EP3007952A1 - Method and device for operating a vehicle - Google Patents

Method and device for operating a vehicle

Info

Publication number
EP3007952A1
EP3007952A1 EP14718370.1A EP14718370A EP3007952A1 EP 3007952 A1 EP3007952 A1 EP 3007952A1 EP 14718370 A EP14718370 A EP 14718370A EP 3007952 A1 EP3007952 A1 EP 3007952A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
driving
strategies
driving strategy
strategy
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP14718370.1A
Other languages
German (de)
French (fr)
Inventor
Oliver Pink
Stefan Nordbruch
Stefan Kueperkoch
Martin Mueller
Jeannine Schwarzkopf
Florian Hauler
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP3007952A1 publication Critical patent/EP3007952A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/082—Selecting or switching between different modes of propelling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W40/09—Driving style or behaviour
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/087—Interaction between the driver and the control system where the control system corrects or modifies a request from the driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/10—Interpretation of driver requests or demands
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/24—Energy storage means
    • B60W2510/242—Energy storage means for electrical energy
    • B60W2510/244—Charge state
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/209—Fuel quantity remaining in tank
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/215—Selection or confirmation of options
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/30—Driving style
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20—Ambient conditions, e.g. wind or rain
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle for navigation systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed

Definitions

  • the invention relates to a method and a device for operating a vehicle.
  • the invention further relates to a computer program.
  • Known driver assistance systems generally provide a firm driving strategy for a vehicle. Driving strategy requests of a driver of the vehicle are usually hardly considered at all. This can lead to the driver rejecting and possibly deactivating the use of the driver assistance system. This can lead to critical situations.
  • the object underlying the invention can therefore be seen to provide a method for operating a vehicle that overcomes the known disadvantages and takes into account a driving strategy request of a vehicle occupant of the vehicle, so that an acceptance of the use of the method is increased.
  • the object underlying the invention can also be seen to provide a corresponding device for operating a vehicle.
  • an apparatus for operating a vehicle comprising:
  • a detection device for detecting a desire of a vehicle occupant for a driving strategy of the vehicle
  • a comparison device for comparing the desired driving strategy with a set of a plurality of possible driving strategies for a current driving situation of the vehicle
  • a controller for controlling the vehicle as a function of a driving strategy that is selected as a function of the comparison from the set of possible driving strategies.
  • a computer program comprising program code for performing the method of operating a vehicle when the computer program is executed in a computer.
  • the invention therefore includes in particular the idea of taking into account a driving strategy request of a driver insofar as this is compared with a selection of a plurality of possible driving strategies in relation to an instantaneous driving situation of the vehicle. The result of the comparison is then called
  • Possible driving strategies in the sense of the present invention are, in particular, driving strategies that make sense in relation to an instantaneous driving situation or traffic situation.
  • meaningful can mean that an evasive maneuver is performed in order to avoid a collision.
  • a possible or meaningful driving strategy is therefore in particular a driving strategy that does not at least not reduce or, in particular, increase safety for the vehicle, the vehicle occupants and / or an environment of the vehicle.
  • the possible driving strategies are formed based on legal provisions. These legal provisions include, for example, a highway code.
  • the possible driving strategies are formed based on current traffic regulations to be followed, for example speed limits and / or overtaking bans.
  • the possible driving strategies are formed in such a way that a risk to the vehicle occupant or the vehicle occupants is minimized or eliminated.
  • the vehicle occupant may be the driver of the vehicle.
  • the vehicle occupant may be a passenger. According to one embodiment, it may be provided that the driving strategy of the
  • Driving strategy request of the vehicle occupant used as the driving strategy is based on which the vehicle is controlled when it is determined in the comparison that one of the possible driving strategies of the driving strategy of the driving strategy desired corresponds. This advantageously further increases acceptance of the use of the invention on the part of the vehicle occupant, since the driving strategy of the vehicle occupant is actually implemented in this way.
  • the driving strategy is selected from the set of possible driving strategies for controlling the vehicle, which is most similar or most similar to the driving strategy of the driving strategy request, if none of the possible driving strategies corresponds to the desired driving strategy.
