DE102017003655A1 - Motor vehicle and method for controlling the same - Google Patents

Abstract

A motor vehicle (100) is selectively operable in either an autonomous drive mode or a manual drive mode. When the motor vehicle (100) is operated in the autonomous driving mode, a processing unit (110) determines whether or not a set of criteria for operating the motor vehicle (100) in the manual driving mode is satisfied. In response to a command for manual operation (CMDm) and if the set of criteria is met, operation of the motor vehicle (100) is in the manual drive mode. A set of sensors (120) registers at least one signal that forms a basis for determining whether or not the set of criteria is met. Via a wireless interface (140), a communication unit (130) receives the manual operation command (CMDm) from a resource (160) outside the motor vehicle (100). Therefore, the external resource (160) may control the motor vehicle (100) to operate in the manual drive mode.

Description

BACKGROUND OF THE INVENTION AND PRIOR ART

The present invention generally relates to solutions for operating a motor vehicle in an autonomous drive mode and a manual drive mode, respectively. More particularly, the invention relates to a motor vehicle according to the preamble of claim 1 and a corresponding method. The invention also relates to a computer program product and a non-transitory computer readable medium.

Today, there is a strong tendency for increased use of automatic road vehicles. Of course, this is associated with many technical obstacles. In particular, it has been found that a safe switching between an autonomous and a manual driving mode is difficult. Here are some examples of relatively new solutions in this area.

The US 2013/0002416 discloses systems and methods for switching between manual mode steering and autonomous mode steering, which requires a steering wheel assembly to send an autonomous electronic control unit a signal to turn on steering in autonomous mode in response to a Steering wheel with autonomous interface of the assembly has been moved from a first position to a second position.

The US 6,356,819 describes a method and apparatus that enables safe operation of a vehicle when an automatic steering control function of a guidance control system is in operation. One or more sensors are used to determine if the operator is in the vehicle. If the sensors detect that the operator has left the vehicle, the vehicle is shut down. The security system includes one or more software programs that function to determine if the guidance control system is functioning properly. More specifically, a control unit is coupled to the microprocessor and the steering control mechanism to determine whether an error condition has occurred or not. In the event that an error condition has occurred, the guidance control system is switched off and the control of the vehicle is handed over to the operator. In one embodiment, the security system determines whether the operator is ready to take control of the vehicle before turning off the guidance control system. If the operator is not ready to take control of the vehicle, the vehicle is shut down.

The US 2015/0283998 discloses a method for the transition between the driving modes of a vehicle. The driving modes include an autonomous driving (AD) mode, a partially autonomous driving (PAD) mode and a manual driving (MD) mode. A transition from the PAD mode to the AD mode is made by activating the AD mode. A transition from the AD mode to the PAD mode is made by enabling a steering wheel lock when the PAD mode is in an activated state. A transition from the MD mode to the AD mode is made by activating the AD mode. A transition from the AD mode to the MD mode is made by releasing the steering wheel lock when the PAD mode is in a deactivated state. A system for carrying out the method and a vehicle incorporating the system are also disclosed.

The US 2015/0070160 describes a method and arrangement for a transfer alert in a vehicle having autonomous driving capabilities and a vehicle controller configured to control an unmanned autonomous ride. A processor may be configured to monitor whether it is necessary to transition from an unmanned autonomous ride to a manual control of the vehicle. A detection arrangement may be configured to monitor a vehicle driver and assess the willingness of the vehicle driver to undertake the operation of driving the vehicle. A warning arrangement may be configured to provide warning information when a driver handover is requested by the processor, wherein the warning arrangement may be further configured to adjust a timing of the warning information regarding the assessed readiness of the vehicle driver to take over the operation of driving the vehicle. A warning output system may be configured to output the timed warning information to a vehicle passenger compartment.

The US 2015/0284009 shows a solution for switching between autonomous and manual driving modes. To do this, the vehicle's computer can perform a series of environmental, system and driver checks to identify specific conditions. The computer can correct some of these conditions and also provide a driver with a list of tasks to complete. Once the tasks are done and the conditions have changed, the computer can allow the driver to switch from the manual to the autonomous driving mode.

