DE102017206012B3 - Method for operating a vehicle - Google Patents

Abstract

The invention relates to a method for operating a vehicle, wherein at least one first sensor unit detects individual data of at least one vehicle occupant and wherein at least one control unit actuates at least one chassis system as a function of the detected individual data.

Description

The invention relates to a method for operating a vehicle according to the preamble of claim 1. The prior art is by way of example on the DE 10 2007 023 141 A1 and the DE 10 2009 058 492 A1 directed.

An increasingly important requirement in the field of road vehicles, especially in the age of highly automated or autonomous driving, is the increased comfort for vehicle occupants of the vehicle. Thus, many different driver assistance systems are used, in particular, to increase the comfort of a driver or vehicle occupants.

The DE 10 2007 023 141 A1 For example, there is shown a method of setting a comfort system in a vehicle in which an image pickup, evaluation, and control device captures image data of a part of a body of a driver or a passenger and sets a comfort system depending on the position and survey data obtained thereby.

Also in terms of comfort more and more vehicle dynamics control systems are introduced, which are designed to respond as accurately as possible to the needs or needs of the occupants. Sensors on and in the vehicle thereby capture the current driving state of the vehicle, as well as its surroundings, and then subsequently adapt a chassis of a vehicle to the current situation by means of defined parameters.

For example, shows the DE 10 2009 058 492 A a method for controlling the operation of a vehicle, in which at least one vehicle system is controlled in consideration of the respective current operating state descriptive data for increasing the comfort of a passenger of a vehicle.

A disadvantage of the current state of the art is that humans are currently not included in the regulation of vehicle dynamics. At most, there are research approaches that attempt to cover a solution with models. An attempt is made to generalize the man or the inmate or to find mediocrity. Although such a model is easy to integrate into any vehicle, however, the coordination of the suspension systems on the comfort of the vehicle occupants is thus inaccurate and error-prone.

It is therefore an object of the invention to provide a method for operating a vehicle, which allows the best possible comfort for an individual vehicle occupants.

The solution of the problem results from a method for operating a vehicle with the features of claim 1. Advantageous embodiments and further developments are the subject of the dependent claims.

A method is proposed for operating a vehicle, in particular an autonomously or highly automated moving vehicle. In this case, a sensor unit detects movements of at least one area of the body) of at least one vehicle occupant and / or of at least one object with which the vehicle occupant interacts. Subsequently, it is provided that a control unit controls at least one landing gear system as a function of the detected movements.

In contrast to the cited prior art, this invention enables a comfort adjustment precisely matched to a vehicle occupant due to the adaptation of suspension settings to individual data of each vehicle occupant or to the individual needs of one or more vehicle occupants. In particular, in autonomous driving, it is possible that a vehicle occupant is less focused on the driving task, but rather is engaged in other activities, such as reading a book or working on a computer or the like. The vehicle occupant is no longer focused on the road, which is increasingly due to the reduced lack of attention to motion sickness or a so-called motion sickness. Symptoms of such motion sickness or motion sickness are fatigue, dizziness, nausea or other loss of comfort. Because the human brain permanently processes the sensory impressions that affect humans. The sense of balance in the inner ear, as well as seeing, is particularly influencing the well-being in the processing of these sensory impressions. An additional factor is the physical sensibility of the vehicle occupant. This means that the human brain registers how the joints or body parts are and whether they are in motion. However, if the information of the senses does not agree, as is the case, for example, when reading during a car drive, the human brain reacts to such a contradiction with, for example, dizziness or nausea. Thus, if the body or certain parts of the body or parts of the human body are exposed to certain vibrations or movements which are in contrast to another organ of perception, this can lead to drastic loss of comfort or physical complaints in the form of motion sickness or the like.

It is therefore provided that the individual data of the at least one vehicle occupant, which are detected by the sensor unit, are movement data from the body or from at least one body part or from at least one body region or from a specific body point. For example, the movement of the stomach area of the vehicle occupant can be detected.

The sensor unit, which detects the movements of the at least one vehicle occupant, can be for example a camera, which can detect in particular body-related movements, such as, for example, a movement of a head of the vehicle occupant. The camera or multiple cameras can be arranged in the vehicle interior so that they can detect at any time each vehicle occupant or at least one vehicle occupant. Additionally or alternatively, vibration sensors, motion sensors, strain gauges, body scales, pressure sensors and many more, especially in the vehicle interior, sensors or other monitoring devices or -Vorkehrungen can be used.

