The control device 11 is designed to send a signal to the man-machine interface 13 issue that the driver for non-automated execution of at least the part of the maneuver that is not compliant feasible prompt.

Claims (15)

  1. A system for automated driving of a vehicle, comprising: - a control device ( 11 ) for controlling the vehicle ( 1 ) in automated driving, - a sensor device ( 12 ) for detecting a state of an environment at a first position where the vehicle ( 1 ), - wherein the control device ( 11 ) is adapted to a first or at least a second driving behavior for the automated control of the vehicle ( 1 ) when selected by the sensor device ( 12 ) the state of the environment has been determined at the first position, - wherein the control device ( 11 ) is adapted to the vehicle ( 1 ) in automated driving from the first position to the second position for performing a driving maneuver at the first position according to the selected first or at least second driving behavior.
  2. The system of claim 1, comprising: - a human-machine interface ( 13 ) for communication with the control device ( 11 ), - a memory device ( 14 ) for storing at least one parameter indicating a setting of the automated driving system.
  3. System according to claim 2, - wherein the human-machine interface ( 13 ) is designed to input a release signal for carrying out the driving maneuver by means of the automated driving, - the control device ( 11 ) is adapted to select the second driving behavior for carrying out the driving maneuver at the first position when the sensor device ( 12 ) the state of the environment has been determined at the first position and the control device ( 11 ) controls the automated driving according to the first driving behavior and the control device ( 11 ) the release signal for carrying out the driving maneuver by means of the automated driving from the man-machine interface ( 13 ) and the control device ( 11 ) states that the driving maneuver according to the first driving behavior is not feasible.
  4. System according to claim 3, wherein the control device ( 11 ) is adapted to be stored in the memory device ( 14 ) at least one first parameter indicating that an input of the enable signal for performing the driving maneuver in the man-machine interface ( 13 ) is done.
  5. System according to one of claims 2 to 4, - wherein the human-machine interface ( 13 ) for setting a first and at least a second driving style of the vehicle ( 1 ) is formed during automated driving, - wherein the control device ( 11 ) adapted to the vehicle ( 1 ) in automated driving to perform the driving maneuver at the first position according to the first driving behavior when the sensor device ( 12 ) the state of the environment has been determined at the first position and the first driving mode is set, - wherein the control device ( 11 ) adapted to the vehicle ( 1 ) in automated driving for performing the driving maneuver at the first position according to the second driving behavior when the sensor device ( 12 ) the condition of the environment has been determined at the first position and the second driving mode is set.
  6. System according to one of claims 1 to 5, comprising: - a navigation device ( 16 ) for inputting a travel time to travel from the first to the second position, - wherein the control device ( 11 ) is adapted to the vehicle ( 1 ) for performing the driving maneuver in response to the input driving time according to the first or the at least one second driving behavior to control.
  7. System according to one of Claims 1 to 6, - the control device ( 11 ) is adapted to select the first driving behavior for carrying out the driving maneuver at the first position when the sensor device ( 12 ) the state of the environment has been determined at the first position and the control device ( 11 ) determines that the driving maneuver is feasible in a predetermined time according to the first driving style, - wherein the control device ( 11 ) is adapted to select the second driving behavior for carrying out the driving maneuver at the first position when the sensor device ( 12 ) the state of the environment has been determined at the first position and the control device ( 11 ) determines that the driving maneuver in the given time according to the first driving style is not feasible.
  8. System according to one of claims 1 to 7, wherein the control device ( 11 ) is adapted to the braking and / or acceleration behavior and / or the speed and / or the steering behavior of the vehicle ( 1 ) for carrying out the driving maneuver in dependence on the selected driving behavior of the vehicle ( 1 ) to control.
  9. System according to one of claims 1 to 8, wherein the control device ( 11 ) is adapted to the time of starting the vehicle ( 1 ) at the first position for performing the driving maneuver depending on the selected first or at least second driving behavior.
  10. A system according to any one of claims 2 to 9, comprising: - the memory device ( 14 ) for storing rules issued by the control device ( 11 ) are designed to automate driving, is formed, - where the human-machine interface ( 13 ) for activating and deactivating the observance of the rules, - wherein the human-machine interface ( 13 ) in a communication connection with the control device ( 11 ) to the controller ( 11 ) indicate whether the observance of the rules is activated or the observance of at least one of the rules is deactivated, - wherein the control device ( 11 ) is adapted to carry out the driving maneuver independently of the selected driving behavior in accordance with the rules stored in accordance with the rule, if the observance of the rule is activated, - wherein the control device ( 11 ) is designed to perform the driving maneuver bypassing the at least one rule, if the observance of the at least one rule is deactivated.
  11. A system according to claim 10, wherein the control device ( 11 ) is adapted to be stored in the memory device ( 14 ) to store at least one parameter indicating that the at least one rule is entered by an input to the human-machine interface ( 13 ) has been deactivated.
  12. System according to one of claims 1 to 11, wherein the control device ( 11 ) is adapted to automate the driving of the vehicle ( 1 ) when the control device ( 11 ) states that the execution of the driving maneuver by means of the automated driving due to the state of the environment at the first position of the vehicle ( 1 ) and the selected driving behavior of the vehicle ( 1 ) is inadmissible.
  13. The system according to claim 12, wherein the control device ( 11 ) is adapted to receive a signal at the man-machine interface ( 13 ) requesting the non-automated execution of the driving maneuver when the control device ( 11 ) states that the execution of the maneuver by means of the system ( 10 ) is inadmissible for automated driving.
  14. System according to Claim 13, - the control device ( 11 ) is designed to check whether the maneuver is to be performed at least in part non-compliant, - wherein the control device ( 11 ) is adapted to receive a signal at the man-machine interface ( 13 ), which prompts for the non-automated execution of at least the part of the driving maneuver that is not compliant with the rules.
  15. A vehicle for automated driving, comprising: a system ( 10 ) for automated driving of the vehicle according to one of claims 1 to 14.
DE102016212055.7A 2016-07-01 2016-07-01 System for automated driving of a vehicle Ceased DE102016212055A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE102016212055.7A DE102016212055A1 (en) 2016-07-01 2016-07-01 System for automated driving of a vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016212055.7A DE102016212055A1 (en) 2016-07-01 2016-07-01 System for automated driving of a vehicle
PCT/EP2017/066269 WO2018002300A1 (en) 2016-07-01 2017-06-30 System for the automated drive of a vehicle

