DE102019216161A1 - Process and system for driver handover from automated driving operations - Google Patents

Abstract

The invention relates to a method for the driver handover of a vehicle (FZ) from automated driving, comprising at least the following steps: determining the point in time (ZP) at which the vehicle (FZ) is to be handed over from automated driving to a driver (F), Detecting the physiological state (PZ) of the driver (F) by means of first means (28, 30), selecting at least one second means (40) on the basis of the detected physiological state (PZ) of the driver (F) in order to ensure that the driver (F) at the time (ZP) of the driver handover, a physiological state (PZ) required for driving the vehicle (FZ) or a required level of alertness is achieved, selecting at least one driver assistance means (60) at least until the time (ZP) of the driver handover and at least several times Acquisition of the physiological condition (PZ) of the driver (F) up to the point in time (ZP) of the driver handover.

Description

Technical area

The invention relates to a method for driver handover from an automated driving mode to a state in which the driver is (completely) driving the vehicle. The invention also relates to a system for carrying out such a driver handover, a computer product program and a storage medium for such a computer product program.

State of the art

From the DE 11 2017 000 101 T5 a method for driver handover from automated driving is known which is intended to support the driver in being able to do so physically or mentally with regard to his level of alertness at the time of handover from which he is responsible for fully driving the vehicle. For this purpose, the known method comprises means for assessing the degree of concentration of the driver on driving as well as driver assistance means which are intended to facilitate the transition from fully automated driving to autonomous driving of the vehicle for the driver. Such means can consist, for example, in the presentation of driving instructions in a head-up display or the like.

Disclosure of the invention

The method according to the invention for driver handover from an automated driving operation with the features of claim 1 has the advantage that it optimizes the driver's physiological state, which changes over the course of time up to the planned driver handover, with a view to the planned time of the driver handover Process enables to ensure that a driver handover takes place in the best possible way at the planned time.

For this purpose, it is provided according to the invention that in a first step of the method according to the invention, the point in time at which a vehicle is to be handed over to the driver from an automated driving mode is first determined. This point in time is dependent, for example, on a traffic situation detected by means of an environment sensor system. If, for example, a critical driving situation arises that requires a decision or brief intervention by the driver, this point in time can, for example, be in the period of the next few seconds.

If, on the other hand, it is a matter of a trip to a destination carried out via a navigation system, for example, then it can be provided that the vehicle performs a fully automated trip on a first route section that runs along a motorway. From the point in time when driving into an urban area or a residential area, it can be provided or necessary, for example, for the driver to take over the vehicle guidance from this second route section. Such a point in time can only occur in a few minutes, for example, with a view to the current point in time.

The determination of the point in time at which a vehicle is to be handed over to a driver from automated driving is therefore essential with a view to the core idea of the invention insofar as it may result in different strategies or measures up to the driver handover.

In a further, second step of the method according to the invention, it is provided that the physiological state of the driver is recorded by means of first means. A physiological state of the driver is understood to mean, in particular, the level of awareness of the driver for driving the vehicle, this state including, for example, the detection of the driver being asleep, the driver being distracted or similar situations.

Knowing on the one hand the point in time at which the driver handover is to take place and on the other hand the physiological state of the driver, at least one second means is then selected by the method according to the invention, which is intended to ensure that the driver has a physiological state or condition required for driving the vehicle at the point in time. reached a required level of awareness. Furthermore, it is provided that at least one driver assistance means is selected in order to offer the driver a driver assistance at least until the time of the driver handover. This makes it easier for the driver to pick up the vehicle.

In addition, it is essential that the method according to the invention provides that the physiological state of the driver is monitored at least several times during the entire period up to the driver handover in order to select or vary the mentioned second means and possibly the driver assistance means as appropriate to the situation. This makes it possible in particular to execute a strategy that is adapted to the respective driver or his current state, which enables an optimized handover of the vehicle to the driver from the automated driving mode.

Advantageous developments of the method according to the invention for driver handover from one automated driving are listed in the subclaims.

As already explained above, it is essential that a transfer strategy that is as variable as possible or that is optimized for the current physiological state of the driver is carried out from the automated driving mode. Against this background, a preferred embodiment of the method proposes that the physiological state of the driver is recorded continuously, and that, depending on the physiological state of the driver, the second means are carried out several times and / or different second means are activated.