Particularly preferably, said sensor unit detects movements of at least one region of the body of the vehicle occupant in the vehicle longitudinal direction or in the vehicle vertical direction or in the vehicle transverse direction or a pitching and / or rotational movement of this body region. Thus, the sensor unit, in particular the camera directed at the particular vehicle occupant, can detect vertical movements, for example, of the head of a vehicle occupant within a defined period of time. Even unusual pitching movements or vibrations of one or more body parts of the vehicle occupant, which are classified as uncomfortable, for example, can be detected or detected.

It is also possible to detect the movements of the eyes or the viewing direction of a vehicle occupant and thereby to conclude on a specific behavior or well-being of the driver. For example, when a vehicle occupant during an autonomous journey, his gaze multiple times in a specific period to a specific location, for example, the front vehicle. From this and, if appropriate, by using further data (such as distance data), it can be assumed that the driver is dissatisfied with the distance to the preceding vehicle and therefore feels uncomfortable. The driving dynamics or the longitudinal dynamics can then be adjusted accordingly. The system or method, in addition to detecting and avoiding movements of body parts of the at least one vehicle occupant, is also useful for improving the overall comfort of a vehicle occupant. As already mentioned, a suitable sensor system, such as, for example, an interior camera, detects the activity of an occupant, as well as his facial expression and line of sight. Emotions of the respective vehicle occupant, for example with the aid of an emotion recognition device, can then be derived from these data (for example mimicry and viewing direction). Depending on this, an adjustment of suspension settings can also be made.

As already mentioned, the sensor unit can acquire data of different body parts, body regions or even individual body points of the vehicle occupant. For example, the movement of the head or parts or certain points of this can be detected.

Similarly, for example, movements or vibrations of certain parts or areas of the upper body and / or the extremities and / or the lower body such as the chest, hips or back, and the buttocks, at least one vehicle occupant can be detected.

In addition to the aforementioned movement data of the body or of one or more body parts or body regions of the vehicle occupant, it is also preferred that movement data of at least one object with which the vehicle occupant interacts is detected by the named sensor unit or by a plurality of sensor units. Also depending on the movement data of such an object, it is preferable to control at least one landing gear system or to set it differently.

Such an object with which the vehicle occupant interacts may be, for example, a mobile phone or a book or magazines or a computer on which the vehicle occupant is working.

If, for example, it is found that the object with which the driver is interacting at this moment is subjected to strong or specific movements or vibrations in which, for example, a malaise or fatigue of the vehicle occupant can occur, a particular or several suspension systems may do so be changed or set that this movement is reduced. The driver can thereby undisturbed and without loss of comfort with the item (further) act.

The detected movement of the vehicle occupant or the object interacting therewith describes a vibration course as a function of time or a preceding one Period of time. This oscillation profile is detected in particular by the amplitude or the frequency of the oscillation.

Alternatively or additionally, the distance traveled by the path of movement of the at least one body part or region of the body of at least one vehicle occupant can be detected as a function of time or measured in a preceding time period.

The said movements, such as such a waveform or the course of movement of body parts or areas of the body of the at least one vehicle occupant, thereby present a detected actual value.

It is known to the vehicle or the system or the control unit (for example as a learned system) that a certain or even an average vehicle occupant may feel uncomfortable with certain movements or oscillations or suggestions from different parts of the body. In this case, averaged data regions, for example frequency or path-speed curves, can be predefined for particular body parts or body regions of a vehicle occupant, in which case the vehicle occupant may feel unwell.

Deriving from this, it is also possible to determine areas of the movements (for example, the movements and oscillations) at which an (average) vehicle occupant feels comfortable. This area is then referred to as a so-called target area. Such a desired range can represent, for example, a specific range of motion or vibration of a body or head point at which the vehicle occupant feels comfortable.

It is furthermore preferably provided that the control unit carries out an actual nominal adjustment of the detected movements with a (as already explained) desired range. If a deviation of the actual data, that is to say the movements of the at least one vehicle occupant, from the desired range is detected during such an adjustment. If the actual data are not in the desired setpoint range, then at least one chassis system of the vehicle is in particular controlled in such a way that the actual data shifts to the setpoint range. In other words, if it is recognized that a body part or a certain area of the body or head of a vehicle occupant is moving or oscillating in such a way that the vehicle occupant may feel uncomfortable, for example in the form of tiredness, nausea or dizziness, then it is targeted changed by driving at least one specific suspension system, the path-speed curve or the vibration or movement at the specific body point or body area.

A so-called kinetosis-induced nausea or discomfort of a vehicle occupant can be advantageously avoided or prevented or reduced.

