DE102019206981A1 - Method for detecting unintentional operation of a control device in an at least partially autonomous motor vehicle - Google Patents

Abstract

The invention relates to a method for detecting unintentional operation of a control device (12) in an at least partially autonomously operated motor vehicle (10). A movement and / or an activity state of the driver (22) of the motor vehicle (10) is recorded. When a drive command is issued by the driver (22) to a control device (12), a probability value (s) is determined based on the body position, the activity status, the duration of the control command, the operator and / or the amplitude of the movement as to whether the drive command was given consciously or unconsciously. A travel command classified as being consciously issued is fully implemented and a travel command classified as being unconsciously issued is not implemented or is implemented only to a limited extent.

Description

The invention relates to a method for detecting unintentional operation of a control device, in particular an accelerator pedal or the steering wheel, in an at least partially autonomously operated motor vehicle according to the preamble of the independent claims.

Motor vehicles are known from the prior art which can be operated in a partially autonomous mode. In particular, motor vehicles are known with an emergency brake assistant which initiates emergency braking if an obstacle appears in front of a motor vehicle and the driver does not initiate a braking maneuver. Lane keeping systems are also known which assist the driver in keeping a lane and when leaving the lane without a corresponding signal to change the direction of travel emit an optical, acoustic or tactile signal in order to move the driver to return to the lane.

As driving becomes more and more autonomous, the driver can also pursue secondary activities. During this secondary activity it can happen that the driver unconsciously touches a control device of the motor vehicle, in particular an accelerator pedal, the gear selector lever or the steering wheel. In the case of driver assistance systems known from the prior art, unintentional contact is not intercepted and, as a rule, leads to a departure from autonomous driving, the action of the driver being assessed as overriding the autonomous driving function. With further autonomy of driving, for example, the brake pedal can be accidentally actuated by a driver who falls asleep at the wheel.

From the DE 102 20 782 B4 An emergency system for a motor vehicle is known, which initiates an emergency maneuver when the driver is identified as being unable to drive in order to safely brake the motor vehicle to a stop and to make an emergency call if the driver is no longer able to do so.

From the DE 10 2017 011 724 A1 a method for operating a safety device of a motor vehicle is known. The environment around the motor vehicle is recorded by an environment sensor system. In the event of an impending collision with an unprotected road user, braking intervention is automatically initiated. This braking intervention is also continued if the driver exercises an opposite driving command, in particular steps on the accelerator pedal. The proposed method can, in particular, prevent terrorist attacks which are carried out by steering a motor vehicle in a crowd.

However, the known method has the disadvantage that there is no distinction between a drive command issued at will and a drive command issued at random. This is particularly useful in the case of partially autonomous operation of a motor vehicle, since unintentional contact with a control device would otherwise overrule the control device for autonomous driving and lead to an accident or a dangerous situation.

The invention is now based on the object of distinguishing unintentional actuation of a control device from deliberate actuation of a control device and only leaving the partially autonomous driving mode and implementing the driver's control signal when the control device is deliberately actuated.

• - Betreiben eines Kraftfahrzeuges in einem teilautonomen oder autonomen Fahrbetrieb,
• - Erfassen einer Bewegung des Fahrers, wobei
• - bei einer Abgabe eines Fahrbefehls durch den Fahrer ein Vergleich zwischen einer erwartungsgemäßen Reaktion des Fahrers bei der Abgabe eines Fahrbefehls und einer davon abweichenden Reaktion erfolgt, wobei
• - zwischen einer unbeabsichtigten Betätigung einer Steuereinrichtung und einer beabsichtigten Betätigung einer Steuereinrichtung unterschieden wird, wobei
• - bei einer als unbeabsichtigt eingestuften Betätigung der Steuereinrichtung ein Fahrbefehl nicht oder nur eingeschränkt umgesetzt wird und
• - bei einer als beabsichtigte Betätigung der Steuereinrichtung eingestuften Betätigung der durch die Steuereinrichtung gegebene Fahrbefehl vollständig umgesetzt wird.

According to the invention, this object is achieved by a method for recognizing unintentional operation of a control device in an at least partially autonomously operated motor vehicle, which comprises the following steps:

• - Operating a motor vehicle in a semi-autonomous or autonomous driving mode,
• - Detecting a movement of the driver, wherein
• - When a drive command is issued by the driver, a comparison is made between an expected reaction of the driver when a drive command is issued and a reaction that deviates therefrom, wherein
• - A distinction is made between an unintentional actuation of a control device and an intended actuation of a control device, wherein
• - In the event of an actuation of the control device classified as unintentional, a travel command is not implemented or only implemented to a limited extent and
• - In the event of an actuation classified as an intended actuation of the control device, the travel command given by the control device is fully implemented.

