DE102022108182A1 - Method for operating an automated motor vehicle, computer program, control device and motor vehicle - Google Patents

Abstract

A method (100) is provided for operating an automated motor vehicle (10), the method (100) comprising the steps: determining (110) an operating space (20), wherein the operating space (20) contains a quantity of a driver (11) of the Motor vehicle (10) includes possible operable operations (21) of the motor vehicle (10); Detecting (120) environmental information (22) external to the vehicle; Determining (130) an actuation corridor (23) based on the actuation space (20) and the vehicle-external environmental information (22), wherein the actuation corridor (23) provides a set of measures that can be carried out by the driver (11) of the motor vehicle (10) and ensures safe operation of the motor vehicle ( 10) includes assignable safe operations (24); Detecting (140) an actuation (25) of the motor vehicle (10) by the driver (11); Matching (150) the detected actuation (25) with the actuation corridor (23) to determine matching information.

Description

The present invention relates to a method for operating an automated motor vehicle and a data processing device which is designed to at least partially carry out the method. Furthermore, an automated motor vehicle with the data processing device is provided. Additionally or alternatively, a computer program is provided which includes commands which, when the program is executed by a computer, cause it to at least partially carry out the method. Additionally or alternatively, a computer-readable medium is provided which includes instructions which, when the instructions are executed by a computer, cause it to at least partially carry out the method.

Methods for operating an automated motor vehicle are known from the prior art. An automated motor vehicle can be defined as a motor vehicle that enables an automated or autonomous driving mode in which the motor vehicle is operated and in particular drives partially or completely automatically, i.e. without any actuation by a driver or occupant of the motor vehicle. In the following, the term automated motor vehicle is used synonymously with the meanings partially automated motor vehicle, autonomous motor vehicle and semi-autonomous motor vehicle. Such motor vehicles can have components, in particular software components, which ensure that the motor vehicle is operated as safely as possible, i.e. that the motor vehicle does not cause an accident if possible.

DE 10 2019 004 076 A1 discloses a method for assisting a driver of a vehicle. The method provides that a driving style of the driver of the vehicle is recorded and if the driver's misconduct is detected, information is issued to the driver and an intervention is made in vehicle guidance.

DE 10 2016 202 590 A1 discloses a method for operating an automated motor vehicle. The method has the following steps: determining automated driving parameters while manually controlling the automated motor vehicle; and defined intervention of the automated motor vehicle in accordance with the determined automated driving parameters in the manual control of the automated motor vehicle, wherein the defined intervention is carried out in accordance with a degree of agreement of the automated driving parameters with the manual driving parameters entered during manual control of the automated motor vehicle.

Such methods can be used to support the driver during a learning process. In particular, such a procedure can also support a driving instructor or at least partially make them unnecessary.

However, the known methods are limited to a narrow set of operations resulting from the driving style or a planned trajectory that the driver can carry out without information and / or intervention.

Against the background of this prior art, one object of the present disclosure is to provide a device and a method which are each suitable for overcoming at least the above-mentioned disadvantages of the prior art.

The task is solved by the features of the independent claim. The subclaims contain preferred developments of the invention.

The task is then solved by a method for operating an automated motor vehicle. The method includes determining an operating space, wherein the operating space includes a set of possible operations of the motor vehicle that can be carried out by a driver of the motor vehicle; detecting environmental information external to the vehicle; determining an actuation corridor based on the actuation space and the vehicle-external environmental information, the actuation corridor comprising a set of safe actuations that can be carried out by the driver of the motor vehicle and can be assigned to safe operation of the motor vehicle; detecting an operation of the motor vehicle by the driver; and comparing the detected actuation with the actuation corridor to determine matching information.

It was recognized that the result or outcome of operating a motor vehicle can be determined by analyzing the accessibility of states. The various achievable states of the motor vehicle make it possible to differentiate between safe states and associated operations and unsafe states and associated operations. By checking the possible operations of the motor vehicle, it is possible to distinguish a safe operation from an unsafe operation and to divide or classify possible operations accordingly. The distinction between safe operations and unsafe operations can be used to train a driver safely and at least partially automatically.