  • the desired driving strategy is implemented one to one, but at least as far as possible a similar driving strategy is used to control the vehicle. This too advantageously increases acceptance.
  • similar means in particular that the desired driving strategy and the selected driving strategy are similar in at least one aspect, preferably in several aspects, relative to a vehicle guidance.
  • a driving strategy that includes accelerating is not similar to a desired driving strategy that includes a stopping request.
  • the driving strategies are parameterized and the respective parameters are compared with one another.
  • the parameters can for example be provided with a weighting.
  • a driving strategy may include a standard driving strategy that corresponds to a well-balanced mix of ride comfort, energy efficiency, and driving time.
  • Another driving strategy may be, for example, a time-saving driving strategy that attempts to minimize travel time.
  • Another driving strategy for example, be a sporty driving strategy, which allows in particular greater acceleration and / or deceleration than the standard driving strategy.
  • Yet another driving strategy may in particular be a defensive driving strategy that allows a particularly safe driving style and avoids, for example, overtaking maneuvers.
  • Yet another driving strategy may be, for example, a comfort driving strategy that minimizes in particular acceleration and / or braking maneuvers and that allows in particular occupants to work comfortably.
  • a driving strategy can be, for example, an economy driving strategy that minimizes energy consumption, in particular fuel consumption and / or consumption of electrical energy, for example by means of long coasting.
  • the set of several possible driving strategies for selecting one of the several possible driving strategies is provided.
  • the vehicle occupant can therefore in particular advantageously select one from the set of possible driving strategies. That means, in particular, that the vehicle occupants, in particular the driver, are offered possible driving strategies that appear particularly advantageous in the current driving situation.
  • the economy driving strategy is suggested when a fuel tank and / or an accumulator are almost empty.
  • the comfort driving strategy is proposed when the current driving situation is a traffic jam, so that advantageously the vehicle occupants can work undisturbed.
  • provision may be made for providing the set of a plurality of possible driving strategies for selecting one of the several possible driving strategies before detecting the driving strategy request.
  • a plurality of vehicles are provided and a respective comparison based on one the vehicles are made separately formed server to form a respective driving strategy for controlling the vehicles for a coordinated driving behavior of the vehicles, wherein the formed driving strategies are sent to the respective vehicles.
  • the comparison between desire and driving situation thus advantageously takes place centrally for the several vehicles on an external server, so that an optimal behavior for all vehicles, ie a driving strategy, can be determined which, for example, avoids congestion.
  • Environmental sensors of the environmental sensor system may include, for example, a temperature sensor, a rain sensor, a video sensor, a camera sensor, a radar sensor and an ultrasonic sensor. That means, in particular, that the instantaneous driving situation can be determined or detected by means of the sensors of the environmental sensor system.
  • the environmental sensor system may in particular comprise one environmental sensor or several environmental sensors.
  • the possible driving strategies are formed based on sensor data of a state sensor system of the vehicle for sensory detection of a vehicle condition.
  • the condition of the vehicle thus advantageously plays a role for possible driving strategies.
  • the state sensor system comprises a fill level sensor for detecting a fill level of a drive energy storage device of the vehicle.
  • a drive energy storage device comprises, for example, a fuel tank and / or a vehicle battery, for example an accumulator.
  • a maximum range of the vehicle can be determined advantageously based on the level. The maximum range can then be used advantageously as a basis for possible driving strategies, for example for an economy driving strategy.
  • the state sensor system comprises a pressure sensor for measuring a tire pressure.
  • a possible driving strategy can be advantageously formed based on a tire pressure. As a rule, when the tire pressure is too low, a defensive driving strategy makes more sense than a sporty driving strategy.
  • the possible driving strategies based on weather data in particular weather forecast data, and / or traffic data, such as traffic data and / or traffic message channel (TMC) traffic data, and / or map data, in particular map data of a digital map, and / or time data are formed.
  • This data can be provided, for example, as cloud data. This means in particular that this data can be provided in a cloud and retrieved from there.