In this context, a control device is understood to mean an accelerator pedal of the motor vehicle, in particular a brake pedal or an accelerator pedal, a steering wheel or a steering lever and a gear selector lever. A method according to the invention enables a distinction to be made between an intentionally issued drive command by the driver and an unconscious action by the driver. In the case of an autonomous or partially autonomous driving mode, this enables an unconsciously performed action to be recognized and does not lead to an exit from the autonomous driving mode. So it is known that a pressure on the brake pedal ended semi-autonomous driving. If such an action takes place with a high degree of autonomy, in particular with an autopilot function of the motor vehicle and the driver asleep, leaving the autonomous driving mode at least causes the motor vehicle to coast and stop. This can lead to a dangerous situation on a motorway, for example. Such an unintentional actuation can be recognized by the method according to the invention and the motor vehicle can remain in autonomous or partially autonomous driving mode, whereby dangerous traffic situations can be avoided. In addition, the driver can be woken up by an acoustic, optical or tactile warning signal in order to correct his unintentionally issued driving command and to take up a position again in which fully autonomous driving of the motor vehicle is possible. The warning signal can be output through a loudspeaker. Furthermore, a tactile output of a warning signal via the steering wheel, a belt tensioner or a corresponding vibration of the seat surface is possible. Alternatively or additionally, an optical warning signal can also be emitted in order to notify the driver of his unintended action.

The features mentioned in the dependent claims allow advantageous improvements and non-trivial further developments of the method mentioned in the independent claim.

In a preferred embodiment of the invention, it is provided that a probability value is determined which indicates how likely the actuation by the driver is likely to have occurred consciously. Based on the movement of the driver, the state of activity, a direction in which the driver is looking or other parameters, it is possible to estimate the probability with which an action by the driver was triggered consciously or unconsciously. A threshold value is defined, beyond which a consciously triggered action is assumed. Such deliberately executed actions are carried out without restriction and lead to an exit from the autonomous driving mode.

In a further preferred embodiment of the invention it is provided that a type of actuation is detected and this type of actuation is compared with an actuation to be expected in the current operating situation. If no other vehicles or obstacles are detected in front of the vehicle, it is very unlikely that emergency braking or a sharp evasive maneuver will be carried out. In this case, when the steering intervention is interpreted as arbitrary or when the accelerator pedals are operated, which are viewed as arbitrary in this context, the driving signal given by the driver to the control device is ignored or only passed on in a weakened form.

In an advantageous embodiment of the method it is provided that an actuation amplitude for the control device is detected and compared with an actuation amplitude to be expected. By detecting the actuation amplitude, a probability of actuation of the control device can also be inferred. For example, suddenly depressing the accelerator pedal can be interpreted as an unintended action if the environment sensors and the driver's behavior do not indicate that strong acceleration corresponds to adequate driving behavior in the current driving situation.

It is preferred here if a camera is provided for monitoring the vehicle interior, with which a movement of the driver is recorded. By recording the movement of the driver, for example, the activity status of the driver, that is to say whether the driver is awake or asleep, as well as the viewing direction and / or the body position of the driver can be recorded. From this it can be deduced whether the issuing of a travel command is carried out consciously or unconsciously with a high degree of probability.

It is particularly preferred that a body posture of the driver is recorded and, on the basis of the body posture of the driver, a probability value is determined with which probability a conscious actuation of the control element takes place. If the driver's posture is typical of a sleeping posture or if the body faces the other passengers, in particular the passengers on the rear seat bench, it can be assumed with a high degree of probability that the driver does not want to issue any driving commands in this situation. A travel command issued in this situation is therefore interpreted as having a high probability of being an unintentional travel command.

In a preferred embodiment of the invention it is provided that, in the event of an action classified as unintentional actuation, a compensation action is initiated if it is not possible to completely avoid the action. If the steering system is designed as a steer-by-wire steering system, it is easy to decouple the steering wheel or the steering lever from the steering mechanism. If, however, there is a fixed, inseparable connection between the steering wheel and the steering mechanism, a compensation action is initiated which counteracts the turning of the steering wheel if the steering wheel is touched as unintentional. This can for example, by an actuator of an electromechanical power steering booster and / or by a targeted braking intervention in the wheel brakes of the motor vehicle in order to apply a steering torque that counteracts the steering command. This can prevent unwanted leaving the lane and the risk of a collision. The motor vehicle thus remains in its lane selected by the autopilot.