The computer can also under certain conditions make a determination that it is for the safety or comfort of the driver would be harmful to make a switch from the autonomous driving mode to the manual driving mode.

Problems associated with the prior art

Thus, there are already various solutions for switching between autonomous and manual driving modes. However, the existing solutions all rely on locally generated commands or signals to transition from one mode to another. This, in turn, is problematic, among other things, in that such a locally oriented solution approach can not cope with driving situations which require a spatial and / or temporal announcement relatively long in advance.

BRIEF SUMMARY OF THE INVENTION

The object of the present invention is therefore to solve the above problem and thus to provide improved handling of a motor vehicle which can be operated selectively either in an autonomous driving mode or in a manual driving mode.

According to one aspect of the invention, the object is achieved by the motor vehicle described initially, wherein the motor vehicle comprises a communication unit configured to receive a command for manual operation via a wireless interface. The manual operation command is generated by a resource located outside the motor vehicle.

This motor vehicle is advantageous in that it enables a command center or other non-onboard entity to initiate manual operation of the vehicle if deemed necessary, for example, in circumstances outside the normal range of the vehicle's own sensor systems. These circumstances may be an accident on the road on which the vehicle is traveling, whereby the accident of the non-onboard entity is known, but can not be registered by the motor vehicle itself. Problematic traffic and / or weather situations are other examples of such circumstances.

According to a preferred embodiment of this aspect of the invention, the set of sensors comprises: a pressure-sensitive sensor configured to determine whether or not a person is sitting on the driver's seat of the motor vehicle; an image-based sensor configured to register a state of alertness of a driver of the motor vehicle; an image-based sensor configured to determine whether or not the driver has directed his view of the roadway on which the vehicle is traveling; and / or a touch sensor configured to determine whether or not the driver has his hands on the steering wheel of the motor vehicle. Consequently, key data reflecting the willingness of the driver to assume the driving responsibility can be detected very efficiently.

According to a preferred embodiment of this aspect of the invention, the motor vehicle comprises at least one alarm unit. If the motor vehicle is operating in autonomous drive mode, the manual operation command is received, and less than all manual mode operation criteria are met, the processing unit is further configured to cause the at least one alarm unit to generate at least one alarm signal. Thereby, a driver of the motor vehicle is informed that a requested operation of the motor vehicle in the manual drive mode is prevented due to a driver-related problem. If, within a predetermined period after the alarm signal is generated, all criteria in the set of criteria are still not met, the processing unit is configured to cause the motor vehicle to be stopped. In particular, it has been determined in such a case that the vehicle can not be operated either automatically or manually.

According to another preferred embodiment of this aspect of the invention, the motor vehicle comprises at least one alarm unit configured to generate at least one signal that acoustically, optically, mechanically and / or haptically notifies a driver of the motor vehicle that the manual drive mode is currently activating shall be. Furthermore, prior to operation of the motor vehicle in the manual drive mode, the processing unit is configured to cause at least one of the at least one alarm unit to generate at least one of the at least one signal. If and only if a predefined driver acknowledgment signal has been received thereafter, the processing unit is configured to perform the operation of the motor vehicle in the manual drive mode. Thus, both the driver and the vehicle receive confirmation that the manual driving mode will be performed.

According to yet another preferred embodiment of this aspect of the invention, the predefined driver acknowledgment signal is represented by the activation of a non-driving input element and / or the activation of a driving input element. Thus, the driver can manipulate a button on the dashboard and also operate a normal driving device to confirm that he assumes the driving responsibility. In particular, this can not be due to driving Input element may be represented by a screen button, a push button, a toggle switch, a key or a knob; and the driving input member may be represented by a steering wheel, an accelerator pedal, a brake pedal, a clutch pedal, or a shift lever.