  • the driving strategy may include vehicle maneuvers selected from the following group of vehicle maneuvers: accelerating the vehicle, accelerating the vehicle to achieve a new vehicle target speed, braking the vehicle, braking the vehicle to achieve a new target vehicle speed Carrying out a lane change, performing an overtaking operation, making a turn, stopping, parking, driving faster, slow driving, lane change, especially lane change as soon as possible, overtaking maneuvers, in particular overtaking maneuvers as soon as possible, turning in a particular direction, stopping, in particular stopping as soon as possible as possible, parking, in particular parking as soon as possible, or a combination thereof.
  • vehicle maneuvers selected from the following group of vehicle maneuvers: accelerating the vehicle, accelerating the vehicle to achieve a new vehicle target speed, braking the vehicle, braking the vehicle to achieve a new target vehicle speed
  • Carrying out a lane change performing an overtaking operation, making a turn, stopping, parking, driving faster, slow driving, lane change, especially lane change as soon as possible, overtaking maneuvers, in particular overtaking maneuvers as soon
  • a man-machine interface is provided.
  • the driving strategy can be selected via such an interface and / or the selection of possible driving strategies can be provided.
  • the man-machine interface may include a mechanical input device, in particular a steering wheel for forming a steering wheel torque, a joystick.
  • the human-machine interface may be configured for gesture control and / or voice control.
  • the human-machine interface may include a neural interface.
  • a direct connection with human nerve cells is advantageously made possible.
  • FIG. 1 shows a flow diagram of a method for operating a vehicle
  • FIG. 2 shows a device for operating a vehicle
  • FIG. 3 shows a flowchart of a further method for operating a vehicle.
  • FIG. 1 shows a flowchart of a method for operating a vehicle.
  • a desire of a vehicle occupant for a driving strategy of the vehicle is detected.
  • the desired driving strategy is compared with a set of several possible driving strategies for a current driving situation of the vehicle.
  • the vehicle is selected as a function of a driving strategy that is selected as a function of the comparison from the set of possible driving strategies.
  • FIG. 2 shows a device 201 for operating a vehicle.
  • the device 201 comprises a detection device 203 for detecting a desire of a vehicle occupant for a driving strategy of the vehicle.
  • a comparison device 205 is provided for comparing the desired driving strategy with a set of a plurality of possible driving strategies for a current driving situation of the vehicle.
  • the device 201 has a controller 207 for controlling the vehicle depending on a driving strategy that is selected depending on the comparison of the set of possible driving strategies.
  • FIG. 3 shows a flowchart of a further method for operating a vehicle.
  • step 301 possible driving strategies for a vehicle based on a current driving situation based on sensor data of an environmental sensor system of the vehicle for sensory detection of a vehicle environment are formed. These possible driving strategies are further formed in step 301 based on sensor data of a vehicle state sensor system for sensory sensing of a vehicle condition.
  • the state sensor system includes a level sensor for detecting a level of a drive energy storage device of the vehicle, so that a maximum range of the vehicle can be determined. This in particular depending on map data of a digital map of a navigation system.
  • the possible driving strategies are provided for selection in a step 303, for example by means of a man-machine interface.
  • a vehicle occupant can thus advantageously select a driving strategy from the provided driving strategies.
  • a driving strategy request of a vehicle occupant is detected, for example by means of the human-machine interface.
  • the desired driving strategy is compared with the possible driving strategies.
  • the vehicle occupant will select one of the provided driving strategies so that, in accordance with step 309, the vehicle is controlled based on the selected driving strategy.
  • a driving strategy is selected from the set of possible driving strategies provided which is most similar to the desired driving strategy and thus, in particular, vehicle occupant requirements Vehicle guidance comes closest.
  • step 313 the vehicle is controlled based on the driving strategy selected in step 31 1.

Abstract

The invention relates to a method for operating a vehicle, comprising the following steps: detecting (101) a desire of a vehicle passenger for a driving strategy of the vehicle, comparing (103) the desired driving strategy to a plurality of possible driving strategies for a current driving situation of the vehicle and controlling (105) the vehicle in dependence on a driving strategy which is selected in dependence on the comparison from the plurality of possible driving strategies. The invention further relates to a corresponding device (201) for operating a vehicle and a computer program.

