DE102020106969A1 - Apparatus and method for operating a set of driving functions in a vehicle - Google Patents

Abstract

An apparatus for operating a set of automated driving functions of a vehicle is described. The device is set up to determine sensor data relating to the behavior of the driver of the vehicle and, on the basis of the sensor data, to determine whether or not the behavior of the driver matches a set of zero, one or more activated driving functions of the vehicle. The device is further configured to adapt the amount of activated driving functions if it is determined that the behavior of the driver does not match the amount of activated driving functions.

Description

The invention relates to a device and a corresponding method for operating automated driving functions in a vehicle.

A vehicle can include a large number of different driver assistance systems (generally driving functions) that support the driver of the vehicle in the longitudinal and / or lateral guidance of the vehicle. An exemplary driver assistance system is a speed and / or distance controller (also referred to as Adaptive Cruice Control, ACC), which is designed to guide the vehicle at a certain driving speed and / or at a certain distance from a vehicle in front in a lane . Another exemplary driver assistance system is a lane departure warning system, which is designed to automatically keep the vehicle in a lane.

Due to the relatively high number and / or complexity of driver assistance systems or automated driving functions, the driver of the vehicle may operate incorrectly, in particular when selecting and / or activating automated driving functions. This can lead to uncertainty and / or to reduced comfort for the driver of the vehicle.

The present document deals with the technical task of increasing the comfort and / or the safety of a vehicle when operating automated driving functions, in particular driver assistance systems, of the vehicle.

The above problem is solved by each of the independent claims. Advantageous embodiments are described, inter alia, in the dependent claims. It is pointed out that additional features of a patent claim dependent on an independent patent claim without the features of the independent patent claim or only in combination with a subset of the features of the independent patent claim can form a separate invention independent of the combination of all features of the independent patent claim, which can be made the subject of an independent claim, a divisional application or a subsequent application. This applies equally to technical teachings described in the description, which can form an invention that is independent of the features of the independent patent claims.

According to one aspect, a device for operating a set of automated driving functions (in particular driver assistance systems) of a vehicle is described. An automated driving function can be set up to intervene in the longitudinal and / or lateral guidance of the vehicle. Exemplary driving functions are: a speed limiter which is designed to automatically limit the driving speed of the vehicle caused by the driver to a limit speed (set by the driver); a cruise control which is designed to automatically set the travel speed of the vehicle to a set speed (set by the driver); a speed and / or distance controller which is designed to automatically set the distance of the vehicle to a vehicle in front to a setting distance (set by the driver); a lane departure warning system which is designed to automatically keep the vehicle in a lane that is currently being traveled; a partially automated driving function that is designed to automatically guide the vehicle longitudinally and transversely in accordance with SAE level 2; a highly automated driving function that is designed to automatically guide the vehicle longitudinally and transversely in accordance with SAE level 3; and / or a fully automated driving function that is designed to automatically guide the vehicle longitudinally and transversely in accordance with SAE level 4.

The vehicle can include a user interface that is designed to enable the driver of the vehicle to activate and / or configure a driving function by means of one or more operating inputs. The device can be set up to determine, as a function of at least one operator input, a set of zero, one or more activated driving functions that have been activated and / or configured by the driver. It can thus be determined which amount of zero, one or more activated driving functions are being operated in the vehicle at a specific point in time.

• • ob der Fahrer das Fahrzeug lenkt oder nicht;
• • ob der Fahrer ein Lenkmittel (insbesondere das Lenkrad) des Fahrzeugs berührt oder nicht;
• • ob der Fahrer des Fahrzeugs ein Steuermittel (insbesondere das Fahrpedal und/oder das Bremspedal) zum Beschleunigen und/oder zum Verzögern des Fahrzeugs betätigt oder nicht; und/oder
• • ob der Fahrer des Fahrzeugs die von der Menge von aktivierten Fahrfunktionen bewirkte Bewegung, insbesondere Längs- und/oder Querführung, des Fahrzeugs überwacht oder nicht.

The device can be set up to determine sensor data relating to the behavior of the driver of the vehicle. The sensor data can be recorded by one or more driver sensors of the vehicle. The sensor data can show

• • whether the driver is driving the vehicle or not;
• • whether the driver touches a steering means (in particular the steering wheel) of the vehicle or not;
• • whether the driver of the vehicle actuates a control means (in particular the accelerator pedal and / or the brake pedal) for accelerating and / or decelerating the vehicle or not; and or
• • whether or not the driver of the vehicle monitors the movement of the vehicle caused by the set of activated driving functions, in particular longitudinal and / or lateral guidance.