As already described, said target range can be stored in the system and represent an averaged target range, in which range an average or average vehicle occupant usually feels comfortable.

Alternatively, however, it is also possible for the first sensor unit or at least one second sensor unit to acquire individual biometric data of the at least one vehicle occupant and to calculate or set it on the basis of this one individual desired range for the particular vehicle occupant. For example, the weight, the size, the posture, the age, the sitting position and the weight distribution of the at least one vehicle occupant can be used to calculate this desired range. Furthermore, data of an emotion recognition device can be included in the calculation of the desired range.

The subsequent calculation of the individual desired range can then take place, for example, via a model already stored with certain functions, which is filled with the individual biometric data of the vehicle occupant and from which an individual range is calculated.

It is also possible to save the data of the particular vehicle occupant and reuse it for later adjustments. For example, the data may be deposited with a particular user profile and accessed upon detection that that particular user is in the vehicle. It is also conceivable that the data in a cloud (for example, a digital ID or user ID) or the like, virtually across the vehicle, stored and retrieved in different vehicles.

In a further preferred embodiment of the invention, it is provided that said target range in which the individual data of the at least one vehicle occupant should be located so that it feels comfortable, depending on environment data, in particular future driving situations (ie anticipatory), calculated becomes. For example, a calculated setpoint range (either an averaged setpoint range or an individually calculated setpoint range) can be adjusted or changed again depending on specific environment data. Becomes For example, detected by a suitable sensor, such as a navigation system, GPS data or environment cameras, special or specific road conditions or road excitations, the target range is adapted to this data. For example, on a winding country road or on an uneven road surface (such as potholes or road bumps), the target area is set differently due to other roadway excitations on the vehicle occupant than if the vehicle is driving straight ahead on a highway or on a flat road located.

Due to the additional dependency of the calculation of the desired range of environmental data or future occurring driving situations, the probability of the occurrence of a malaise at least one vehicle occupant can be further reduced.

In this case, it is also possible that the said desired range is always adjusted with the data of well-being or the emotion recognition and is adapted to this data quasi-learning.

As already mentioned, it is provided that a suspension system is set depending on the individual data of the at least one vehicle occupant. If, for example, a deviation of the individual data from a specified target range (either an averaged target range or an individually calculated target range) is detected by a control unit, then a chassis system should be controlled such that the individual data move back to the target range. The thereby controlled or regulated suspension system is in particular a system for influencing the vertical dynamics or the longitudinal dynamics or the transverse dynamics of the vehicle or a system for influencing the drive vibrations or a system which influences the pitching movements and the yawing of the vehicle.

Particularly suitable for the execution of the method are active or controllable or switchable suspension systems, in which at least one specific characteristic can be changed by control or circuit.

For example, such a switchable or active or semi-active spring-damper system and / or brake system and / or steering system and / or a roll stabilization system and / or vibration damping system (for example, the drive unit) of the vehicle can be controlled.

If, for example, it is detected by a suitable interior camera that a specific area or point on the head of the driver is subjected to critical movements or is exposed to such movements, which are known by the system to cause discomfort for the vehicle occupant, Thus, the control unit controls one or more suitable suspension systems. In this case, the camera detects in particular the direction of the critical movement or oscillation, wherein the control unit controls at least one landing gear system from the acquired data, which is able to influence the movement of the head or of the point or area of the head. For example, if the camera detects critical movements of the head of the vehicle occupant in the vehicle vertical direction, the control unit controls, for example, a spring-damper system in such a way that another "uncritical" movement acts on the head of the vehicle occupant.

The execution of the method is not limited to a single vehicle occupant. So it is also conceivable that if more than one vehicle occupant is in the vehicle, the individual data of all or more vehicle occupants are detected and calculated as a function of this data from several vehicle occupants, an average value of a target range.

It is also conceivable that the target range is limited or extended depending on the multiple individual data, so that it can be ensured that each of the occupants feels comfortable.

As already mentioned, it is also preferable to store the acquired individual data of the at least one vehicle occupant or the setpoint area individually adapted to the vehicle occupant (if possible) on a vehicle-overlapping database, for example a cloud-like database. Such a cross-vehicle database can be retrieved from any vehicles (ie, in particular, those which are also able to access such a database or those which are able to retrieve and process such data by means of a suitable digital link). In connection with my user profile stored in the vehicle or in the database, an adaptation of suspension settings to increase the individual well-being of each vehicle occupant in any vehicle can be realized quickly and with little effort.