Description

Beschreibung  description
Titel title
Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs  Method and device for operating a vehicle
Die Erfindung betrifft ein Verfahren und eine Vorrichtung zum Betreiben eines Fahrzeugs. Die Erfindung betrifft ferner ein Computerprogramm. The invention relates to a method and a device for operating a vehicle. The invention further relates to a computer program.
Stand der Technik State of the art
Bekannte Fahrerassistenzsysteme geben in der Regel eine feste Fahrstrategie für ein Fahrzeug vor. Fahrstrategiewünsche eines Fahrers des Fahrzeugs werden üblicherweise kaum bis gar nicht berücksichtigt. Dies kann zu dazu führen, dass der Fahrer die Verwendung des Fahrerassistenzsystems ablehnt und gegebenenfalls deaktiviert. Dies kann zu kritischen Situationen führen. Known driver assistance systems generally provide a firm driving strategy for a vehicle. Driving strategy requests of a driver of the vehicle are usually hardly considered at all. This can lead to the driver rejecting and possibly deactivating the use of the driver assistance system. This can lead to critical situations.
Offenbarung der Erfindung Disclosure of the invention
Die der Erfindung zugrunde liegende Aufgabe kann daher darin gesehen werden, ein Verfahren zum Betreiben eines Fahrzeugs bereitzustellen, dass die bekannten Nachteile überwindet und ein Fahrstrategiewunsch eines Fahrzeuginsassens des Fahrzeugs berücksichtigt, so dass eine Akzeptanz für die Verwendung des Verfahrens erhöht wird. The object underlying the invention can therefore be seen to provide a method for operating a vehicle that overcomes the known disadvantages and takes into account a driving strategy request of a vehicle occupant of the vehicle, so that an acceptance of the use of the method is increased.
Die der Erfindung zugrunde liegende Aufgabe kann auch darin gesehen werden, eine entsprechende Vorrichtung zum Betreiben eines Fahrzeugs bereitzustellen. The object underlying the invention can also be seen to provide a corresponding device for operating a vehicle.
Die der Erfindung zugrunde liegende Aufgabe kann ferner darin gesehen werden, ein entsprechendes Computerprogramm bereitzustellen. Diese Aufgaben werden des jeweiligen Gegenstands der unabhängigen Ansprüche gelöst. Vorteilhafte Ausgestaltungen sind Gegenstand von jeweils abhängigen Unteransprüchen. Nach einem Aspekt wird ein Verfahren zum Betreiben eines Fahrzeugs bereitgestellt, umfassend die folgenden Schritte: The object underlying the invention can also be seen to provide a corresponding computer program. These objects are achieved by the subject matter of the independent claims. Advantageous embodiments are the subject of each dependent subclaims. In one aspect, there is provided a method of operating a vehicle, comprising the steps of:
- Erfassen eines Wunsches eines Fahrzeuginsassens für eine Fahrstrategie des Fahrzeugs,  Detecting a desire of a vehicle occupant for a driving strategy of the vehicle,
- Vergleichen der gewünschten Fahrstrategie mit einer Menge von mehre- ren möglichen Fahrstrategien für eine momentane Fahrsituation des Comparing the desired driving strategy with a set of several possible driving strategies for an instantaneous driving situation of the driver
Fahrzeugs und Vehicle and
- Steuern des Fahrzeugs abhängig von einer Fahrstrategie, die abhängig von dem Vergleich aus der Menge von möglichen Fahrstrategien ausgewählt wird.  Controlling the vehicle depending on a driving strategy selected from the set of possible driving strategies depending on the comparison.