According to the method, the operating space is determined, i.e. all of the possible operations of the motor vehicle that can be carried out by the driver of the motor vehicle are determined. The actuation space includes, for example, a set and/or an interval of steering angles, a set of control inputs corresponding to a set of pedal positions for controlling an engine power, a braking power and/or a clutch, a set of possible actuations of a transmission of the motor vehicle, a set of possible Switching information, for example from a horn, turn signals and/or a lighting device of the motor vehicle. The operating space therefore includes all conceivable possible operations that the driver and/or an occupant of the motor vehicle can carry out, regardless of the safety or operation of the motor vehicle. In addition, environmental information external to the vehicle is recorded, i.e. information that relates to the surroundings of the motor vehicle and not directly to the operation of the motor vehicle as such.

An actuation corridor is determined based on the operating space and the surrounding information. The operating corridor is a subset of the operating space and is determined based on the operating space taking into account the surrounding information. The actuation corridor includes the set of safe operations that can be carried out by the driver of the motor vehicle and can be assigned to safe operation of the motor vehicle. For example, the actuation corridor comprises a subset of the set of steering angles of the actuation space, wherein a steering angle within the actuation corridor enables safe operation of the motor vehicle and a steering angle outside the actuation corridor has a danger potential because the steering angle outside the actuation corridor, for example, leads to steering of the motor vehicle from one of lane that the motor vehicle is traveling on or a road that the motor vehicle is traveling on.

An actuation of the motor vehicle by the driver is detected and the detected actuation is compared with the actuation corridor to determine comparison information. When comparing, it is checked whether the detected actuation is inside or outside the actuation corridor, i.e. whether there is a safe actuation corresponding to the detected actuation in the actuation corridor. An operation of the motor vehicle within the operating corridor is to be assessed as safe and an operation of the motor vehicle outside the operating corridor is to be assessed as unsafe or dangerous. The comparison information optionally includes an assessment and/or a measure of whether and to what extent the actuation is safe and/or unsafe. Based on the comparison, further process steps are optionally possible depending on the comparison information.

The order of the specified process steps is variable and some process steps can be carried out at the same time. For example, the detection of the vehicle-external environmental information and/or the detection of the driver's operation of the motor vehicle can take place at any time. The determination of the actuation space, the determination of the actuation corridor and the adjustment optionally take place simultaneously.

The method can include determining an intervention in the operation of the motor vehicle depending on the comparison information. This means that safe operation of the motor vehicle can be ensured at any time, taking the comparison information into account. Optionally, in the case of comparison information that can be assigned to safe operation of the motor vehicle, i.e. the driver's detected actuation is within the actuation corridor, intervention in the operation of the motor vehicle is omitted. Alternatively or additionally, in the case of comparison information that can be assigned to unsafe operation of the motor vehicle, i.e. the detected actuation of the driver is outside the actuation corridor, an intervention in the operation of the motor vehicle is initiated in such a way as if an actuation were to take place within the actuation corridor.

The vehicle-external environmental information may include information detected by a vehicle-mounted sensor, information detected by a vehicle-external sensor, and/or navigation information. This allows the surroundings to be recorded as effectively as possible, which enables the operating corridor to be comprehensively determined. A vehicle-mounted sensor can be an imaging sensor and/or a distance sensor. A sensor external to the vehicle can be a sensor for sensing environmental information that is transmitted to the motor vehicle. For example, weather data can be recorded with a sensor external to the vehicle and transmitted from the sensor external to the vehicle to the motor vehicle via an interface. The navigation information may include information relating to a position of the motor vehicle, a position of another motor vehicle, a route and/or a road traveled by the motor vehicle. Insofar as information is spoken of, the plural can refer to one that represents the information refer to the relevant amount of data. This means that the term information can possibly include both a single piece of information and multiple pieces of information.

The method can include determining and outputting information from the driver depending on the comparison information. This means that information about safe operation of the motor vehicle can be provided and presented to the driver and/or an occupant. Optionally, in the case of comparison information that can be assigned to safe operation of the motor vehicle, i.e. a detected actuation of the driver within the actuation corridor, an output is omitted and / or in the case of a comparison information that can be assigned to unsafe operation of the motor vehicle, i.e. a detected actuation of the Driver is outside the operating corridor, an output is caused in such a way that the driver is informed about an operation that leads the motor vehicle into the operating corridor.