The sensor data can be recorded and analyzed for a specific observation period (e.g. 5 seconds or more, or 10 seconds or more). In particular, the (driving) behavior of the driver can be observed for a specific observation period or over a certain observation period. Not only can individual detected actions of the driver in relation to the driving task, but the entirety of recognized actions by the driver within an observation period can be analyzed in order to determine the behavior of the driver in relation to the part of the driving task performed by the driver .

The device is also set up to determine on the basis of the sensor data whether or not the behavior of the driver (within the observation period) matches the set of zero, one or more activated driving functions of the vehicle. In particular, it can be determined on the basis of the sensor data whether or not the driver made an incorrect entry with regard to the activation and / or the configuration of the set of activated driving functions. For example, it can be recognized that an incorrect entry has occurred if the behavior of the driver (in particular the part of the driving task actually performed by the driver) does not match the set of activated driving functions.

Furthermore, the device is set up to adapt the set of activated driving functions (possibly automatically) if it is determined that the behavior of the driver does not match the set of activated driving functions.

In particular, the device can be set up to correct the incorrect input by adjusting the amount of activated driving functions if it is determined that the driver has made an incorrect input with regard to the activation and / or with regard to the configuration of the amount of activated driving functions. The set of activated driving functions can be adjusted in such a way that the adjusted set of activated driving functions matches the observed behavior of the driver.

• • das Aktivieren einer (bisher deaktivierten) Fahrfunktion;
• • das Ändern einer Konfiguration einer bereits aktivierten Fahrfunktion; und/oder
• • das Deaktivieren einer aktivierten Fahrfunktion.

Adjusting the set of activated driving functions can include

• • the activation of a (previously deactivated) driving function;
• • changing a configuration of an already activated driving function; and or
• • the deactivation of an activated driving function.

An (automatic) adaptation of the number of activated driving functions can increase the safety and comfort of a vehicle.

The device can be set up to ask the driver via the user interface of the vehicle whether or not the set of activated driving functions should be adjusted. Alternatively or in addition, the device can be set up to inform the driver via the user interface of the vehicle that the set of activated driving functions has been automatically adjusted. By interacting with the driver in relation to the (automatic) adjustment of the number of activated driving functions, the safety and comfort of the vehicle can be further increased.

The set of activated driving functions can include, for example, a speed limiter (but possibly no cruise control). The device can be set up to determine on the basis of the sensor data that the driver does not actuate any control means (in particular not the accelerator pedal and / or the brake pedal) for manual longitudinal guidance of the vehicle (e.g. within the entire observation period). In response to this, the cruise control and / or the cruise control and / or distance controller (automatically) can be included in the set of activated driving functions. If necessary, the setting speed set for the speed limiter can be used as setting speed for the cruise control and / or for the speed and / or distance controller. The speed limiter can also be deactivated if necessary. In this way, the comfort and safety of the vehicle can be increased.

In a further example, the set of activated driving functions can include a speed controller and / or distance controller (but possibly not a lane departure warning system). The device can be set up to determine on the basis of the sensor data that the driver is not actuating any control means (in particular no steering wheel) for manual lateral guidance of the vehicle (for example within the entire observation period). In response to this, a driving function for automated lateral guidance, in particular a lane departure warning system, can be included in the set of activated driving functions. In this way, the comfort and safety of the vehicle can be increased.

In a further example, the set of activated driving functions can include a driving function for partially automated longitudinal and lateral guidance according to SAE level 2. The device can be set up to determine on the basis of the sensor data that the driver does not monitor the longitudinal and lateral guidance caused by the driving function (e.g. within the entire observation period). In response to this, a driving function for (highly) automated longitudinal and lateral guidance according to SAE level 3 or higher can be included in the set of activated driving functions. In this way, the comfort and safety of the vehicle can be increased.

The set of zero, one or more activated driving functions can be configured, the (entire) driving task for driving the vehicle in an automated part, which is provided by the set of activated driving functions, and in a driver-side part, which is performed by the driver is to be provided, to be divided.

The entire driving task can include, for example, the following sub-tasks: steering the vehicle; keeping the vehicle within the lane currently being used; accelerating and / or decelerating the vehicle; maintaining a certain driving speed of the vehicle; compliance with a limit on the driving speed of the vehicle; and / or the monitoring of the movement, in particular the longitudinal and / or lateral guidance, of the vehicle. The number of activated driving functions can determine which (automated) part of the above subtasks is performed by the zero, one or more activated driving functions, and which (driver-side) part of the above subtasks is to be performed by the driver.