In accordance with yet another preferred embodiment of this aspect of the invention, after operation of the motor vehicle has occurred in the manual drive mode, the processing unit is configured to cause an acknowledgment message to be sent over the wireless interface. The confirmation message is configured to notify the external resource that the motor vehicle is operating in manual drive mode. This informs the command center that the responsibility for the vehicle has been successfully transferred to the driver.

According to another aspect of the invention, the object is achieved by the initially described method wherein a manual operation command is received via a wireless interface. It is believed that the manual operation command was generated by a resource located outside the motor vehicle. The advantages of the present method, as well as the preferred embodiments thereof, will be apparent from the discussion above with reference to the proposed motor vehicle.

According to another aspect of the invention, the object is achieved by a computer program product that can be loaded into the memory of a computer and includes software for carrying out the previously proposed method when executed on a computer.

In accordance with another aspect of the invention, the object is achieved by a non-transitory computer-readable medium on which a program is recorded, the program causing a computer to perform the previously suggested method when the program is loaded onto the computer.

Further advantages, advantageous features and applications of the present invention will become apparent from the following description and the dependent claims.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention will now be explained in more detail by means of preferred embodiments, which are disclosed as examples, and with reference to the accompanying drawings. Show it:

1 a schematic view of a motor vehicle according to an embodiment of the invention together with a system for communicating with the motor vehicle; and

2 using a flowchart, a method according to the invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS OF THE INVENTION

First, it will open 1 Reference is made, which is a schematic view of a motor vehicle 100 according to an embodiment of the invention. 1 also provides a system for communicating with the motor vehicle 100 as well as with other motor vehicles, for example with a vehicle fleet.

The car 100 is configured to be selectively operated in either an autonomous drive mode or a manual drive mode. The car 100 includes a processing unit 110 , a set of sensors 120 and a communication unit 130 ,

The sensors in the set of sensors 120 are configured to register various signals that form a basis for determining if a set of criteria is for the motor vehicle 100 in the manual driving mode is satisfied or not. For example, the set of sensors 120 a pressure-sensitive sensor configured to determine whether a person is in the driver's seat of the motor vehicle 100 sitting or not; an image-based sensor configured to monitor a state of alertness of a driver of the motor vehicle 100 to register; an image-based sensor configured to determine if the driver is looking at the roadway on which the motor vehicle is 100 driving, judging or not; a touch sensor configured to determine whether the driver has his hands on the steering wheel of the motor vehicle 100 or not, and / or an alcohol testing device configured to determine whether or not the driver is under the influence of alcohol or another breath-detectable drug.

The processing unit 110 is configured to receive signals from the set of sensors 120 to receive and determine based on whether the set of criteria to the motor vehicle 100 in the manual drive mode is satisfied or not.

The processing unit 110 is further configured to issue a manual operation command CMD _m from the communication unit 130 to recieve. If (a) the motor vehicle 100 just in autonomous driving mode is operated, (b) the command for a manual operation CMD _{m has been} received, and (c) the set of criteria to the motor vehicle 100 in the manual drive mode, is the processing unit 110 configured to operate the motor vehicle 100 in the manual driving mode.

The communication unit 130 in turn, is configured to command the manual operation CMD _m over a wireless interface 140 received by, for example, a mobile / cellular communication system or a WiFi connection. A communication infrastructure, the radio base stations 175 and one or more networks 170 shown, for example, represented by the Internet, preferably switches the wireless interface 140 with a resource 160 Together, outside the vehicle 100 located. In particular, according to the invention, it is assumed that the command for manual operation CMD _m by the external resource 160 was generated. Thus, a command center may be the source of the manual command CMD _m . However, the manual operation command CMD _m may as well have been generated by another motor vehicle and may have been passed to the motor vehicle either directly from that other vehicle or more preferably via the command center.

A major advantage of such an external origin of the manual operation command CMD _m is that the trigger for switching to manual driving can be initiated for a long time (about 30 seconds or more) before a time when manual driving is actually required , This leaves enough time to warn the driver and encourage him to assume his position in the driver's seat and to prepare for the driving task. The all-vehicle trigger system generally has a much shorter lead-in horizon, which is a few hundred meters or five to seven seconds for typical speeds.