Publications (1)

Publication Number Publication Date
DE102016212055A1 true DE102016212055A1 (en) 2018-01-04

Family

ID=59388039

Family Applications (1)

Application Number Title Priority Date Filing Date
DE102016212055.7A Ceased DE102016212055A1 (en) 2016-07-01 2016-07-01 System for automated driving of a vehicle

Country Status (2)

Country Link
DE (1) DE102016212055A1 (en)
WO (1) WO2018002300A1 (en)

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005036714A1 (en) * 2005-08-04 2007-02-08 Daimlerchrysler Ag Method for assisting the driver of a vehicle in a lane change and driver assistance system for carrying out the method
DE112009005449T5 (en) * 2009-12-18 2013-04-04 Toyota Jidosha K.K. Driving control device
DE102012210069A1 (en) * 2012-06-14 2013-12-19 Continental Teves Ag & Co. Ohg Method and system for adapting a vehicle start-up behavior to a traffic signal system and use of the system
DE102013217430A1 (en) * 2012-09-04 2014-03-06 Magna Electronics, Inc. Driver assistance system for a motor vehicle
DE102013210941A1 (en) * 2013-06-12 2014-12-18 Robert Bosch Gmbh Method and device for operating a vehicle
DE102013213339A1 (en) * 2013-07-08 2015-01-08 Ford Global Technologies, Llc Control device for an autonomous land vehicle
DE102014223275A1 (en) * 2013-11-22 2015-05-28 Ford Global Technologies, Llc Fairing vehicle in vehicle
DE102013225011A1 (en) * 2013-12-05 2015-06-11 Bayerische Motoren Werke Aktiengesellschaft Approval or blocking of a road section for the highly automated driving of a motor vehicle
DE102015114780A1 (en) * 2014-09-10 2016-03-10 Ford Global Technologies, Llc Automatic parking and reminder system and method of use
DE102014219796A1 (en) * 2014-09-30 2016-03-31 Bayerische Motoren Werke Aktiengesellschaft Assistant for automatic adaptation to dangerous situations