The sensor data can be designed to display the behavior of the driver in relation to the driver-side part of the driving task to be performed by the driver. In particular, it can be determined on the basis of the sensor data which part of the driving task is actually being performed by the driver. This part of the driving task can be referred to as the actually performed part of the driving task.

The device can be set up to determine on the basis of the sensor data whether or not the part of the driving task actually performed by the driver deviates from the driver-side part of the driving task that is to be performed by the driver based on the amount of activated driving functions. In particular, it can be determined on the basis of the sensor data whether the driver actually performs all the subtasks that are expected of the driver on the basis of the number of activated driving functions. The device can be set up to determine on the basis of the sensor data whether the part of the driving task actually performed by the driver has a missing part compared to the driver-side part of the driving task that is to be performed by the driver based on the amount of activated driving functions or not.

The device can furthermore be set up to adapt the set of activated driving functions if it is determined that the part of the driving task actually performed by the driver deviates from the driver-side part of the driving task. In particular, the device can be set up to adapt the set of activated driving functions in such a way that the adapted driver-side part of the driving task to be performed by the driver based on the adapted set of activated driving functions has a higher degree of correspondence with that of the driver has actually performed part of the driving task than the driver-side part of the driving task that is to be performed by the driver due to the non-adapted amount of activated driving functions.

In a preferred example, the device can be set up to adapt the set of activated driving functions in such a way that the adapted driver-side part of the driving task that is to be performed by the driver based on the adapted set of activated driving functions is actually performed by the driver Part of the driving task matches. Alternatively or in addition, the device can be set up to adapt the set of activated driving functions in such a way that within the adjusted set of activated driving functions the missing part of the driving task (which has not previously been performed by the driver) after the adaptation the amount of activated driving functions can no longer be performed by the driver. Such an (automatic) adaptation of the set of activated driving functions can further increase the comfort and safety of the vehicle.

The device can be set up to determine which adjusted amount of zero, one or more activated driving functions matches the part of the driving task actually performed by the driver, as indicated by the sensor data. Alternatively or in addition, the device can be set up to determine which adjusted amount of zero, one or more activated driving functions has a maximum possible degree of correspondence with the part of the driving task actually performed by the driver as indicated by the sensor data. Alternatively or additionally, the device can be set up to determine how the set of activated driving functions is to be adjusted so that the missing part of the driving task (which has not previously been performed by the driver) is no longer done by the driver after the set of activated driving functions has been adjusted is to be provided.

It can be arranged (automatically) that the vehicle is operated with the determined adjusted amount of zero, one or more activated driving functions. In this way, the comfort and safety of the vehicle can be further increased.

The device can be set up to repeatedly, in particular periodically, determine sensor data relating to the current behavior of the driver at a sequence of points in time. A current check can then be made in each case as to whether the driver's behavior matches the current set of activated driving functions. Furthermore, an (automatic) adjustment of the number of activated driving functions can take place if necessary. In this way, the comfort and safety of the vehicle can be increased over the long term.

As an alternative or in addition, the device can be set up to check (possibly only) a check of the behavior of the driver following the successful control input in response to an operator input by the driver in relation to the determination of the set of activated driving functions, and if necessary an Carry out (automatic) adaptation of the number of activated driving functions. In this way, incorrect input by the driver can be detected promptly and corrected if necessary.

According to a further aspect, a (road) motor vehicle (in particular a passenger car or a truck or a bus or a motorcycle) is described which comprises the device described in this document.

According to a further aspect, a (possibly computer-implemented) method for operating a set of automated driving functions (in particular driver assistance systems) of a vehicle is described. The method includes determining sensor data relating to the behavior of the driver of the vehicle. Furthermore, the method comprises determining, on the basis of the sensor data, whether or not the behavior of the driver matches the set of zero, one or more activated driving functions of the vehicle. The method further comprises adjusting the set of activated driving functions if it is determined that the behavior of the driver does not match the set of activated driving functions.

According to a further aspect, a software (SW) program is described. The software program can be set up to be executed on a processor (e.g. on a control unit of a vehicle) and thereby to execute the method described in this document.

According to a further aspect, a storage medium is described. The storage medium can comprise a software program which is set up to be executed on a processor and thereby to execute the method described in this document.

