DE102016221873A1 - Vehicle guidance depending on an occupant - Google Patents

Vehicle guidance depending on an occupant

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Publication number
DE102016221873A1
DE102016221873A1 DE102016221873.5A DE102016221873A DE102016221873A1 DE 102016221873 A1 DE102016221873 A1 DE 102016221873A1 DE 102016221873 A DE102016221873 A DE 102016221873A DE 102016221873 A1 DE102016221873 A1 DE 102016221873A1
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Germany
Prior art keywords
vehicle
transverse
longitudinal
motor vehicle
system
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Pending
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DE102016221873.5A
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German (de)
Inventor
Rainer Demuth
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Bayerische Motoren Werke AG
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Bayerische Motoren Werke AG
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Application filed by Bayerische Motoren Werke AG filed Critical Bayerische Motoren Werke AG
Priority to DE102016221873.5A priority Critical patent/DE102016221873A1/en
Publication of DE102016221873A1 publication Critical patent/DE102016221873A1/en
Application status is Pending legal-status Critical

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    • 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
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • 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

Abstract

One aspect of the invention relates to a method for controlling a system for automated longitudinal and / or transverse and / or vertical guidance of a motor vehicle, wherein at least one information relating to a vehicle occupant is detected and a parameter of the system for automated longitudinal and / or transverse and / or vertical guidance of the motor vehicle in dependence on this information is determined.