Determining the output may include a classification of the detected actuation. This provides sufficiently accurate information for the driver and/or passengers. Optionally, the classification takes place into one of the following classes: a safe operation, an operation that is definitely unsafe, an operation that is probably unsafe and an operation that was safe due to a circumstance external to the vehicle, for example an evasive maneuver by another road user.

Optionally, the output includes visual, acoustic and/or haptic output.

The method can include storing the comparison information to determine feedback after the operation of the motor vehicle has ended. This means that the driver and/or an occupant of the motor vehicle can receive comprehensive feedback on the driving performance and/or progress in the driver's driving skills after completing a journey with the motor vehicle.

In other words and based on a specific embodiment, which is described as not limiting the present disclosure, what has been described above can be summarized as follows: In motor vehicle development, work is being done on software components that ensure that a selected driving behavior is safe. This means that this driving behavior does not lead to an accident. These components are developed to make automated driving safe. There are several research projects to distinguish between safe and unsafe behavior. For example, reachability analysis can be used to determine all possible outcomes of a vehicle action. Validators are also being developed to ensure that the vehicle remains within the safe driving corridor. In the present case, it was recognized that the above-mentioned techniques can also be used to support learner drivers in their driving training. This means they can ultimately be a replacement for the driving instructor sitting next to the learner driver. The idea of disclosure can be to let the learner driver drive until he or she performs an unsafe action. This means that if the student driver were to turn the steering wheel as far as possible to the right on a motorway, for example, the vehicle would continue driving straight. This may require a vehicle with Level 5 driving skills and additional safety measures. For implementation, an interface for learner drivers, additional safety measures in addition to level 5 autonomous driving and feedback for driving performance can be provided. It is conceivable that the driver-learning interface continuously calculates all possible safe actions. On a highway, this may mean accelerating toward the safe limit and decelerating toward the lower safe limit with a limited deceleration force. In a city, this might mean stopping at a traffic light, slowing down in a timely manner, and obeying all other traffic laws. On a desert racetrack, this may mean only performing actions that do not jeopardize the dynamic stability of the vehicle. To ensure the safe corridor, additional security measures beyond Level 5 may be required. A level 5 vehicle can classify a variety of actions as safe. However, sometimes one of these actions is actually not safe. However, the vehicle is unlikely to choose the unsafe action, so the overall function is safe on average. However, a driving instructor system must be sure that all of the multitude of actions are safe. This could require additional sensors to sense the environment. Alternatively or additionally, actions can be conservatively restricted, with the extreme being just following the planned path. In this way, the present disclosure can work with the specific set of sensors available for a particular vehicle. At the end or during driving, the system can give the learner driver feedback. The feedback may contain actions that were definitely wrong. The feedback may also include actions that were demonstrably unsafe. The feedback may also include actions that were safe, but only because a fast-reacting car was used in an emergency.

Furthermore, a computer program is provided, comprising commands which, when the program is executed by a computer, cause it to at least partially execute or carry out the method described above.

A program code of the computer program can be in any code, in particular in a code that is suitable for motor vehicle controls.

What was described above with reference to the process also applies to the computer program and vice versa.

Furthermore, a data processing device, for example a control device, is provided for an automated motor vehicle, the control device being set up to at least partially implement or carry out the method described above.

The data processing device can be part of or represent a driving assistance system. The data processing device can be, for example, an electronic control unit (ECU = electronic control unit). The electronic control unit can be an intelligent processor-controlled unit that can communicate with other modules, for example via a central gateway (CGW) and, if necessary, via field buses such as the CAN bus, LIN bus, MOST bus and FlexRay or via Automotive Ethernet, e.g. together with telematics control devices, can form the vehicle on-board network. It is conceivable that the control unit controls functions relevant to the driving behavior of the motor vehicle, such as the engine control, the power transmission, the braking system and/or the tire pressure monitoring system. In addition, driver assistance systems, such as a parking assistant, an adapted cruise control (ACC), a lane keeping assistant, a lane change assistant, traffic sign recognition, light signal recognition, a starting assistant, a night vision assistant and/or an intersection assistant, can be controlled by the control unit .