In the context of the document, the term “automated driving” can be understood to mean driving with automated longitudinal or lateral guidance or autonomous driving with automated longitudinal and lateral guidance. The automated driving can be, for example, driving on the motorway for a longer period of time or driving for a limited time as part of parking or maneuvering. The term “automated driving” includes automated driving with any degree of automation. Exemplary degrees of automation are assisted, partially automated, highly automated or fully automated driving. These degrees of automation were defined by the Federal Highway Research Institute (BASt) (see BASt publication “Research compact”, edition 11/2012). With assisted driving, the driver continuously performs the longitudinal or lateral guidance, while the system takes on the other function within certain limits. With partially automated driving (TAF), the system takes over the longitudinal and lateral guidance for a certain period of time and / or in specific situations, whereby the driver has to constantly monitor the system as with assisted driving. With highly automated driving (HAF), the system takes over the longitudinal and lateral guidance for a certain period of time without the driver having to permanently monitor the system; however, the driver must be able to take control of the vehicle within a certain period of time. With fully automated driving (VAF), the system can automatically cope with driving in all situations for a specific application; a driver is no longer required for this application. The four degrees of automation mentioned above correspond to SAE levels 1 to 4 of the SAE J3016 standard (SAE - Society of Automotive Engineering). For example, highly automated driving (HAF) Level 3 corresponds to the SAE J3016 standard. In addition, SAE J3016 provides SAE level 5 as the highest degree of automation, which is not included in the definition of BASt. SAE level 5 corresponds to driverless driving, in which the system can automatically cope with all situations like a human driver during the entire journey; a driver is generally no longer required. The aspects described in this document relate in particular to a vehicle that is in an automated driving mode according to SAE level 1, SAE level 2 or SAE level 3 can be operated or is operated.

It should be noted that the methods, devices and systems described in this document can be used both alone and in combination with other methods, devices and systems described in this document. Furthermore, any aspects of the methods, devices and systems described in this document can be combined with one another in diverse ways. In particular, the features of the claims can be combined with one another in diverse ways.

• 1 beispielhafte Komponenten eines Fahrzeugs; und
• 2 ein Ablaufdiagramm eines beispielhaften Verfahrens zum Betrieb einer Menge von automatisierten Fahrfunktionen in einem Fahrzeug.

The invention is described in more detail below on the basis of exemplary embodiments. Show it

• 1 exemplary components of a vehicle; and
• 2 a flowchart of an exemplary method for operating a set of automated driving functions in a vehicle.

As stated at the outset, the present document is concerned with increasing the comfort of a driver of a vehicle when operating automated driving functions of the vehicle. In this context shows 1 exemplary components of a vehicle 100 , in particular a motor vehicle. The vehicle 100 includes one or more environment sensors 102 that are set up, sensor data (also referred to as surroundings data in this document) relating to the surroundings of the vehicle 100 capture. Exemplary environmental sensors 102 are a camera, a radar sensor, a lidar sensor, an ultrasonic sensor, etc.

The vehicle 100 furthermore comprises one or more longitudinal and / or lateral guidance actuators 103 (eg a drive motor, a braking device, a steering device, etc.) that are set up, the vehicle 100 automatically or automatically longitudinally and / or transversely. A control unit 101 of the vehicle 100 can be set up the one or more longitudinal and / or lateral guidance actuators 103 of the vehicle 100 to operate the vehicle depending on the environmental data 100 automated longitudinal and / or transverse guidance (in particular according to SAE level 1 or according to SAE level 2 or according to SAE level 3).

The vehicle 100 comprises one or more manual control means 105 that it gives to the driver of the vehicle 100 enable manual control inputs in relation to the longitudinal and / or lateral guidance of the vehicle 100 to do. Exemplary control means 105 are: a steering means, in particular a steering wheel; a brake pedal; and / or an accelerator pedal. The control unit 101 can be set up (especially if the vehicle 100 is operated in a manual driving mode) a manual control input to a manual control means 105 of the vehicle 100 to detect. Furthermore, the control unit 101 be set up, the one or more longitudinal and / or lateral guidance actuators 102 of the vehicle 100 to operate depending on the manual control input, in particular to the driver of the vehicle 100 to enable the vehicle 100 manually longitudinally and / or transversely.

The vehicle 100 can be a user interface 106 Include an interaction between the vehicle 100 and the driver of the vehicle 100 enables. The user interface 106 can include one or more operating elements (for example a button, a rotary knob, etc.) and / or one or more output elements (for example a screen, a light element, a loudspeaker, etc.). The control unit 101 can be set up by the driver of the vehicle 100 via the user interface 106 to output an optical, haptic and / or acoustic indication (for example in relation to an adaptation of the number of activated driving functions).