It is also conceivable that a driver handover cannot be achieved safely at a specified point in time on the basis of the physiological state of the driver recorded by the system, or with only a low probability. In this case, a preferred further development of the method according to the invention suggests that the vehicle be transferred to a safe state on the basis of the physiological state of the driver, e.g. through automated braking to a standstill or a similar measure. This makes it possible, in particular, to avoid traffic-endangering situations after the planned time of the driver handover.

With regard to the detection of the physiological state of the driver, there are different methods or procedures that can be used individually or in combination. A first method provides that the physiological state of the driver is recorded by a first sensor system internal to the vehicle. Such a first sensor system can for example take place via sensors arranged in the driver's seat for detecting the movement of the driver, for detecting his pulse frequency or the like. As is known per se from the prior art, drowsiness sensors are also suitable for detecting the movement of the driver's eyes or pupil in order to draw conclusions about the driver's physiological state.

In addition or as an alternative to this, however, it is also conceivable that the physiological state of the driver is detected by a second sensor system arranged on the driver's side. This second sensor system can be designed, for example, to enable the data of a driver's smartwatch to be recorded, a driver's cell phone, a chest heart rate monitor or the like to be operated. To this end, it is of course necessary for the driver handover system to acquire such data via appropriate interfaces or receiving options, or for such data to be fed to the system as an input variable.

Furthermore, the method comprises a method in which the selection of the first and / or second means takes place on the basis of data from previous driver handovers. This makes it possible to design the method as a self-learning system in which successful driver handovers are rehearsed or saved and can be repeated for comparable scenarios in order to achieve optimal results.

As already explained at the beginning, the time of the planned driver handover can be, for example, in a period of between a few seconds to a few minutes, in each case calculated from the current point in time. Against this background, it is necessary to reach the level of attention required by the driver for the driver handover at different speeds. A further refinement of the method therefore proposes that at least the second means be selected on the basis of a risk potential of the cause of the planned driver handover.

The invention further comprises a system for carrying out a driver handover of a vehicle, which is preferably designed to carry out a method according to the invention as described so far, the vehicle being designed to carry out an automated driving operation, with first means for detecting a physiological state of a driver, a Control device which is designed to determine the point in time of the handover to the driver, wherein the control device is further designed to select and control at least one second means, depending on the point in time of the planned driver handover, which is used to achieve a required physiological state or a Attention level of the driver at the time of the driver handover is used, as well as at least one means as driver assistance to select and control at least up to the time of the driver handover.

The invention also includes a computer product program that is designed to execute and / or implement a method according to the invention and a storage medium, in particular as part of a control device of the vehicle, on which such a computer product program is stored.

Further advantages, features and details of the invention emerge from the following description of preferred exemplary embodiments and with reference to the drawings.

Figure list

• 1 shows the essential components of a system for carrying out a driver handover in a simplified, schematic representation,
• 2 a schematic representation of first means for detecting the level of alertness of a driver located in a driver's seat,
• 3 a representation of a driver's seat with second means for increasing the level of awareness of the driver,
• 4th an illustration of further measures to increase the driver's attention in preparation for the driver handover
• 5 a representation of assistance measures for preparing the driver handover to a driver in a schematic representation, and
• 6th a flowchart to explain the method from a fully automated driving mode to a driving mode of the vehicle carried out by the driver.

Embodiments of the invention

The same elements or elements with the same function are provided with the same reference numbers in the figures.

In the 1 is a vehicle FZ shown along a roadway FB in one direction of travel FR moves. The vehicle FZ is able to carry out at least partially autonomous, preferably completely autonomous driving, hereinafter referred to as automated driving. The vehicle instructs you to do this FZ a system 10 on, the means 12th includes that are used for automated driving. This means 12th include, as is known per se from the prior art, an environment sensor system, for example 14th for recording the surroundings of the vehicle FZ , for example in the form of at least one camera device, a radar system, an ultrasonic sensor or similar auxiliary means. A plurality of such elements are preferably provided, their output signals to a control device 20th of the system 10 are fed. The control device 20th merges the received data and uses it to generate data for controlling the vehicle FZ , in particular through a suitable steering intervention, through actuation of an accelerator pedal sensor, brakes, etc. Automated driving of the vehicle FZ on the roadway FB takes place, for example, after entering a destination in a navigation system 16 .

During the automated journey of the vehicle FZ it may happen or it may be planned that a driver F. at a specific time or event E. the vehicle FZ should take over, ie that the vehicle FZ for driver handover from automated driving to the driver F. is passed.