Description

  • The invention relates to a method and a control device for controlling a system for automated longitudinal and / or transverse and / or vertical guidance of a motor vehicle.
  • The term "automated driving" can be understood to mean driving with automated longitudinal or transverse guidance or autonomous driving with automated longitudinal and transverse guidance. The term "automated driving" includes automated driving with any degree of automation, in particular assisted, semi-automated, highly automated, fully automated or driverless driving. In assisted driving, the driver performs the longitudinal or transverse guidance permanently while the system performs the other function. In semi-automated drivers, the system takes over the longitudinal and transverse guidance, with the driver having to monitor the system permanently. In highly automated driving, the system takes over the longitudinal and transverse guidance without the driver having to permanently monitor the system; However, the driver must be able to take over the vehicle guidance in a certain time. In fully automated driving, the system can automatically handle driving in all situations for a specific application; no driver is required for this application. In driverless driving, the system can handle all situations automatically throughout the journey; a driver is generally no longer required.
  • Methods for automatically guiding a vehicle are known that take into account various boundary conditions.
  • From the still unpublished DE 2015 221 612 For example, a method is known for calculating the trajectory for guiding a vehicle, wherein the predefined acceleration profile is limited by a predefined maximum acceleration.
  • It is an object of the invention to provide an alternative method for controlling a system for automated longitudinal and / or transverse and / or vertical guidance of a motor vehicle.
  • The object is solved by the features of the independent claims. Advantageous embodiments are described in the dependent claims. It should be noted that additional features of a claim dependent on an independent claim without the features of the independent claim or only in combination with a subset of the features of the independent claim may form a separate invention independent of the combination of all features of the independent claim, the subject of an independent claim, a divisional application or a subsequent application. This applies equally to technical teachings described in the specification, which may form an independent invention of the features of the independent claims.
  • A first aspect of the invention relates to a method for controlling a system for automated longitudinal and / or transverse and / or vertical guidance of a motor vehicle, wherein at least one information relating to a vehicle occupant is detected and a parameter of the system for automated longitudinal and / or transverse - And / or vertical guidance of the motor vehicle is determined in dependence on this information.
  • The vehicle occupant may be, for example, the driver of the motor vehicle when the motor vehicle is operated only partially or manually. However, it may also be a vehicle occupant who does not control the vehicle himself, such as a passenger of an automated vehicle.
  • When there is more than one vehicle occupant in the vehicle, information may be collected from a plurality or each of the occupants. From the information collected information can be selected. Alternatively, common information can also be determined from the acquired information, for example an average value.
  • The parameter of the system for automated longitudinal and / or transverse and / or vertical guidance can be, for example, a parameter of a planned driving maneuver, but not the driving maneuver itself. A driving maneuver is understood to mean an abstract vehicle movement, such as a straight-ahead drive, a stationary circular drive, a lane change or a braking operation. In addition, a first driving maneuver can also be constructed from one or more second driving maneuvers.
  • According to an advantageous embodiment, the at least one parameter of the system for automated longitudinal and / or transverse and / or vertical guidance of the motor vehicle influences the longitudinal and / or transverse and / or vertical acceleration acting on the motor vehicle.
  • The parameter can, for example, change the magnitude of the longitudinal and / or transverse and / or vertical acceleration or limit its maximum amount. In addition, the influence can also change the course of the change in the longitudinal and / or transverse and / or vertical acceleration.
  • For example, the influence can change the current vehicle speed or the maximum vehicle speed or the maximum braking force. Alternatively, an acceleration course or a brake course can also be changed. In addition, the radius of a driven by the motor vehicle curve can be changed.
  • According to an advantageous embodiment, the at least one vehicle occupant is informed at the latest at the time of a change in the parameter of the system for automated longitudinal and / or transverse and / or vertical guidance of the motor vehicle about the change and prompted to change the position.
  • In this case, it is particularly advantageous to inform the vehicle occupant well in advance of the change of the parameter so that sufficient time remains for the vehicle occupant to make the change in position before the parameter is changed.
  • The information of the vehicle occupant can be done on at least one kind of communication, such as acoustically, optically or haptically.
  • For example, the vehicle occupant may be asked to sit down or to straighten himself.
  • According to an advantageous embodiment, the at least one information relating to a vehicle occupant is detected by means of at least one sensor in the interior of the motor vehicle.
  • For example, to capture the information, a biosensor may be used to record an electrocardiogram or an electroencephalogram or an electrogastrogram of the vehicle occupant. Alternatively, it is also possible to detect the body temperature of the vehicle occupant.
  • In addition, the information may also be the viewing direction of the vehicle occupant or his sitting position or his posture.
  • In addition, it is possible that it is an acoustic information that is detected by means of a microphone.
  • In a further advantageous embodiment, the at least one information relating to a vehicle occupant is retrieved from a data memory in the vehicle and / or outside the vehicle.
  • The data memory in the vehicle may be, for example, a data memory of an infotainment system, which provides information about the current operating state of the infotainment system. In particular, the information may signal a current playback of audio or video data. Alternatively, the information can also indicate the current use of an office application of the infotainment system.