• • ein Abstands- und Geschwindigkeitsregler oder Adaptive Cruise Control (ACC);
• • ein Geschwindigkeitsbegrenzer;
• • ein Tempomat;
• • ein Spurhalteassistent; und/oder
• • eine Fahrfunktion zum automatisierten Fahren gemäß SAE-Level 2 oder SAE-Level 3.

The vehicle 100 can comprise a large number of different automated driving functions (in particular driver assistance systems). An automated driving function can be automated in the longitudinal and / or lateral guidance of the vehicle 100 intervention. The degree of automation and / or the form of the automated interventions in the longitudinal and / or lateral guidance of the different driving functions can be at least partially different. Exemplary automated driving functions are:

• • a cruise control or Adaptive Cruise Control (ACC);
• • a speed limiter;
• • a cruise control;
• • a lane departure warning system; and or
• • a driving function for automated driving according to SAE level 2 or SAE level 3.

It can be the driver of the vehicle 100 made possible through the user interface 106 a certain amount of zero to activate one or more automated driving functions. In other words, the driver of the vehicle 100 a certain amount of automated driving functions can be put together through which (possibly in combination) a certain form of support in the longitudinal and / or lateral guidance of the vehicle 100 provided.

When compiling the set of one or more activated driving functions, the driver can have a certain expectation as to how he or she is expected by the set of activated driving functions in the longitudinal and / or lateral guidance of the vehicle 100 is supported. In other words, the driver can have an expectation in relation to the automated part of the driving task brought about by the selected set of activated driving functions, in particular the longitudinal and lateral guidance of the vehicle 100 , to have. In a complementary way, the driver can have an expectation as to which part of the driving task, in particular which part of the longitudinal and lateral guidance of the vehicle 100 , still has to be done (manually) by the driver himself. The part of the driving task that is to be performed by the driver can be referred to as the driver-side part of the driving task.

By activating a certain amount of one or more automated driving functions, the overall driving task can thus be divided into an automated part and a driver-side part of the driving task. The driver of the vehicle 100 can have an expectation based on the set of one or more automated driving functions activated by the driver as to which subtasks of the driving task belong to the automated part and which subtasks belong to the driver-side part of the driving task.

• • Einstellen der Längsgeschwindigkeit des Fahrzeugs 100;
• • Betätigen des Gaspedals;
• • Betätigen des Bremspedals;
• • Lenken des Fahrzeugs 100; und/oder
• • Überwachen der automatisierten Längs- und/oder Querführung des Fahrzeugs 100.

Exemplary subtasks of the driving task are:

• • Adjusting the longitudinal speed of the vehicle 100 ;
• • pressing the accelerator pedal;
• • depressing the brake pedal;
• • Steering the vehicle 100 ; and or
• • Monitoring the automated longitudinal and / or lateral guidance of the vehicle 100 .

If the set of one or more activated driving functions is incorrectly selected, there may be a discrepancy between the driver's expectation with regard to the division of the driving task into an automated part and a driver-side part (i.e. the expected division of the driving task) and the actual one Allocation of the driving task come. This discrepancy between the expected division and the actual division of the driving task can result in reduced comfort for the driver of the vehicle 100 and / or to a reduced safety of the vehicle 100 to lead.

The deviation between the expected division and the actual division of the driving task, and thus the presence of an incorrect selection of the set of zero, one or more activated driving functions, can be determined on the basis of the behavior of the driver of the vehicle 100 be recognized. It can be assumed that the driver of the vehicle 100 behaves according to the driver-side part of the driving task expected by the driver. It can thus be checked whether the driver's behavior deviates from the driver-side part of the driving task, which results from the amount of zero, one or more activated driving functions. If this is the case, it can be assumed that the driver has made an incorrect selection and / or configuration of the set of activated driving functions.

• • eine Kamera, die ausgebildet ist, Bilddaten in Bezug auf den Fahrer zu erfassen;
• • ein Lenksensor, der ausgebildet ist, Sensordaten in Bezug auf eine manuelle Betätigung des Lenkmittels 105 des Fahrzeugs 100 zu erfassen;
• • einen Pedalsensor, der ausgebildet ist, Sensordaten in Bezug auf eine Betätigung des Fahrpedals und/oder des Bremspedals 105 des Fahrzeugs 100 zu erfassen; und/oder
• • einen Berührungssensor, der ausgebildet ist, Sensordaten in Bezug auf eine Berührung des Lenkmittels 105 durch den Fahrer des Fahrzeugs 100 zu erfassen.