What has been described above with reference to the method and the computer program also applies analogously to the data processing device and vice versa.

Furthermore, an automated motor vehicle comprising the data processing device described above is provided.

The motor vehicle can be a passenger car, in particular an automobile. The automated motor vehicle can be designed to at least partially and/or at least temporarily take over longitudinal guidance and/or transverse guidance during automated driving of the motor vehicle. Automated driving can be carried out in such a way that the movement of the motor vehicle is (largely) autonomous. The automated driving can be controlled at least partially and/or temporarily by the data processing device.

The motor vehicle can be a motor vehicle with autonomy level 0, i.e. the driver takes over the dynamic driving task, even if supporting systems (e.g. ABS or ESP) are present.

The motor vehicle can be a motor vehicle with autonomy level 1, i.e. have certain driver assistance systems that support the driver in operating the vehicle, such as adaptive cruise control (ACC).

The motor vehicle can be a motor vehicle of autonomy level 2, i.e. be partially automated so that functions such as automatic parking, lane keeping or lateral guidance, general longitudinal guidance, acceleration and/or braking are taken over by driver assistance systems.

The motor vehicle can be a motor vehicle of autonomy level 3, i.e. conditionally automated so that the driver does not have to continuously monitor the vehicle system. The motor vehicle independently carries out functions such as triggering the turn signal, changing lanes and/or keeping in lane. The driver can turn his attention to other things, but if necessary the system will ask him to take over within a warning period.

The motor vehicle can be a motor vehicle with autonomy level 4, i.e. so highly automated that control of the vehicle is permanently taken over by the vehicle system. If the system can no longer handle the driving tasks, the driver can be asked to take over the lead.

The motor vehicle can be a motor vehicle with autonomy level 5, i.e. so fully automated that the driver is not required to complete the driving task. No human intervention is required other than setting the target and starting the system. The motor vehicle can do without a steering wheel and pedals.

What has been described above with reference to the method, the data processing device and the computer program also applies analogously to the motor vehicle and vice versa.

Furthermore, a computer-readable medium, in particular a computer-readable storage medium, is provided. The computer-readable medium includes instructions that, when the program is executed by a computer, cause it to at least partially carry out the method described above.

That is, a computer-readable medium may be provided that includes a computer program as defined above. The computer-readable medium can be any digital data storage device, such as a USB flash drive, hard drive, CD-ROM, SD card, or SSD card. The computer program does not necessarily have to be stored on such a computer-readable storage medium in order to be made available to the motor vehicle, but can also be obtained externally via the Internet or otherwise.

What has been described above with reference to the method, the data processing device, the computer program and the automated motor vehicle also applies analogously to the computer-readable medium and vice versa.

• 1 zeigt schematisch ein Ablaufdiagramm eines Verfahrens gemäß einem Aspekt der Offenbarung; und
• 2 zeigt schematisch ein Kraftfahrzeug gemäß einem Aspekt der Offenbarung.

Embodiments are described below with reference to 1 and 2 described.

• 1 schematically shows a flowchart of a method according to an aspect of the disclosure; and
• 2 schematically shows a motor vehicle according to one aspect of the disclosure.

1 schematically shows a method 100 according to an aspect of the disclosure.

The method 100 is used to operate an automated motor vehicle 10. The method 100 is particularly applicable for use in a driving school and/or for training and/or training purposes and can partially take over the function and tasks of a driving instructor. Such a motor vehicle 10 with reference to 2 described.

As in 1 shown, the method 100 has several steps. The arrangement of the method steps shown schematically is exemplary to illustrate the method 100. In other embodiments (not shown), the order of the method steps is different and/or method steps are carried out simultaneously.

According to 1 a determination 110 of an actuation space 20 takes place, the actuation space 20 comprising a set of possible actuations 21 of the motor vehicle 10 that can be carried out by a driver 11 of the motor vehicle 10. In this case, an actuating device 12 of the motor vehicle 10 queries the current state and/or a set of information relating to possible states that can be brought about by an actuation 21. This information is compiled to determine the operating space 20.