Such an event E. can, for example, in the detection of a critical driving situation by the environment sensors 14th consist. It is also conceivable that the event E. a specific place or time along the route of the vehicle FZ to the programmed destination of the navigation system 16 includes. This location can be, for example, a place where the vehicle FZ Entering an inner-city area from a motorway, which may be automated by the vehicle due to high traffic or other circumstances FZ can be carried out.

The timespan T from the automated driving of the vehicle FZ until the event occurs E. in particular also depends on the type of event E. from. The timespan T can typically take from a few seconds to a few minutes.

The system 10 serves the driver F. on the driver handover to the event E. prepare. The system sees it for this 10 before that a physiological state PZ of the driver F. is captured. Under a physiological state PZ is within the scope of the invention in particular the level of attention of the driver F. on the traffic situation or on the ability to drive the vehicle FZ Roger that. In particular, includes the physiological state PZ for example a drowsiness of the driver F. , a current physical condition or physical parameters such as blood pressure, pulse rate of the driver F. etc.

In the 2 is shown that for the detection of the physiological state PZ of the driver F. for example in a seat 22nd of the vehicle FZ Electrodes 24 are arranged, which are designed for this, for example the pulse, blood pressure or similar physical parameters of the driver F. capture. There is also a sensor 26th in the form of an optical sensor 26th provided, for example, the eye or pupil movement of the driver F. and / or can detect its breathing rate via the detection of a chest movement. The electrodes 24 and the sensor 26th provide in-vehicle resources 28 represent whose values the control device 20th are supplied as an input variable.

It is also mentioned that in addition to or instead of the electrodes 24 or the sensor 26th of course also other sensory means commonly used from the prior art for detecting the physiological state PZ of the driver F. can be provided.

Furthermore, it can be provided that means provided on the driver's side 30th for recording the physiological state PZ of the driver F. are provided. These driver-side resources 30th include, by way of example, and not exhaustively, a chest strap 32 for recording the pulse and / or the respiratory rate of the driver F. , a smartwatch 34 and a cell phone 36 . Furthermore, the driver-side resources 30th as well as the control device 20th trained to do this by the driver-side means 30th recorded data of the control device 20th to be supplied as input values. For this purpose, for example, appropriate interfaces via Bluetooth or the like can be available.

By means of the in-vehicle means described so far 28 and the driver's resources 30th and one in the controller 20th provided algorithm 38 it is possible based on the current physiological state PZ of the driver F. close.

In the 3 is the seat 22nd shown, which also exemplifies the second means 40 has to the level of alertness of the driver F. to increase or the driver F. into a physiological state PZ to move the driver of the vehicle at the time of the planned driver handover FZ by the driver F. enables. This second means 40 also include, purely by way of example, vibration actuators 42 in the seat of the seat 22nd , a tactile actuator 44 in the area of the seat backrest 22nd that the driver touches or bumps into F. enable. Near the driver's ear F. , for example in the area of a headrest of the seat 22nd , is also an example of a loudspeaker 46 intended. A light transmitter 50 and / or similar means, such as a spray gun, which apply a fine jet of water to the driver F. allows, can optionally also be provided.

According to the representation of the 4th can use the second means 40 also an example of a compressed air nozzle 66 to create an air flow on the arm A. or the head K of the driver F. , a brush element 68 or similar.

In the 5 are about it driver assistance devices 60 exemplified that the driver F. taking over or handing over the vehicle to the driver FZ should facilitate. For this purpose, it is purely exemplary in the area of a windshield 62 of the vehicle FZ possible light signals LS on one side (for example on the left) to light up in order to attract the driver's attention F. to the left side, which is important, for example, with a view to a current traffic situation. An actuator system can also 64 to adjust the seat 22nd be provided that the seat 22nd steers in the direction of the relevant traffic situation.

In the 6th a flowchart for explaining the method according to the invention for driver handover is shown purely by way of example. The method comprises in a first step 101 the determination of a point in time ZP or the time span T from the current point in time until the occurrence of the event E. on which the driver handover is to take place. In a second step 102 becomes, as explained above, the physiological state PZ of the driver F. determined. This is preferably done not just once, but either several times, but particularly preferably continuously, during the entire journey of the vehicle FZ , but at least during automated driving. Using the in the second step 102 recorded (instantaneous) physiological state PZ of the driver F. and the one in the crotch 101 determined time span T until the driver is handed over are then in a third step 103 from the control device 20th the second means 40 controlled as required. These are intended to ensure that at the time of the driver handover the driver F. a physiological state PZ who has achieved the independent driving of the vehicle FZ by the driver F. enables. There, as just explained, the physiological state PZ of the driver F. is preferably continuously monitored, can from the progress or the behavior of the driver F. on the effectiveness of the second remedy 40 getting closed.