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012002581A1 (en) * 2012-02-09 2013-08-29 Daimler Ag Method for assisting driver of motor car during route guide on travel route lying between initial location and destination, involves determining reaction of driver, and carrying out driving maneuver in response to driver's reaction
DE102013210883A1 (en) * 2013-06-11 2014-12-11 Robert Bosch Gmbh Method and device for operating a vehicle
JP2016536220A (en) * 2013-12-11 2016-11-24 インテル コーポレイション Computerized assistance or autonomous driving of vehicles adapted to individual driving preferences
DE102014008353B4 (en) * 2014-06-04 2016-09-15 Audi Ag Method for operating a driver assistance system for the automated guidance of a motor vehicle and associated motor vehicle
DE102014211507A1 (en) * 2014-06-16 2015-12-17 Volkswagen Aktiengesellschaft Method for a driver assistance system of a vehicle
US9365218B2 (en) * 2014-07-14 2016-06-14 Ford Global Technologies, Llc Selectable autonomous driving modes
KR20160013713A (en) * 2014-07-28 2016-02-05 현대자동차주식회사 Global path generation apparatus for autonomous vehicle and method thereof
DE102014217528A1 (en) * 2014-09-02 2016-03-03 Patrick Pascheka Method for selecting or pre-selecting driving profiles for an automatic vehicle guidance system

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005036714A1 (en) * 2005-08-04 2007-02-08 Daimlerchrysler Ag Method for assisting the driver of a vehicle in a lane change and driver assistance system for carrying out the method
DE112009005449T5 (en) * 2009-12-18 2013-04-04 Toyota Jidosha K.K. Driving control device
DE102012210069A1 (en) * 2012-06-14 2013-12-19 Continental Teves Ag & Co. Ohg Method and system for adapting a vehicle start-up behavior to a traffic signal system and use of the system
DE102013217430A1 (en) * 2012-09-04 2014-03-06 Magna Electronics, Inc. Driver assistance system for a motor vehicle
DE102013210941A1 (en) * 2013-06-12 2014-12-18 Robert Bosch Gmbh Method and device for operating a vehicle
DE102013213339A1 (en) * 2013-07-08 2015-01-08 Ford Global Technologies, Llc Control device for an autonomous land vehicle
DE102014223275A1 (en) * 2013-11-22 2015-05-28 Ford Global Technologies, Llc Fairing vehicle in vehicle
DE102013225011A1 (en) * 2013-12-05 2015-06-11 Bayerische Motoren Werke Aktiengesellschaft Approval or blocking of a road section for the highly automated driving of a motor vehicle
DE102015114780A1 (en) * 2014-09-10 2016-03-10 Ford Global Technologies, Llc Automatic parking and reminder system and method of use
DE102014219796A1 (en) * 2014-09-30 2016-03-31 Bayerische Motoren Werke Aktiengesellschaft Assistant for automatic adaptation to dangerous situations

Also Published As

Publication number Publication date
WO2018002300A1 (en) 2018-01-04

Similar Documents

Publication Publication Date Title
US9463793B2 (en) Method for transition between driving modes
JP3749483B2 (en) Parking assistance device
EP1077826B1 (en) Driver assistance system and a method for the operation thereof
CN101475002B (en) Device and method for avoiding collisions or minimizing the collision severity in case of a collision, for vehicles
EP1858745B1 (en) Method and device for avoiding a collision as a vehicle is changing lanes
DE102014201841A1 (en) Active trailer backup assistance with object avoidance
KR101779962B1 (en) Steering control apparatus for comprising will decision of drivers and method for operating the same
EP1735187B1 (en) Anticollision system for a vehicle and method specific thereto
EP2813408A1 (en) Method and device for controlling a vehicle
US9616925B2 (en) Autonomous lane control system
US9873427B2 (en) Device and method for controlling a motor vehicle
EP2032406B1 (en) Method and apparatus for using an automated lane keeping system to maintain lateral vehicle spacing
US9298184B2 (en) Process and device to enable or disable an automatic driving function
EP1807267B1 (en) Driver assistance method
JP4203857B2 (en) Safe driving support system
DE102014201844A1 (en) Active trailer backup assistance with track-width HMI
US9205816B2 (en) Vehicle emergency evacuation device
JP3912279B2 (en) Car with automatic steering control device
JP5987906B2 (en) Driving assistance device
US9988047B2 (en) Vehicle control system with traffic driving control
CN101678819B (en) Collision reducing device
US8543310B2 (en) Method and device for assisting a lane change of a vehicle
WO2017180365A1 (en) Systems and methods for hazard mitigation
WO2005123439A1 (en) Driver assistance method and device
EP2340187A1 (en) Method and apparatus for automated direction indication

Legal Events

Date Code Title Description
R012 Request for examination validly filed
R002 Refusal decision in examination/registration proceedings
R003 Refusal decision now final