This in 1 depicted vehicle 100 includes one or more driver sensors 107 that are set up to collect sensor data relating to the behavior of the driver. Exemplary driver sensors 107 are:

• A camera which is designed to capture image data relating to the driver;
• A steering sensor which is designed to provide sensor data relating to manual actuation of the steering means 105 of the vehicle 100 capture;
• A pedal sensor which is designed to provide sensor data relating to an actuation of the accelerator pedal and / or the brake pedal 105 of the vehicle 100 capture; and or
• • a touch sensor which is designed, sensor data relating to a touch of the steering means 105 by the driver of the vehicle 100 capture.

The control unit 101 of the vehicle 100 can be set up on the basis of the sensor data from the one or more driver sensors 107 to determine whether or not the actual behavior of the driver in relation to the driving task matches the set of zero, one or more activated driving functions. In particular, the control unit 101 be set up on the basis of the sensor data of the one or more driver sensors 107 to determine whether the part of the driving task actually effected by the driver corresponds to the driver-side part of the driving task, which results from the set of zero, one or more activated driving functions.

• • das tatsächliche Verhalten des Fahrers in Bezug auf die Fahraufgabe nicht zu der Menge von null, ein oder mehreren aktivierten Fahrfunktionen passt; und/oder
• • eine Abweichung des tatsächlich von dem Fahrer bewirkten Teils der Fahraufgabe von dem Fahrer-seitigen Teil der Fahraufgabe, der sich aus der Menge von null, ein oder mehreren aktivierten Fahrfunktionen ergibt, besteht,

so kann von der Steuereinheit 101 automatisch eine Anpassung der Menge von null, ein oder mehreren aktivierten Fahrfunktionen bewirkt werden, insbesondere um

• • die angepasste Menge von null, ein oder mehreren aktivierten Fahrfunktionen an das tatsächliche Verhalten des Fahrers in Bezug auf die Fahraufgabe anzunähern (insbesondere anzupassen bzw. anzugleichen); und/oder
• • die Abweichung des tatsächlich von dem Fahrer bewirkten Teils der Fahraufgabe von dem Fahrer-seitigen Teil der Fahraufgabe, der sich aus der angepassten Menge von null, ein oder mehreren aktivierten Fahrfunktionen ergibt, zu reduzierten oder zu beseitigen.

If from the control unit 101 it is determined that

• • the actual behavior of the driver in relation to the driving task does not match the set of zero, one or more activated driving functions; and or
• • there is a deviation of the part of the driving task actually performed by the driver from the driver-side part of the driving task, which results from the amount of zero, one or more activated driving functions,

so can from the control unit 101 automatically an adjustment of the amount of zero, one or more activated driving functions can be effected, in particular to

• • to approximate the adjusted amount of zero, one or more activated driving functions to the actual behavior of the driver in relation to the driving task (in particular to adapt or adapt); and or
• • to reduce or eliminate the deviation of the part of the driving task actually effected by the driver from the driver-side part of the driving task, which results from the adjusted set of zero, one or more activated driving functions.

Furthermore, the control unit 101 set up the driver of the vehicle 100 via the user interface 106 to inform about the automatic adjustment of the amount of zero, one or more activated driving functions. If necessary, a query can be made to the driver of the vehicle before the set of activated driving functions is adjusted 100 take place. The set of activated driving functions can possibly only be adjusted when the adjustment is made by the driver of the vehicle 100 via the user interface 106 has been confirmed.

There is thus a method and a corresponding device 101 for behavior-based detection of incorrect operation by the driver of the vehicle 100 when selecting and / or configuring a set of zero, one or more automated driving functions are described. The configuration and / or support for the driver can be corrected based on the detected incorrect operation.

In a first step, after activating an assistance function, the driver's behavior can be analyzed (based on the sensor data from one or more driver sensors 107 ). The behavior can, for example, be analyzed over a certain observation period. If the driver's behavior does not match one or more requirements of the activated assistance function, because the driver does not fulfill the partial task of the driving task to be carried out by him, a driving function can also be activated (automatically) in order to ensure that the partial task that is not performed by is fulfilled by the driver, is carried out automatically (since it can be assumed that the driver has operated incorrectly when the assistance function is activated).