Depending on the progress or the increased attention of the driver F. it can be provided that the algorithm 38 or the control device 20th adapted second means 40 controls or their effectiveness by increasing a frequency, volume (depending on the means 40 ) etc. increased. Preferably at the same time as the activation of the second means 40 , but in any case before the event E. , will also be in a fourth step 104 the vehicle assistance means 60 , as explained above, controlled or in a suitable manner by the algorithm 38 the control device 20th selected.

It turns out that the driver F. at the time of the event E. has a high probability of a physiological state PZ who achieved driving the vehicle FZ by the driver F. allows so takes place at the time of the event E. the driver handover takes place. However, the algorithm concludes 38 the control device 20th due to the change during the period T imminent changes in physiological state PZ of the driver F. that at the time of the event E. the driver F. the vehicle F. can not lead independently, it can be provided in one step 105 the vehicle FZ put in a safe state in order to avoid an accident or the like. The transfer of the vehicle FZ in the safe state includes, for example, the initiation of a Braking maneuvers, driving into a parking space or a similar measure.

The method described so far for driver transfer from an automated driving mode can be modified or modified in many ways without deviating from the inventive concept.

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 112017000101 T5 [0002]

Claims (10)

Method for driver handover of a vehicle (FZ) from an automated driving mode, comprising at least the following steps: - Determination of the point in time (ZP) at which the vehicle (FZ) is to be handed over from automated driving to a driver (F) - Detecting the physiological state (PZ) of the driver (F) by means of first means (28, 30) - Selecting at least one second means (40) on the basis of the detected physiological state (PZ) of the driver (F), in order to ensure that the driver (F) at the time (ZP) of the driver handover a physiological required for driving the vehicle (FZ) State (PZ) or a required level of attention reached - Selecting at least one driver assistance means (60) at least up to the point in time (ZP) of the driver handover - At least multiple recording of the physiological state (PZ) of the driver (F) up to the point in time (ZP) of the driver handover Procedure according to Claim 1 , characterized in that the physiological state (PZ) of the driver (F) is continuously recorded, and that, depending on the physiological state (PZ) of the driver (F), the second means (40) may be activated several times and / or or that different second means (40) are controlled. Procedure according to Claim 1 or 2 , characterized in that on the basis of the detected physiological state (PZ) of the driver (F) the vehicle (FZ) is transferred to a safe state, for example through automated braking to a standstill or similar measures. Method according to one of the Claims 1 to 3 , characterized in that the physiological state (PZ) of the driver (F) is recorded by the first means (28) by a first sensor system (24, 26) internal to the vehicle. Method according to one of the Claims 1 to 4th , characterized in that the physiological state (PZ) of the driver (F) is recorded by the first means (30) by a second sensor system (32, 34, 36) on the driver's side. Method according to one of the Claims 1 to 5 , characterized in that the first and second means (28, 30, 40) are selected on the basis of data from previous driver handovers. Method according to one of the Claims 1 to 6th , characterized in that the selection of at least the second means (40) takes place on the basis of a risk potential of the cause for the planned driver handover. System (10) for carrying out a driver handover of a vehicle (FZ), preferably according to a method according to one of the Claims 1 to 7th , wherein the vehicle (FZ) is designed to carry out an automated driving mode, with first means (28, 30) for detecting a physiological state (PZ) of a driver (F), a control device (20) which is designed to control the To determine the point in time (ZP) of the handover to the driver (F), wherein the control device (20) is further designed to select and control at least one second means (40) that is required to reach the planned driver handover as a function of the point in time (ZP) of the planned driver handover a physiological state (PZ) required for driving the vehicle (FZ) by the driver (F) or an alertness level of the driver (F) at the point in time (ZP), as well as at least one means (60) as driver assistance at least up to the point in time ( ZP) to select and control the driver handover. Computer product program which is designed to implement a method according to one of the Claims 1 to 8th execute and / or implement. Storage medium, in particular as part of a control device (20), on which the computer product program is based Claim 9 is saved.

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