There is a detection 120 of vehicle-external environmental information 22. The vehicle-external environmental information 22 includes information acquired by a vehicle-side sensor 15, information acquired by a vehicle-external sensor and/or navigation information. Information and/or navigation information recorded by the vehicle-side sensor 15 is recorded directly for evaluation by a control unit 14 of the motor vehicle 10 and transmitted to the control unit 14. Information and/or navigation information detected by the sensor external to the vehicle is transmitted to the control unit 14.

An actuation corridor 23 is determined 130 based on the actuation space 20 and the vehicle-external environmental information 22, the actuation corridor 23 comprising a set of safe actuations 24 that can be carried out by the driver 11 of the motor vehicle 10 and can be assigned to safe operation of the motor vehicle 10. The safe actuation corridor 23 only includes safe actuations 24. The actuation corridor 23 can, for example, be based on an actuation corridor that can be used for safe operation of a motor vehicle 10 with a level 5 level of automation in accordance with the SAE J3016 standard of SAE International, with additional safety measures being taken to avoid possible unsafe ones , but practically irrelevant, activities to be excluded; for example, taking into account information from other sensors, for example the vehicle-side sensor 15, and/or the navigation information, such as a planned route.

An actuation 25 of the motor vehicle 10 by the driver 11 is detected 140. The actuating device 12 of the motor vehicle 10 queries the current state that changes as a result of the actuation 25 by the driver 11 or that is brought about by the actuation 25 .

The detected actuation 25 is compared 150 with the actuation corridor 23 to determine comparison information. When comparing 150, it is checked whether the detected actuation 25 is inside or outside the actuation corridor 23, i.e. whether it is in the actuation corridor 23 there is a safe operation corresponding to the detected operation 25. This is optionally done with the help of artificial intelligence to classify the detected actuation 25. By classifying the detected actuation 25, the comparison can be carried out effectively.

Depending on the comparison information, an intervention in the operation of the motor vehicle 10 (not shown) is determined. Alternatively or additionally, information from the driver 11 is determined and output. Determining the output includes a classification of the detected actuation 25. The output includes visual, acoustic and/or haptic output. After operating the motor vehicle 11 or while operating the motor vehicle 11, i.e. while driving, the output takes place in order to give the driver 11 feedback on his driving performance. The comparison information is saved to determine feedback after operation of the motor vehicle 10 has ended.

2 schematically shows a motor vehicle 10 according to one aspect of the disclosure.

The motor vehicle 10 is referred to the method 100 according to 1 described and is therefore applicable for use by a comprehensive driving instructor, in a driving school and/or for training and/or training purposes. If a driving instructor is not necessary, the vehicle is 10 in 2 a motor vehicle 10 with a degree of automation level 5 in accordance with standard SAE J3016 from April 30, 2021 from SAE-International (https://doi.org/10.4271/J3016_202104). Ie, the motor vehicle 10 can be operated fully automatically. A driver 11 and human intervention are unnecessary while operating the motor vehicle 11. The driver 11 can thus drive the motor vehicle 10 as long as no unsafe actuation 25 is carried out by the driver 11. For example, on a highway, the motor vehicle 11 would follow a lane traveled by the motor vehicle 11, even if the driver 11 uses a steering wheel to initiate maximum steering of the motor vehicle 10 and this would lead to unsafe operation of the motor vehicle 10. In another embodiment, the motor vehicle 10 has a lower degree of automation when the motor vehicle 10 is operated with the driver 10 and a driving instructor.

The driver 11 of the motor vehicle 10 is located in the motor vehicle 10. The driver 11 can carry out an actuation 25 of the motor vehicle 11. To do this, the driver 11 operates an actuating device 12 included in the motor vehicle 10. The actuation 25 of the motor vehicle 11 by the driver 11 is detected by the actuating device 12 and transmitted to a control unit 14 included in the motor vehicle 11. For this purpose, the control unit 14 is connected to the actuating devices 12 of the motor vehicle 11. The actuating device 12 includes, for example, a steering device, a device for controlling engine power, braking power and/or clutch, a device for actuating a transmission of the motor vehicle 10, a device for switching, for example, a horn, turn signals and/or a lighting device of the motor vehicle 10 .