In an advantageous variant of the method, it is provided that an operating force and / or a duration of the operating action of the control device is recorded and the operating force and / or the duration of the operating action is compared with a typical operating force and / or operating time for the control element to be expected in this driving situation becomes. For example, if the driver falls asleep and presses the brake pedal continuously, then a permanent application of a braking torque does not correspond to a natural issuing of driving commands.

In a preferred embodiment of the invention, it is provided that a point in time is recorded at which an intended actuation of the control device is last concluded, and a probability value is determined based on the time interval between the last action classified as intended and the current action, with which Probability of a conscious operation of the control element. By determining the time period, an activity status of the driver can be inferred. If, for example, a period of several minutes has passed since the last actuation of a control device classified as intended, it can be assumed with a high degree of probability that the driver is asleep. In this case, it is assumed that the control device has been actuated unintentionally.

According to the invention, a motor vehicle is proposed with a control device and at least one control unit which enables the motor vehicle to be driven partially or fully autonomously. It is provided that the control device is set up to carry out a method according to the invention for detecting an unintended operation of a control device of the motor vehicle when a machine-readable program code is executed by the control device. Such a motor vehicle is suitable for increasing general traffic safety, since the autonomous driving mode is not abandoned by inadvertent actuation of a control device. Furthermore, unintentional actuation of a control device in such a vehicle does not lead to a dangerous traffic situation, since this actuation is ignored or the effects of this actuation are compensated.

The various embodiments of the invention mentioned in this application can be advantageously combined with one another, unless stated otherwise in the individual case.

• 1 ein Kraftfahrzeug mit einer Steuereinrichtung zur Durchführung eines erfindungsgemäßen Verfahrens zur Erkennung einer unbeabsichtigten Bedienung einer Steuereinrichtung des Kraftfahrzeuges und
• 2 ein Ablaufdiagramm zur Durchführung eines erfindungsgemäßen Verfahrens zur Erkennung einer unbeabsichtigten Bedienung einer Steuereinrichtung des Kraftfahrzeuges.

The invention is explained below in exemplary embodiments with reference to the accompanying drawings. Show it:

• 1 a motor vehicle with a control device for performing a method according to the invention for detecting unintentional operation of a control device of the motor vehicle and
• 2 a flowchart for performing a method according to the invention for detecting unintentional operation of a control device of the motor vehicle.

1 shows a motor vehicle 10 in a lateral sectional view. The car 10 has multiple control device 12 , especially a steering wheel 14th , a gas pedal 16 , a brake pedal 18th and a gear lever 20th on. In an interior 24 of the motor vehicle 10 is at least one seat 52 , preferably a plurality of seats 52 , arranged on which a driver 22nd and possibly other passengers 26th can be promoted. The seat 52 is a seat sensor 40 assigned to which an occupancy of the seat 52 with the driver 22nd or a passenger 26th recognizes. There is also a restraint system with a seat belt 28 per seat provided, which the driver 22nd and the passengers 26th secures. The seat belts 28 preferably have reversibly tightenable belt tensioners 34 on which seat belt 28 can be tightened in the event of a dangerous situation, especially in the event of an impending collision. The car 10 points a camera 30th on which on the interior 24 is directed to a movement of the driver 22nd capture. The camera 30th stands with an image processing system 44 in operative connection, which the camera 30th evaluates captured images and sends them to a control unit 50 with a computing unit 46 and a storage unit 48 passes on. The car 10 has a pedal sensor system 32 with which the actuation force, the actuation duration and / or the actuation path of the accelerator pedal 16 and / or the brake pedal 18th can be captured.

In the interior 24 of the motor vehicle 10 is an instrument carrier 54 , in particular a dashboard, arranged in which a display element 38 is arranged. The instrument panel also carries 54 a touchscreen monitor 42 which settings to control the motor vehicle 10 can be taken. Furthermore is in the interior 24 at least one speaker 36 arranged to give an audible warning to the driver 22nd output when a dangerous situation is imminent or has already occurred.