It is further proposed a vehicle for carrying out a method according to one of claims 1 to 11. In particular, this vehicle comprises at least one suitable sensor unit for detecting the individual data of at least one vehicle occupant, and at least one control unit for evaluating the detected individual data and for driving suitable (active or switchable) suspension systems of the vehicle.

Furthermore, a computer program or computer program product is claimed which is set up to carry out a method according to one of claims 1 to 11 on an electronic computing and / or control unit.

These and other features are apparent from the claims and from the description also from the drawing, wherein the individual features in each case be implemented alone or in the form of sub-combinations in one embodiment of the invention and represent advantageous and inherently protectable versions for which protection is claimed here.

• Die einzige Figur zeigt dabei schematisch mögliche Einflussgrößen bei der Durchführung eines erfindungsgemäßen Verfahrens.

In the following the invention will be further explained with reference to an embodiment. Essential to the invention may be all features described in more detail.

• The single figure shows schematically possible influencing variables when carrying out a method according to the invention.

In the figure is schematically a vehicle occupant in the form of a driver 1 shown, from which different individual data can be detected, based on which a suspension system 10 is regulated or controlled. The driver 1 is on the driver's seat 2 a vehicle, where he the vehicle by operating a steering handle 3 and the operation of brake or accelerator pedal 4 controls. The vehicle learns from the road 5 certain suggestions A on which the body or different body parts or areas of the driver's body 1 be set in motion or in vibration. These road excitations are from a vehicle-mounted sensors 9 recorded and evaluated by the Steuereinehit SE or processed.

To avoid or to prevent malaise or tiredness of the driver 1 Due to certain movements or vibrations of the body or body parts of the driver 1, it is provided that a suspension system 10 when collecting specific individual data of the driver 1 is controlled or regulated by a control unit SE. In this concrete example is the suspension system 10 an active spring-damper unit. The detected individual data is transmitted to the control unit SE. This transfer of the data is illustrated in the drawing with arrows to the sensor unit SE.

The individual data mentioned are determined by suitable sensors, ie in this specific case by a camera 6 , Motion sensors and position or vibration sensors 8th at the vehicle seat 2 detected.

Furthermore, it is possible models for the seat 2 and the driver 1 to be included in the regulation. The sensors, such as the camera 6, thereby allow a comparison, an improvement and validation of a stored driver or seat model. For example, biometric data, such as height, weight, or body shape, can be captured by the system and the stored models adjusted accordingly. Likewise, the camera 6 in the interior, the movements of other parts of the body, such as the chest, hips or extremities of the driver 1 to capture.

In addition, a system for predicating the roadway or roadway properties can be included in the calculation or regulation. Thus, a driving event, for example a curved road, can be detected by a suitable sensor system, for example an outdoor camera, and a specific future driving maneuver, for example a cornering, can be deduced therefrom. This future driving maneuver can then be based on the state of motion of the occupant or of the driver 1 adapted and optimized for comfort.

By interrogating other sensors, it is possible the actual detection of the driver 1 to improve. For example, a sensor 8 in the seat S may be included in the control or calculation. The sensor 8th For example, it measures the movement of the buttocks 1.2 or the body weight of the driver 1 and thus allows conclusions to be drawn to the stomach 1.3 the driver 1 acting movements and vibrations too. Possible sensors 8th For example, seat occupancy sensors, seat heaters, back sensors or the like can be.

In the example off 1 the sensors detect the movements on the head 1.1 of the driver 1 , The movement data of the head 1.1 are then evaluated by the control unit SE. For the head 1.1 are in particular movement in the vehicle vertical direction H as well as pitching and rolling movements n . w as a factor influencing the well-being of the driver. However, movements in the vehicle longitudinal and vehicle transverse direction I, q, the well-being of the driver 1 influence. The control unit SE then compares the recorded movements of the head 1.1 the driver's movements with the wheels 11 of the vehicle (ie the Fahrbahnanregungen) by the vehicle-mounted sensors 9 be recorded. In this case, other sensors installed in the vehicle, in particular the aforementioned vehicle-mounted sensors 9, which detect movements, vibrations and other vehicle-related or chassis-related data are included for comparison with the individual data from the control unit SE. Such a vehicle-mounted sensor 9 is of the mentioned sensors 8th for detecting the individual data of the vehicle occupant to distinguish insofar as the vehicle-mounted sensors 9 only vehicle data recorded. This vehicle data can advantageously be compared with the individual data of the vehicle occupant and also be included in the calculation of the corresponding desired range.