Gemäß einem weiteren Aspekt wird eine Vorrichtung zum Betreiben eines Fahrzeugs bereitgestellt, umfassend: In another aspect, there is provided an apparatus for operating a vehicle, comprising:
- eine Erfassungseinrichtung zum Erfassen eines Wunsches eines Fahrzeuginsassens für eine Fahrstrategie des Fahrzeugs,  a detection device for detecting a desire of a vehicle occupant for a driving strategy of the vehicle,
- eine Vergleichseinrichtung zum Vergleichen der gewünschten Fahrstrategie mit einer Menge von mehreren möglichen Fahrstrategien für eine momentane Fahrsituation des Fahrzeugs und  a comparison device for comparing the desired driving strategy with a set of a plurality of possible driving strategies for a current driving situation of the vehicle and
- eine Steuerung zum Steuern des Fahrzeugs abhängig von einer Fahrstrategie, die abhängig von dem Vergleich aus der Menge von mögli- chen Fahrstrategien ausgewählt ist.  a controller for controlling the vehicle as a function of a driving strategy that is selected as a function of the comparison from the set of possible driving strategies.
Nach noch einem Aspekt wird ein Computerprogramm bereitgestellt, wobei das Computerprogramm Programmcode zur Durchführung des Verfahrens zum Betreiben eines Fahrzeugs umfass, wenn das Computerprogramm in einem Com- puter ausgeführt wird. In yet another aspect, there is provided a computer program, the computer program comprising program code for performing the method of operating a vehicle when the computer program is executed in a computer.
Die Erfindung umfasst also insbesondere den Gedanken, einen Fahrstrategiewunsch eines Fahrers zu berücksichtigen, insofern dieser mit einer Auswahl von mehreren möglichen Fahrstrategien bezogen auf eine momentane Fahrsituation des Fahrzeugs verglichen wird. Das Ergebnis des Vergleichs wird dann alsThe invention therefore includes in particular the idea of taking into account a driving strategy request of a driver insofar as this is compared with a selection of a plurality of possible driving strategies in relation to an instantaneous driving situation of the vehicle. The result of the comparison is then called
Grundlage für die Auswahl der Fahrstrategie genommen, die dann tatsächlich für die Steuerung des Fahrzeugs verwendet wird. Zumindest mittelbar wird somit bei der Steuerung des Fahrzeugs der Fahrerwunsch berücksichtigt. Dies erhöht eine Akzeptanz des Fahrzeuginsassens, insbesondere des Fahrers des Fahrzeugs. Die führt zu einer höheren Wahrscheinlichkeit, dass der Fahrzeuginsasse die Vorrichtung nicht deaktiviert respektive die Durchführung des Verfahrens zulässt.Basis for the selection of the driving strategy taken, which then actually for the control of the vehicle is used. At least indirectly, therefore, the driver's request is taken into account in the control of the vehicle. This increases acceptance of the vehicle occupant, in particular the driver of the vehicle. This leads to a higher probability that the vehicle occupant does not deactivate the device or allow the method to be carried out.
Dadurch kann in vorteilhafter Weise eine Fahrzeugsicherheit erhöht werden. As a result, vehicle safety can advantageously be increased.
Mögliche Fahrstrategien im Sinne der vorliegenden Erfindung sind insbesondere Fahrstrategien, die bezogen auf eine momentane Fahrsituation oder Verkehrssi- tuation sinnvoll sind. Sinnvoll kann beispielsweise bedeuten, dass ein Ausweichmanöver durchgeführt wird, um eine Kollision zu vermeiden. Eine mögliche oder sinnvolle Fahrstrategie ist also insbesondere eine Fahrstrategie, die eine Sicherheit für das Fahrzeug, die Fahrzeuginsassen und/oder eine Umgebung des Fahrzeugs zumindest nicht erniedrigt oder insbesondere erhöht. Possible driving strategies in the sense of the present invention are, in particular, driving strategies that make sense in relation to an instantaneous driving situation or traffic situation. For example, meaningful can mean that an evasive maneuver is performed in order to avoid a collision. A possible or meaningful driving strategy is therefore in particular a driving strategy that does not at least not reduce or, in particular, increase safety for the vehicle, the vehicle occupants and / or an environment of the vehicle.