The invention provides that the posture and the state of activity at least of the driver 22nd , preferably the driver 22nd and the passengers 26th , are recorded. When a control device is actuated 12 A probability value n is determined in the motor vehicle, which indicates the extent to which the driver is likely to be consciously actuated 22nd happened. This probability value n can be of the type resulting from the actuation of the control device 12 triggered function, the driver's posture 22nd or the passenger 26th , the activity of the driver 22nd or passenger 26th , the type of function selected by the actuation and, if applicable, the environment of the motor vehicle 10 to be influenced. If the determined probability value is below a defined threshold value, the function that should be triggered by the actuation of the control element is not passed on, or only to a lesser extent. Alternatively, an automatic system tries to negate the effects of the triggering of the function.

The function of the system can be explained using several exemplary embodiments. In a first exemplary embodiment, the motor vehicle is running 10 autonomous with activated autopilot, the driver 22nd of the motor vehicle 10 falls asleep. The driver's leg 22nd twitches and hits the brake pedal 18th . The information provided is the actuation force and the movement amplitude of the brake pedal 18th as well as information on the driver's activity status 22nd to disposal. Did the system only cause the driver to fall asleep a few seconds ago 22nd if the pedal force is assumed and corresponds to a braking maneuver that is appropriate in this driving situation, the probability is high that it is a deliberately initiated braking maneuver, which is then fully and according to the actuation of the brake pedal 18th is carried out.

The system has been running for a few minutes from a sleeping driver 22nd from and the sensors of the motor vehicle 10 recognizes no traffic obstacles, exits, danger spots or the like, then the braking is not carried out or is carried out only to a reduced extent relative to the pedal force. Parallel can through the loudspeaker 36 an acoustic or through the seat 52 , the steering wheel 14th or the belt tensioner 34 a tactile signal can be issued to the driver 22nd to wake up.

In a further exemplary embodiment, the motor vehicle is running 10 again with the autopilot activated in an autonomous driving mode. The driver turns 22nd to the passengers 26th in the back seats or trying to get something out of a bag or backpack on the back seat. The driver touches it 22nd any part of the body other than your hand, such as your foot or buttocks, the steering wheel 14th and initiates an unwanted steering command. The on the interior 24 of the motor vehicle 10 directional camera 30th and the image processing system 44 recognize based on the camera images and the position of the driver 22nd the pose of the driver 22nd and rate the steering intervention as likely unconscious. The steering maneuver can be carried out when the current position of the motor vehicle 10 on the road and the general traffic situation according to data from the rest of the vehicle sensors and after calculating the probable trajectory. If, after calculating the surroundings and the probable trajectory, the steering maneuver would lead to a collision with another vehicle or an obstacle, the steering maneuver is not carried out or a corresponding compensation action is initiated. Ignoring the driving command from the driver 22nd implies complete separability of the control device 12 with the actuators required for control. This is given, for example, by an electronic accelerator pedal or a steer-by-wire system. If it is not possible to completely ignore the drive command because there is no complete separation, as is the case with a conventional steering system, for example, the system prevents the driver from leaving the lane by means of a different steering intervention. The drive command from the driver is used 22nd overridden in such a way that the effects do not cause the motor vehicle to change course 10 to lead.

In a further application it is provided that the driver 22nd during a semi-autonomous or autonomous driving operation on his seat 52 for example to the front passenger or to a passenger 26th turns around on the back seat and mistakenly appears on a touchscreen display 42 supports. The system determines through the camera 30th and the image processing system 44 or by the duration of the operation, this triggering of the touchscreen display 42 as atypical. The input is made through the touchscreen display 42 temporarily deactivated and the command not executed.

In a further application example, the motor vehicle is driving 10 again autonomous. The driver 22nd has the seat belt 28 not laid out and / or asleep. The car 10 has to brake due to an obstacle. The driver slips 22nd forward and accidentally depresses the accelerator 16 . If this intervention is recognized as not being intentional with a high degree of probability, the accelerator is depressed 16 The drive command issued is ignored and the motor vehicle 10 remains in autonomous driving mode.