For example, after the speed limiter has been activated, it can be recognized on the basis of the sensor data that the driver takes his foot off the accelerator pedal and no longer accelerates (since the driver incorrectly assumes that he has activated ACC). In this case, ACC can be activated automatically and a message about this via the user interface 106 are issued.

In a further example, after the activation of ACC, it can be recognized on the basis of the sensor data that the driver has removed his hands from the steering wheel 105 takes (since he mistakenly thinks he has activated additional support for lateral guidance (according to SAE level 2)). In this case, the lateral guidance support can be activated automatically, and a message can be sent to this effect via the user interface 106 are issued.

In a further example, after the activation of the partially automated driving, it can be recognized on the basis of the sensor data that the driver is engaged in an activity that is not related to the driving, although he would have to monitor the traffic situation in order to be able to intervene. In this case, the highly automated driving can be activated automatically, and a message about this can be sent via the user interface 106 are issued.

The notification via the user interface 106 and the independent switching and / or adaptation of the one or more assistance systems, in particular the automatic adaptation of the number of activated assistance systems, support the driver while driving and increase the safety of the vehicle 100 .

2 shows a (possibly computer-implemented) method 200 to operate a set of automated driving functions of a vehicle 100 . An automated driving function is set up in the longitudinal and / or lateral guidance of the vehicle 100 to intervene. In particular, a specific part of the driving task of the vehicle can be performed by a specific set of one or more driving functions 100 be effected automatically.

The procedure 200 includes determining 201 of sensor data related to the behavior of the driver of the vehicle 100 . In particular, sensor data can be determined which indicate which part of the driving task of the vehicle is being carried out manually by the driver. The sensor data can be shared with one or more driver sensors 107 of the vehicle 100 are recorded.

The method also includes 200 determining 202 , based on the sensor data, whether the behavior of the driver to the set of zero, one or more activated driving functions of the vehicle 100 (activated and / or configured by the driver) fits or not. In particular, it can be determined on the basis of the sensor data whether the part of the driving task actually performed by the driver is smaller or larger than the driver-side part of the driving task, which is made up of the set of zero, one or more activated driving functions of the vehicle 100 results.

The procedure 200 also includes the (automatic) adaptation 203 the set of activated driving functions when it is determined that the behavior of the driver does not match the set of activated driving functions. The set of activated driving functions can be adjusted in such a way that the part of the driving task actually effected by the driver corresponds to the driver-side part of the driving task, which results from the adjusted set of zero, one or more activated driving functions of the vehicle 100 results. In particular, at least one driving function can be activated (automatically) in order to automatically perform a missing part of the driving task that is not performed by the driver. So can the comfort and safety of the vehicle 100 increase.

The present invention is not restricted to the exemplary embodiments shown. In particular, it should be noted that the description and the figures are only intended to illustrate the principle of the proposed methods, devices and systems by way of example.

Claims (14)