To inform the driver that a requested manual operation of the motor vehicle 100 is prevented due to a driver-related problem, the motor vehicle includes 100 preferably at least one alarm unit. In particular, if the motor vehicle 100 is operated in autonomous driving mode, the command for manual operation CMD _{m is} received, and the processing unit 110 Find out that less than all criteria for operating the motor vehicle 100 are satisfied in the manual drive mode, is the processing unit 110 preferably configured to cause the at least one alarm unit to generate at least one alarm signal. Further, if within a predetermined period after the one or more alert signals have been generated, one or more of the criteria for operating the motor vehicle 100 in the manual drive mode are still not satisfied, is the processing unit 110 configured to cause the motor vehicle 100 is to be stopped, for example, by the vehicle is forced to drive to the curb and stop there.

Alternatively or additionally, the motor vehicle comprises 100 at least one alarm unit configured to generate at least one signal representing a driver of the motor vehicle 100 acoustically, visually, mechanically and / or haptically notified that the manual driving mode is about to be activated. This type of notification is preferably also generated if all the criteria for operating the motor vehicle 100 are met in the manual drive mode, and before the operation of the motor vehicle 100 In the manual driving mode is actually done, it is advantageous if the processing unit 110 configured to operate the motor vehicle 100 in the manual drive mode if and only if a predefined driver acknowledgment signal has been received.

The predefined driver confirmation signal can in turn be represented by an activation of a non-driving-related input element and / or an activation of a driving-related input element. In this case, the non-driving input element may be a screen button, a push button, a toggle switch, a key and / or a knob; whereas the driving input member may be a steering wheel, an accelerator pedal, a brake pedal, a clutch pedal, and a shift lever. Therefore, there is a great deal of freedom for how the driver interacts with the processing unit 110 can interact to indicate that he is ready to take responsibility for driving the motor vehicle 100 to take over.

Once the operation of the motor vehicle 100 in the manual driving mode, the processing unit is 110 preferably configured to cause an acknowledgment message ACK _m via the communication unit 130 and over the wireless interface 140 is sent. The confirmation message ACK _m includes an identity of the motor vehicle 100 and is configured to the resource 160 to notify that the motor vehicle 100 is now operated in manual drive mode, ie as requested by the command for manual operation CMD _m .

The processing unit preferably comprises 110 a computer program product, or stands in A communication link with a memory unit that stores it, which includes software to cause at least one processor in the processing unit 110 performs the actions described above when the computer program product runs on the at least one processor.

In summary, the method according to a preferred embodiment of the invention with reference to the flowchart in 2 described. The method described in the flowchart in 2 is preferred by the processing unit 110 executed.

In a first step 210 it is checked whether the motor vehicle is operated in autonomous driving mode. If not, the process returns and remains in step 210 ; and otherwise followed by a step 220 ,

In step 220 it is checked if a manual operation command has been received from an external resource via a wireless interface. If not, the process returns to step 210 back; and otherwise followed by a step 230 ,

In step 230 It is checked whether all criteria are met to operate the motor vehicle in manual driving mode. If so, follow a step 240 in which the operation is in manual mode; and otherwise the process goes one step 250 continued.

In step 250 At least one alarm signal is generated that is configured to inform a driver of the motor vehicle that manual operation of the motor vehicle has been requested, but is prevented by a driver-related problem, for example, because no one is sitting in the driver's seat.

Then in one step 260 checks whether a predetermined period after the alarm signal has been generated, has expired. If so, follow a step 270 , and otherwise the process returns to step 250 back.

In step 270 It is again checked whether all criteria are met to operate the motor vehicles in manual driving mode. If so, follow step 240 ; and otherwise the process goes one step 280 continued. In step 280 is causing the motor vehicle is stopped. Then the process is finished.