In 2 FIG. 3 is a flowchart for performing a method according to the invention for detecting unintentional operation of a control device 12 with at least partially autonomous operation of a motor vehicle 10 shown. In a first process step <100> becomes the motor vehicle 10 operated in a semi-autonomous or autonomous driving mode. In one process step <110> becomes the behavior of the driver 22nd determined. In one process step <120> is based on the behavior of the driver 22nd and the traffic condition determined by a system for autonomous driving determines how likely a conscious actuation of a control device is 12 by the driver 22nd he follows. In particular, the posture, the eye movement, the direction of gaze, the load on the seat and the driver's vital parameters can be used 22nd are recorded. The determined probability value n is used in a method step <130> compared with a threshold value ns. If the probability value n exceeds the threshold value n _S , the action is carried out in one method step <140> classified as intended and executed. The autonomous driving mode is ended.

If the determined probability value n is below the threshold value ns, then unintentional actuation of the control device is indicated 12 went out. In this case, in one process step <150> the drive command is ignored or only in a weakened form to the corresponding actuators of the motor vehicle 10 passed on. Is a rigid coupling between the control device 12 and the actuators are available and if a travel command cannot be completely ignored, then in one process step <160> Compensation measures are initiated to reduce the impact of the unintentional act of the driver 22nd to reduce. The motor vehicle remains 10 in the autonomous driving mode and can thus prevent unintentional action by the driver, in particular unintentional touching of an accelerator pedal 16 , 18th or the steering wheel 14th , a dangerous situation arises in which the motor vehicle 10 unintentionally leaves the autonomous driving mode and the driver 22nd is not prepared to intervene.

List of reference symbols

10

Motor vehicle

12

Control device

14th

steering wheel

16

accelerator

18th

Brake pedal

20th

Gear lever

22nd

driver

24

inner space

26th

passenger

28

Seat belt

30th

camera

32

Pedal sensors

34

Seat belt tensioners

36

speaker

38

Display element

40

Seat sensor

42

Touch screen

44

Image processing system

46

Arithmetic unit

48

Storage unit

50

Control unit

52

Seat

54

Instrument panel

<100>

Process step

<110>

Process step

<120>

Process step

<130>

Process step

<140>

Process step

<150>

Process step

<160>

Process step

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was 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.

Patent literature cited

• DE 10220782 B4 [0004]
• DE 102017011724 A1 [0005]

Claims (10)

Method for detecting unintentional operation of a control device (12) in an at least partially autonomously operated motor vehicle (10), comprising the following steps: - Operating a motor vehicle (10) in a semi-autonomous or autonomous driving mode, - Detecting a movement of the driver (22), wherein - When a drive command is issued by the driver (22), a comparison is made between an expected reaction of the driver (22) when a drive command is issued and a reaction that deviates therefrom, wherein - A distinction is made between an unintentional actuation of a control device (12) and an intended actuation of a control device (12), wherein - In the event of an actuation of the control device (12) classified as unintentional, a travel command is not implemented or is implemented only to a limited extent, and - In the event of an actuation classified as intended actuation of the control device (12), the travel command given by the control device (12) is fully implemented. Procedure according to Claim 1 , characterized in that a probability value (n) is determined which indicates how likely the actuation by the driver (22) is likely to have occurred consciously. Procedure according to Claim 1 or 2 , characterized in that a type of actuation is detected and this type of actuation is compared with an actuation to be expected in the current operating situation. Method according to one of the Claims 1 to 3 , characterized in that an actuation amplitude and / or an actuation force for the control device (12) is detected. Method according to one of the Claims 1 to 4th , characterized in that a camera (30) is provided for monitoring the interior (24), with which a movement of the driver (22) is detected. Procedure according to Claim 5 , characterized in that a body posture of the driver (22) is detected and, based on the body posture of the driver (22), a probability value (s) is determined as to whether the control element (12) is consciously actuated. Method according to one of the Claims 1 to 6th , characterized in that in the event of an action classified as unintentional actuation, a compensatory action is initiated if it is not possible to completely avoid the action. Method according to one of the Claims 1 to 7th , characterized in that an operating force and / or a duration of the control device (12) is recorded and the operating force and / or the duration of the operating element is compared with a typical operating force and / or actuation duration for the control element (12) in this driving situation. Method according to one of the Claims 1 to 8th , characterized in that a point in time is detected at which an intended actuation of the control device (12) is last concluded, and a probability value (s) for an intended delivery based on the time interval between the last action classified as intended and the current action a control command is determined. Motor vehicle (10) with a control device (12) and with at least one control device (50) which enables partially or fully autonomous driving operation of the motor vehicle (10), the control device (50) being set up to implement a method according to one of the Claims 1 to 9 perform when a machine-readable program code is executed by the control device (50).

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