  • The data store outside the vehicle can be, for example, access to a so-called "cloud" service. In this case, the data memory is accessed, for example, by mobile radio. Typical "cloud" services include providing task or appointment management.
  • In addition, "cloud" services may also provide geospatial information, such as current or future traffic or weather data.
  • In a further advantageous embodiment, a maximum permissible longitudinal and / or transverse and / or vertical acceleration for the vehicle is determined as a function of the information relating to a vehicle occupant. Depending on the maximum allowed longitudinal and / or transverse and / or Vertical acceleration for the vehicle, a parameter for the vehicle longitudinal guidance and / or vehicle lateral guidance and / or vehicle vertical guidance is determined.
  • For example, the following relationship applies between the speed v of the motor vehicle and the lateral acceleration a y acting on the motor vehicle in a curve with a radius of curvature r: a y = ν 2 r
    Figure DE102016221873A1_0001
    Thus, it is possible, after determining a maximum allowable lateral acceleration when departing a curve trajectory to select the vehicle speed such that the maximum allowable lateral acceleration is not exceeded.
  • Another aspect of the invention relates to a control device for controlling a system for automated longitudinal and / or transverse and / or vertical guidance of a motor vehicle. The control device is set up to detect at least one information relating to a vehicle occupant and to control a parameter of the system for automated longitudinal and / or transverse and / or vertical guidance of the motor vehicle in dependence on this information.
  • The above statements on the method according to the invention according to the first aspect of the invention also apply correspondingly to the control device according to the invention according to the second aspect of the invention. At this point and in the claims not explicitly described advantageous embodiments of the control device according to the invention correspond to the advantageous embodiments of the inventive method described above or described in the claims.
  • The invention will be described below with reference to two embodiments with the aid of the accompanying drawings. In these show:
    • 1 a motor vehicle with exemplary components for the application of the method.
    • 2 an embodiment of the method according to the invention.
    • 3 a further embodiment of the method according to the invention.
  • 1 shows a motor vehicle with exemplary components for the application of the method according to the invention.
  • The motor vehicle includes a system B for automated longitudinal and / or transverse guidance. The system B for automated longitudinal and / or transverse guidance is, in order to fulfill its task, connected to a control electronics D of the motor vehicle. This may be, for example, a digital engine electronics, a control unit of the power steering, a control device for the service brake of the motor vehicle and a plurality of sensors.
  • On the basis of received sensor signals, the system B for automated longitudinal and / or transverse guidance generates control signals for the control electronics D of the motor vehicle in order to operate the motor vehicle automatically.
  • In addition, the system B for automated longitudinal and / or transverse guidance is connected to the control device A according to the invention. The control device A according to the invention is thus able to influence at least one parameter of the longitudinal and / or transverse guidance of the vehicle.
  • To determine the parameter of the longitudinal and / or transverse guidance of the motor vehicle, the control device A according to the invention is connected to at least one sensor C in the interior of the motor vehicle, for example a camera, and a mobile radio interface E for accessing remote information.
  • 2 shows a flowchart of an embodiment of the method according to the invention.
  • In step 110 In this case, the seat position of a vehicle occupant is detected by means of the sensor C in the interior of the vehicle. For this example, a camera can be used.
  • Subsequently, in step 120 evaluated the sitting position of the vehicle occupant, for example by the control device according to the invention A. Then it can be found in particular that the Vehicle occupant is not in an optimal seating position. This could pose a risk that the vehicle occupant feels a curve passage with high lateral acceleration as unpleasant.
  • Therefore, in step 130 depending on the recognized seating position of the vehicle occupant, a maximum limit value for the lateral acceleration is determined, below which the risk of the occurrence of kinetosis in the vehicle occupant is very low.
  • In step 140 is then for example by means of the formula a y = ν 2 r
    Figure DE102016221873A1_0002
    determined from the limit value for the lateral acceleration, a limit for the vehicle speed. The system B for automated longitudinal and / or transverse guidance of the motor vehicle is then influenced by the control device A according to the invention such that the limit value for the vehicle speed is not exceeded.
  • 3 shows a further flowchart of an embodiment of the method according to the invention.
  • In step 210 attacks the inventive control device A by means of the mobile interface E to the online guided calendar of the vehicle occupant. In this case, it is found, for example, that an appointment begins for the vehicle occupant at the destination of his current journey with the motor vehicle in one hour.
  • Subsequently, the control device A according to the invention intervenes in step 220 again by means of the mobile radio interface E to current traffic data to determine in connection with the system B for automated longitudinal and / or transverse guidance the remaining travel time until arrival at the destination.
  • Because of in the steps 210 and 220 gained information will be in step 230 determined that, for example, when operating the drive of the motor vehicle in a consumption-optimal operating point, the motor vehicle would arrive at the destination only after the beginning of the appointment.
  • That's why in step 240 the vehicle occupant be warned by means of acoustic and visual indication that the motor vehicle will soon increase its speed to arrive in time for the appointment at the destination.
  • After the vehicle occupant has had sufficient time to prepare for the increase in speed, the vehicle increases in step 250 his speed.
  • 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 2015221612 [0004]