All process steps as well as possible subsequences of steps with reference to the above 2 can be controlled by a programmed computer device. Further, while the embodiments of the invention described above with reference to the drawings comprise a computing device and processes executed in a computing device, the invention thus also extends to computer programs, particularly to computer programs on or in a carrier. which are suitable for putting the invention into practice. The program may be in the form of source code, object code, intermediate code source, or object code, such as in partially compiled form or any other form suitable for use in implementing the process of the invention. The program can either be part of an operating system or it can be a separate application. The bearer may be any temporary entity or device capable of containing the program. For example, the carrier may include a storage medium such as a flash memory, a ROM, such as a DVD ("Digital Video / Versatile Disk"), a CD ("Compact Disc") or a semiconductor ROM, an EPROM (erasable programmable read only memory), an EEPROM (electrically erasable programmable read only memory) or a magnetic recording medium, such as a floppy disk or a hard disk. Alternatively, the carrier may be an integrated circuit in which the program is embedded, the integrated circuit being adapted to carry out the respective processes or suitable for use in the execution thereof.

The term "comprising" when used in the present specification means that it dictates the presence of specified features, integers, steps or components. However, the term does not exclude the presence or addition of one or more additional features, integers, steps or components or groups thereof.

The invention is not limited to the embodiments described in the figures, but can be freely varied within the scope of the claims.

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

• US 2013/0002416 [0003]
• US 6356819 [0004]
• US 2015/0283998 [0005]
• US 2015/0070160 [0006]
• US 2015/0284009 [0007]

Claims (15)