Dass also stets eine mögliche Fahrstrategie zur Steuerung ausgewählt wird, wobei die Auswahl der konkreten Fahrstrategie in Abhängigkeit des Vergleichs durchgeführt wird, stellt in vorteilhafter Weise sicher, dass eine Sicherheit erhöht ist. That therefore always a possible driving strategy is selected for the control, wherein the selection of the concrete driving strategy is performed in dependence of the comparison, advantageously ensures that a security is increased.
Nach einer Ausführungsform werden die möglichen Fahrstrategien basierend auf gesetzlichen Bestimmungen gebildet. Diese gesetzlichen Bestimmungen umfassen beispielsweise eine Straßenverkehrsordnung. Insbesondere werden die möglichen Fahrstrategien basierend auf momentane zu befolgende Verkehrsre- geln gebildet, zum Beispiel Geschwindigkeitsbegrenzungen und/oder Überholverbote. Insbesondere werden die möglichen Fahrstrategien derart gebildet, dass eine Gefährdung des Fahrzeuginsassens oder der Fahrzeuginsassen minimiert oder ausgeschlossen ist. Nach einer Ausführungsform kann der Fahrzeuginsasse der Fahrer des Fahrzeugs sein. According to one embodiment, the possible driving strategies are formed based on legal provisions. These legal provisions include, for example, a highway code. In particular, the possible driving strategies are formed based on current traffic regulations to be followed, for example speed limits and / or overtaking bans. In particular, the possible driving strategies are formed in such a way that a risk to the vehicle occupant or the vehicle occupants is minimized or eliminated. In one embodiment, the vehicle occupant may be the driver of the vehicle.
Nach einer Ausführungsform kann der Fahrzeuginsasse ein Beifahrer sein. Nach einer Ausführungsform kann vorgesehen sein, dass die Fahrstrategie desIn one embodiment, the vehicle occupant may be a passenger. According to one embodiment, it may be provided that the driving strategy of the
Fahrstrategiewunsches des Fahrzeuginsassens als die Fahrstrategie verwendet, wird basierend auf welcher das Fahrzeug gesteuert wird, wenn bei dem Vergleich festgestellt wird, dass eine der möglichen Fahrstrategien der Fahrstrategie des Fahrstrategiewunsches entspricht. Dies steigert in vorteilhafter Weise noch weiter eine Akzeptanz für die Verwendung der Erfindung seitens des Fahrzeuginsassens, da hier konkret der Fahrstrategiewunsch des Fahrzeuginsassens auch so umgesetzt wird. Driving strategy request of the vehicle occupant used as the driving strategy is based on which the vehicle is controlled when it is determined in the comparison that one of the possible driving strategies of the driving strategy of the driving strategy desired corresponds. This advantageously further increases acceptance of the use of the invention on the part of the vehicle occupant, since the driving strategy of the vehicle occupant is actually implemented in this way.
Gemäß einer weiteren Ausführungsform kann vorgesehen sein, dass zur Steuerung des Fahrzeugs die Fahrstrategie aus der Menge an möglichen Fahrstrategien ausgewählt wird, die der Fahrstrategie des Fahrstrategiewunsch am ähnlichsten ist respektive am meisten ähnelt, wenn keine der möglichen Fahrstrategien der gewünschten Fahrstrategie entspricht. Es wird zwar nicht die gewünschte Fahrstrategie eins zu eins umgesetzt, aber zumindest eine möglichst ähnliche Fahrstrategie zur Steuerung des Fahrzeugs verwendet. Auch dies erhöht in vorteilhafter Weise eine Akzeptanz. According to a further embodiment it can be provided that the driving strategy is selected from the set of possible driving strategies for controlling the vehicle, which is most similar or most similar to the driving strategy of the driving strategy request, if none of the possible driving strategies corresponds to the desired driving strategy. Although not the desired driving strategy is implemented one to one, but at least as far as possible a similar driving strategy is used to control the vehicle. This too advantageously increases acceptance.