The control device 14 is set up to determine 110 an actuation space 20. For this purpose, the control device 14 includes information relating to possible actuations 21 that can be carried out and/or receives information relating to possible actuations 21 that can be carried out from the actuating device 12. The actuation space 20 includes the set of possible actuations 21 of the motor vehicle 10 that can be carried out by the driver 11 of the motor vehicle 10.

The motor vehicle 11 includes a vehicle-side sensor 15. The vehicle-side sensor 15 is connected to the control unit 14 and is set up to sense vehicle-external environmental information 22 and transmit it to the control unit 14.

The control unit 14 is set up to determine 130 an actuation corridor 23 based on the actuation space 20 and the vehicle-external environmental information 22. The actuation corridor 23 comprises a set of safe actuations 24 that can be carried out by the driver 11 of the motor vehicle 10 and can be assigned to safe operation of the motor vehicle 10. For example, the actuation corridor 23 on a motorway includes accelerating the motor vehicle 11 up to a predetermined safe speed, braking a motor vehicle at a predetermined interval of delays, stopping at a red light within a city, taking into account an appropriate delay and applicable traffic regulations. On a race track, the actuation corridor 23 is, for example, given by all actuations 21 that lead to stable driving dynamics.

The control device 14 is set up to carry out the comparison 150 of the detected actuation 25 with the actuation corridor 23 in order to determine comparison information.

To output an output to inform the driver 11, the motor vehicle 10 includes an output device 13 connected to the control unit 14.

The motor vehicle 10 thus includes a training interface which includes the actuating device 12 and the output device 13, safety measures to ensure safe operation of the motor vehicle 10 and the possibility of giving the driver 11 feedback about his driving performance.

Reference symbol list

10

motor vehicle

11

driver

12

Actuating device

13

Dispensing device

14

Control unit

15

sensor

20

operating room

21

possible operations that can be carried out

22

Environmental information

23

Operating corridor

24

safe operation

25

Operation by driver

100

Proceedings

110

Determine an operating space

120

Acquiring environmental information external to the vehicle

130

Determine a safe operating corridor

140

Detecting an operation

150

Compare

QUOTES INCLUDED IN THE DESCRIPTION

This list of 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.

Cited patent literature

• DE 102019004076 A1 [0003]
• DE 102016202590 A1 [0004]

Claims (10)

Method (100) for operating an automated motor vehicle (10), the method (100) comprising the steps: - Determining (110) an actuation space (20), the actuation space (20) comprising a set of possible actuations (21) of the motor vehicle (10) that can be carried out by a driver (11) of the motor vehicle (10); - Detecting (120) environmental information (22) external to the vehicle; - Determining (130) an actuation corridor (23) based on the actuation space (20) and the vehicle-external environmental information (22), whereby the actuation corridor (23) provides a quantity that can be carried out by the driver (11) of the motor vehicle (10) and ensures safe operation of the motor vehicle (10) assignable safe operations (24); - Detecting (140) an actuation (25) of the motor vehicle (10) by the driver (11); and - Compare (150) the detected actuation (25) with the actuation corridor (23) to determine comparison information. Procedure according to Claim 1 , the method comprising the step: - determining an intervention in the operation of the motor vehicle (10) depending on the comparison information. Procedure according to Claim 1 or 2 , wherein - the vehicle-external environmental information (22) includes information detected by a vehicle-side sensor (15), information detected by a vehicle-external sensor and/or navigation information. Method according to one of the preceding claims, the method comprising the step: - Determining and outputting information from the driver (11) depending on the comparison information. Procedure according to Claim 4 , wherein - determining the information includes a classification of the detected operation (25). Procedure according to one of the Claims 4 or 5 , wherein - the output includes visual, acoustic and / or haptic output. Method according to one of the preceding claims, the method comprising the step: - Saving the comparison information to determine feedback after the operation of the motor vehicle (10) has ended. Computer program and/or computer-readable medium, comprising commands which, when the program or commands are executed by a computer, cause the computer to carry out the method (100) and/or the steps of the method (100) according to one of Claims 1 until 7 to carry out Data processing device (14) for an automated motor vehicle (10), the data processing device (14) being set up to carry out the method (100) according to one of Claims 1 until 7 to carry out. Automated motor vehicle (10), comprising the data processing device (14). Claim 9 .

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