Motor vehicle ( 100 ) configured to be selectively operated in either an autonomous driving mode or a manual driving mode, wherein the motor vehicle ( 100 ) comprises: a processing unit ( 110 ) configured to: determine whether a set of criteria to the motor vehicle ( 100 ) in manual drive mode is met or not, and in response to a command for manual operation (CMD _m ) and if a set of criteria is met while the motor vehicle ( 100 ) is operated in autonomous driving mode, performing an operation of the motor vehicle ( 100 ) in the manual drive mode; and a set of sensors ( 120 ) configured to register at least one signal forming a basis for determining whether or not the set of criteria is satisfied, characterized in that the motor vehicle ( 100 ) a communication unit ( 130 configured to issue the manual operation command (CMD _m ) via a wireless interface (FIG. 140 ), wherein the command for a manual operation (CMD _m ) by a resource ( 160 ), which is outside the motor vehicle ( 100 ) is located. Motor vehicle ( 100 ) according to claim 1, wherein the set of sensors ( 120 ) at least one of: a pressure-sensitive sensor configured to determine whether a person is sitting in the driver's seat of the motor vehicle ( 100 ) or not; an image-based sensor configured to detect a state of alertness of a driver of the motor vehicle ( 100 ) to register; an image-based sensor configured to determine whether the driver is looking at the roadway on which the motor vehicle ( 100 ) drives, directs or not; and a touch sensor configured to determine whether the driver is holding his hands on the steering wheel of the motor vehicle ( 100 ) or not. Motor vehicle ( 100 ) according to one of claims 1 or 2, comprising at least one alarm unit, and wherein, if the motor vehicle ( 100 ) is operated in autonomous driving mode, the command for a manual operation (CMD _m ) is received and less than all the criteria in the set of criteria are met, the processing unit ( 110 ) is further configured to: cause the at least one alarm unit to generate at least one alarm signal indicative of a driver of the motor vehicle ( 100 ) that a requested operation of the motor vehicle ( 100 ) is prevented in the manual drive mode due to a driver-related problem; and if less than all criteria in the set of criteria are met within a predetermined period after the alarm signal is generated, causing the motor vehicle ( 100 ) is stopped. Motor vehicle ( 100 ) according to one of the preceding claims, comprising at least one alarm unit that is configured to generate at least one signal that a driver of the motor vehicle ( 100 ) acoustically, optically, mechanically and / or haptically informed that the manual drive mode is currently being activated; and before making an operation of the motor vehicle ( 100 ) in the manual drive mode of the processing unit ( 110 ) is configured to: cause at least one of the at least one alarm unit to generate at least one of the at least one signal, and to perform an operation of the motor vehicle ( 100 ) in the manual drive mode, if and only if a predefined driver acknowledge signal has been received. Motor vehicle ( 100 ) according to claim 4, wherein the predefined driver confirmation signal is represented by at least one of: an activation of a non-driving input element and an activation of a driving input element. Motor vehicle ( 100 ) according to claim 5, wherein: the non-driving input member is represented by at least one of a screen button, a push button, a toggle switch, a key and a knob; and the driving input member is represented by at least one of a steering wheel, an accelerator pedal, a brake pedal, a clutch pedal, and a shift lever. Motor vehicle ( 100 ) according to one of the preceding claims, wherein after an operation of the motor vehicle ( 100 ) in the manual drive mode, the processing unit ( 110 ) is configured to: cause an acknowledgment message (ACK _m ) via the wireless interface ( 140 ), the acknowledgment message (ACK _m ) being configured to poll the resource ( 160 ) to notify that the motor vehicle ( 100 ) is operated in manual drive mode. Method carried out in a motor vehicle ( 100 ) configured to be selectively operated in either an autonomous driving mode or a manual driving mode, the method comprising: when the motor vehicle ( 100 ) is operated in autonomous driving mode, check if a command for a manual operation (CMD _m ) has been received, and if so, determining, using a set of sensors ( 120 ), whether or not a set of criteria for operating the motor vehicle ( 100 ) is satisfied in the manual drive mode, and when all the criteria in the set of criteria are met, performing an operation of the motor vehicle ( 100 ) in the manual drive mode, characterized by: receiving the command for manual operation (CMD _m ) via a wireless interface ( 140 ), wherein the command for a manual operation (CMD _m ) by a resource ( 160 ) generated outside the motor vehicle ( 100 ) is located. The method of claim 8, wherein determining if the set of criteria for operating the motor vehicle ( 100 ) is met in the manual drive mode or not, at least one of: determining whether a person in the driver's seat of the motor vehicle ( 100 ) or not, based on a pressure-sensitive sensor; Registering a state of alertness of a driver of the motor vehicle ( 100 ) using an image-based sensor; Determining whether the driver has his view of the roadway on which the motor vehicle ( 100 ), has judged or not, based on an image-based sensor; and determining whether the driver has his hands on the steering wheel of the motor vehicle ( 100 ) or not, based on a touch sensor. Method according to one of claims 8 or 9, wherein, if the motor vehicle ( 100 ) is operated in autonomous drive mode, the command for manual operation (CMD _m ) is received and less than all criteria in the set of criteria are met, the method further comprises: generating at least one alarm signal configured to be a driver of the motor vehicle ( 100 ) to inform that a requested operation of the motor vehicle ( 100 ) is prevented in the manual drive mode due to a driver-related problem; and if less than all criteria in the set of criteria are met within a predetermined period after the alarm signal is generated, causing the motor vehicle ( 100 ) is stopped. The method of any one of claims 8 to 10, further comprising: prior to making an operation of the motor vehicle ( 100 ) in the manual drive mode, acoustic, optical, mechanical and / or haptic notification of a driver of the motor vehicle ( 100 ) that the manual driving mode should be activated; and performing an operation of the motor vehicle ( 100 ) in the manual drive mode, if and only if a predefined confirmation signal has been received from the driver. The method of claim 11, wherein the predefined acknowledgment signal is generated by at least one of: activating a non-driving input element and activating a driving input element. Method according to one of claims 8 to 12, wherein after the execution of an operation of the motor vehicle ( 100 ) in the manual drive mode, the method comprises: sending an acknowledgment message (ACK _m ) over the wireless interface ( 140 ), wherein the acknowledgment message (ACK _m ) is configured to poll the resource ( 160 ) to notify that the motor vehicle ( 100 ) is operated in manual drive mode. A computer program product that may be loaded into a memory of at least one computer and includes software to perform the method of any one of claims 8 to 13 when executed on the at least one computer. A non-transitory computer-readable medium on which a program is recorded, the program for causing at least one computer to perform the method of any one of claims 8 to 13 when executed on the at least one computer.

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