With the vehicle-fixed data of the vehicle and the driver 1 For example, the control unit SE may have one or more suspension systems 10 control or regulate, so the comfort of the driver 1 is increased. For this purpose, a specific target range of movements or oscillations of certain body regions or body parts or body points is deposited. If certain movements are within the target range, it is unlikely that the driver will 1 can feel uncomfortable by the movement of the specific body region.

If, however, the current movement of the body region is outside the (for example stored) desired area, then it can be assumed with a high degree of probability that a malaise of the driver 1 in the form of, for example, tiredness, nausea or dizziness may occur. For example, is the head or a certain point of the head 1.1 the driver a certain vibration or path-speed range, for example, a frequency of about 0.1 to 0.5 Hz (in the vehicle vertical direction H ), it is possible that at this frequency the driver 1 to nausea or to a so-called motion sickness tends. By means of a suitable comparison with the well-being data or the emotion data of the at least one vehicle occupant 1, a movement or oscillation range can be ascertained, in which the latter feels comfortable. This area is then the so-called target area, which is or is deposited in the control unit SE.

If, accordingly, a deviation of the current actual head movement from the stored desired area is determined, then the control unit SE controls suitable suspension systems 10 , For example, a spring damper or a roll stabilization system such that the movement of the head 1.1 of the driver 1 again in an area where there is no motion sickness or discomfort.

LIST OF REFERENCE NUMBERS

1

driver

1.1

head

1.2

buttocks

1.3

stomach

2

vehicle seat

3

Steering handle

4

accelerator

5

Street

6

camera

8th

sensor

9

Vehicle-resistant sensors

10

chassis system

11

Wheel of the vehicle

w

rolling motion

n

pitching motion

q

Vehicle transverse direction

l

Vehicle longitudinal direction

H

Vehicle vertical direction

A

stimulation

Claims (12)

Method for operating a vehicle wherein at least one first sensor unit (8, 6) moves at least one area of the body (1.1, 1.2, 1.3) of at least one vehicle occupant (1) and / or at least one object (3, 4), with which the vehicle occupant (1) interacts detected, wherein a control unit (SE) depending on the detected movements at least one landing gear system (10) controls, characterized in that the detected movement is at least one waveform as a function of time and wherein the waveform using the amplitude and / or the frequency of the at least one oscillation is detected. Method according to one Claim 1 in which the sensor unit (8, 6) moves at least one region of the body (1.1, 1.2, 1.3) of the at least one vehicle occupant (1) in the vehicle longitudinal direction (l) and / or in the vehicle transverse direction (q) and / or in the vehicle vertical direction (h) and / or a pitching movement (n) and / or a rotational movement and / or a rolling movement (w) of the area of the body (1.1, 1.2, 1.3) of the vehicle occupant (1). Method according to one of the preceding claims, wherein the sensor unit (6, 8) movements of a part and / or a region of a head (1.1) and / or a torso and / or limbs and / or a lower body of the at least one vehicle occupant (1) detected. Method according to one of the preceding claims, wherein the control unit (SE) performs an actual-target comparison of the detected individual data with a desired range, wherein the control unit (SE) upon detection of a deviation of the detected data from the target range at least one Chassis system (10) controls. Method according to one of the preceding claims, wherein the first sensor unit (6,8) and / or at least one second sensor unit biometric data of the at least one vehicle occupant (1) detected. Method according to one of the preceding claims, wherein by means of the acquired biometric data of the at least one vehicle occupant (1) a desired range of movement of a control unit (SE) is calculated. Method according to one of the preceding claims, wherein the desired range is calculated as a function of environmental data. Method according to one of the preceding claims, wherein the control unit (SE) upon detection of a deviation of the individual data from the target area at least one suspension system (10) for influencing the vertical dynamics and / or the longitudinal dynamics and / or the lateral dynamics of the vehicle and / or activates and / or regulates for setting a vibration of at least one area of the vehicle. Method according to one Claim 8 wherein the at least one suspension system is a spring-damper system (10) and / or a brake system and / or a steering system and / or a roll stabilization and / or a vibration damping system of the vehicle. Method according to one of the preceding claims, wherein the detected individual data of the at least one vehicle occupant (1) are stored on a vehicle-superordinate database and from at least one other vehicle, which is able to access this database, are retrievable. Vehicle for carrying out a method according to one of Claims 1 to 10 comprising a first sensor unit (6, 8) for detecting individual data of a vehicle occupant (1) and a control unit (SE) for evaluating the detected individual data, as well as a chassis system (10) which can be activated by the control unit (SE). Computer program or computer program product, which is set up a method according to one of Claims 1 to 10 to execute on an electronic computing and / or control unit.

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