Claims (7)

  1. Method for controlling a system (B) for automatic longitudinal and / or transverse and / or vertical guidance of a motor vehicle, wherein at least one information relating to a vehicle occupant is detected (110, 210) and a parameter of the system (B) for automated longitudinal and / or transverse and / or vertical guidance of the motor vehicle in dependence on this information is determined (140, 250).
  2. Method according to one of the preceding claims, wherein the at least one parameter of the system (B) for the automated longitudinal and / or transverse and / or vertical guidance of the motor vehicle influences the longitudinal and / or transverse and / or vertical acceleration acting on the motor vehicle.
  3. Method according to one of the preceding claims, wherein the at least one vehicle occupant informed at the latest at the time of a change of the parameter of the system (B) for automated longitudinal and / or transverse and / or vertical guidance of the motor vehicle about the change and is requested to change the position ( 240).
  4. Method according to one of the preceding claims, wherein the at least one information relating to a vehicle occupant by means of at least one sensor (C) in the interior of the motor vehicle is detected (110).
  5. Method according to one of the preceding claims, wherein the at least one information relating to a vehicle occupant is retrieved from a data memory in the vehicle and / or outside the vehicle (210).
  6. Method according to one of the preceding claims, wherein a maximum allowed longitudinal and / or lateral and / or vertical acceleration for the vehicle is determined as a function of the information relating to a vehicle occupant (130), and depending on the maximum allowed longitudinal and / or transverse - And / or vertical acceleration for the vehicle, a parameter for the vehicle longitudinal guidance and / or vehicle lateral guidance and / or vehicle vertical guidance is determined (140).
  7. Control device (A) for controlling a system (B) for automated longitudinal and / or transverse and / or vertical guidance of a motor vehicle, wherein the control device is adapted to detect at least one vehicle occupant information (110, 210) and a parameter of System for automated longitudinal and / or transverse and / or vertical guidance of the motor vehicle in response to this information to control (140, 250).
DE102016221873.5A 2016-11-08 2016-11-08 Vehicle guidance depending on an occupant Pending DE102016221873A1 (en)

Priority Applications (1)

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DE102016221873.5A DE102016221873A1 (en) 2016-11-08 2016-11-08 Vehicle guidance depending on an occupant

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016221873.5A DE102016221873A1 (en) 2016-11-08 2016-11-08 Vehicle guidance depending on an occupant

Publications (1)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014064095A1 (en) * 2012-10-22 2014-05-01 Takata AG Method and assistance system for assisting a driver of a motor vehicle, and measuring method and measuring system for determining a mental state of a driver of a motor vehicle
DE102015203354A1 (en) * 2014-02-28 2015-09-03 Ford Global Technologies, Llc Settings of vehicle operator monitoring and operating procedures
DE102015204306A1 (en) * 2015-03-11 2016-09-15 Robert Bosch Gmbh Method for controlling vehicle functions of a motor vehicle by means of driving-relevant data from external sources
US20170068245A1 (en) * 2014-03-03 2017-03-09 Inrix Inc. Driving profiles for autonomous vehicles
DE102015221612A1 (en) 2015-11-04 2017-05-04 Bayerische Motoren Werke Aktiengesellschaft Method, computer-readable medium, driver assistance system and vehicle comprising the driver assistance system for calculating a trajectory for guiding a vehicle

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014064095A1 (en) * 2012-10-22 2014-05-01 Takata AG Method and assistance system for assisting a driver of a motor vehicle, and measuring method and measuring system for determining a mental state of a driver of a motor vehicle
DE102015203354A1 (en) * 2014-02-28 2015-09-03 Ford Global Technologies, Llc Settings of vehicle operator monitoring and operating procedures
US20170068245A1 (en) * 2014-03-03 2017-03-09 Inrix Inc. Driving profiles for autonomous vehicles
DE102015204306A1 (en) * 2015-03-11 2016-09-15 Robert Bosch Gmbh Method for controlling vehicle functions of a motor vehicle by means of driving-relevant data from external sources
DE102015221612A1 (en) 2015-11-04 2017-05-04 Bayerische Motoren Werke Aktiengesellschaft Method, computer-readable medium, driver assistance system and vehicle comprising the driver assistance system for calculating a trajectory for guiding a vehicle

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