Device (101) for operating a set of automated driving functions of a vehicle (100); wherein an automated driving function is set up to intervene in the longitudinal and / or lateral guidance of the vehicle (100); wherein the device (101) is set up, - to determine sensor data relating to a behavior of a driver of the vehicle (100), - To determine on the basis of the sensor data whether or not the behavior of the driver matches a set of zero, one or more activated driving functions of the vehicle (100); and - adjust the set of activated driving functions if it is determined that the behavior of the driver does not match the set of activated driving functions. Device (101) according to Claim 1 , wherein - the set of zero, one or more activated driving functions the driving task for driving the vehicle (100) in an automated part, which is provided by the set of activated driving functions, and in a driver-side part, which is assigned by the driver is to provide, divides; and the sensor data indicate the behavior of the driver in relation to the driver-side part of the driving task to be performed by the driver. Device (101) according to Claim 2 The device (101) is set up to determine, on the basis of the sensor data, whether a part of the driving task actually performed by the driver from the driver-side part of the driving task that is to be performed by the driver based on the amount of activated driving functions , differs or not; and adapt the set of activated driving functions if it is determined that the part of the driving task actually performed by the driver deviates from the driver-side part of the driving task. Device (101) according to Claim 3 , wherein the device (101) is set up to adapt the set of activated driving functions in such a way that the adapted driver-side part of the driving task to be performed by the driver on the basis of the adapted set of activated driving functions has a higher degree of correspondence with the part of the driving task actually performed by the driver as the driver-side part of the driving task that is to be performed by the driver due to the non-adjusted set of activated driving functions; and / or - the adapted driver-side part of the driving task, which is to be performed by the driver on the basis of the adapted set of activated driving functions, corresponds to the part of the driving task actually performed by the driver. Device (101) according to one of the Claims 3 until 4th wherein the device (101) is set up to determine which adjusted amount of zero, one or more activated driving functions matches the actually performed part of the driving task indicated by the sensor data; and / or - to determine which adjusted amount of zero, one or more activated driving functions has a maximum possible degree of correspondence with the actually performed part of the driving task indicated by the sensor data; and cause the vehicle (100) to be operated with the determined adjusted amount of zero, one or more activated driving functions. Device (101) according to one of the Claims 2 until 5 , wherein the driving task comprises - steering the vehicle (100); - A stop of the vehicle (100) within a currently traveled lane; - Accelerating and / or decelerating the vehicle (100); - maintaining a traveling speed of the vehicle (100); - Compliance with a limitation of the driving speed of the vehicle (100); and / or - a monitoring of the movement, in particular the longitudinal and / or lateral guidance, of the vehicle (100). Device (101) according to one of the Claims 2 until 6th The device (101) is set up to determine on the basis of the sensor data that the part of the driving task actually performed by the driver is a missing part compared to the driver-side part of the driving task that is due to the amount of activated driving functions by the driver is to be provided, and - to adapt the set of activated driving functions in such a way that the missing part of the driving task no longer has to be performed by the driver within the framework of the adapted set of activated driving functions. Device (101) according to one of the preceding claims, wherein the sensor data indicate - whether the driver is steering the vehicle (100) or not; - whether the driver touches a steering means (105) of the vehicle (100) or not; - whether the driver of the vehicle (100) actuates a control means (105) for accelerating and / or decelerating the vehicle (100) or not; and or - Whether or not the driver of the vehicle (100) monitors the movement of the vehicle (100) caused by the set of activated driving functions, in particular longitudinal and / or lateral guidance. Device (101) according to one of the preceding claims, wherein - The vehicle (100) comprises a user interface (106) which is designed to enable the driver of the vehicle (100) to activate and / or configure a driving function by means of one or more operating inputs; and - the device (101) is set up, - to determine the amount of activated driving functions that was activated and / or configured by the driver as a function of at least one operator input; and - to determine on the basis of the sensor data whether the driver made an incorrect entry with regard to the activation and / or the configuration of the set of activated driving functions, and correct the incorrect input by adjusting the amount of activated driving functions if it is determined that the driver has made an incorrect input in relation to the activation and / or the configuration of the amount of activated driving functions. Device (101) according to one of the preceding claims, wherein the device (101) is set up to the driver via a user interface (106) of the vehicle (100) - to ask whether the set of activated driving functions should be adjusted; or - to inform that the amount of activated driving functions has been adjusted automatically. Device (101) according to one of the preceding claims, wherein - The set of activated driving functions includes a speed limiter; and - the device (101) is set up, - to determine on the basis of the sensor data that the driver no longer actuates any control means (105) for manual longitudinal guidance of the vehicle (100); and - in response to this, include a cruise control and / or a speed and / or distance controller in the set of activated driving functions, in particular with a set speed set for the speed limiter. Device (101) according to one of the preceding claims, wherein - The set of activated driving functions includes a speed and / or distance controller; and - the device (101) is set up, - to determine on the basis of the sensor data that the driver no longer actuates any control means (105) for manual lateral guidance of the vehicle (100); and - In response, to include a driving function for automated lateral guidance, in particular a lane departure warning system, in the set of activated driving functions. Device (101) according to one of the preceding claims, wherein - the set of activated driving functions includes a driving function for partially automated longitudinal and lateral guidance according to SAE level 2, and - the device (101) is set up, - to determine on the basis of the sensor data that the driver is not monitoring the longitudinal and lateral guidance caused by the driving function; and - In response to this, to include a driving function for highly automated longitudinal and lateral guidance in accordance with SAE level 3 or higher in the set of activated driving functions. Method (200) for operating a set of automated driving functions of a vehicle (100); wherein an automated driving function is set up to intervene in the longitudinal and / or lateral guidance of the vehicle (100); wherein the method (200) comprises - determining (201) sensor data relating to a behavior of a driver of the vehicle (100); - Determining (202), based on the sensor data, whether the behavior of the driver leads to an amount of zero, one or more activated driving functions of the vehicle (100) match or not; and - adjusting (203) the set of activated driving functions if it is determined that the behavior of the driver does not match the set of activated driving functions.

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