Ähnlich bedeut hier insbesondere, dass sich die gewünschte Fahrstrategie und die ausgewählte Fahrstrategie in zumindest einem Aspekt, vorzugsweise in mehreren Aspekten, bezogen auf eine Fahrzeugführung gleichen. So ist beispielsweise eine Fahrstrategie, die ein Beschleunigen umfasst, einer gewünschten Fahrstrategie, die einen Anhaltewunsch umfasst, nicht ähnlich. In this case, similar means in particular that the desired driving strategy and the selected driving strategy are similar in at least one aspect, preferably in several aspects, relative to a vehicle guidance. For example, a driving strategy that includes accelerating is not similar to a desired driving strategy that includes a stopping request.
Um die ähnlichste Fahrstrategie auszuwählen, kann vorgesehen sein, dass die Fahrstrategien parametrisiert werden und die jeweiligen Parameter miteinander verglichen werden. Die Parameter können beispielsweise mit einer Wichtung versehen werden. In order to select the most similar driving strategy, it can be provided that the driving strategies are parameterized and the respective parameters are compared with one another. The parameters can for example be provided with a weighting.
Eine Fahrstrategie kann beispielsweise eine Standard-Fahrstrategie umfassen, die einer ausgewogenen Mischung aus Fahrkomfort, Energieeffizienz und Fahrzeit entspricht. For example, a driving strategy may include a standard driving strategy that corresponds to a well-balanced mix of ride comfort, energy efficiency, and driving time.
Eine weitere Fahrstrategie kann beispielsweise eine Zeitsparen-Fahrstrategie sein, die versucht eine Fahrzeit zu minimieren. Eine andere Fahrstrategie kann beispielsweise eine Sportlich-Fahrstrategie sein, die insbesondere größere Beschleunigungen und/oder Verzögerungen zulässt als die Standard-Fahrstrategie. Another driving strategy may be, for example, a time-saving driving strategy that attempts to minimize travel time. Another driving strategy, for example, be a sporty driving strategy, which allows in particular greater acceleration and / or deceleration than the standard driving strategy.
Noch eine weitere Fahrstrategie kann insbesondere eine Defensiv-Fahrstrategie sein, die eine besonders sichere Fahrweise ermöglicht und die beispielsweise Überholmanöver vermeidet. Yet another driving strategy may in particular be a defensive driving strategy that allows a particularly safe driving style and avoids, for example, overtaking maneuvers.
Noch eine andere Fahrstrategie kann beispielsweise eine Komfort-Fahrstrategie sein, die insbesondere Beschleunigungs- und/oder Bremsmanöver minimiert und die es insbesondere Fahrzeuginsassen ermöglicht, komfortabel zu arbeiten. Yet another driving strategy may be, for example, a comfort driving strategy that minimizes in particular acceleration and / or braking maneuvers and that allows in particular occupants to work comfortably.
Eine Fahrstrategie kann beispielsweise eine Economy-Fahrstrategie sein, die einen Energieverbrauch, also insbesondere einen Kraftstoffverbrauch und/oder einen Verbrauch von elektrischer Energie, minimiert, zum Beispiel mittels langen Ausrollens. A driving strategy can be, for example, an economy driving strategy that minimizes energy consumption, in particular fuel consumption and / or consumption of electrical energy, for example by means of long coasting.
Gemäß einer anderen Ausführungsform kann vorgesehen sein, dass die Menge von mehreren möglichen Fahrstrategien zum Auswählen einer der mehreren möglichen Fahrstrategien bereitgestellt wird. Der Fahrzeuginsasse kann also insbesondere in vorteilhafter Weise aus der Menge von möglichen Fahrstrategien eine auswählen. Das heißt also insbesondere, dass dem Fahrzeuginsassen, insbesondere dem Fahrer, mögliche Fahrstrategien vorgeschlagen werden, die in der momentanen Fahrsituation besonders vorteilhaft erscheinen. Zum Beispiel wird die Economy-Fahrstrategie vorgeschlagen, wenn ein Kraftstofftank und/oder ein Akkumulator fast leer sind. Zum Beispiel wird die Komfort-Fahrstrategie vorgeschlagen, wenn die momentane Fahrsituation ein Stau ist, so dass in vorteilhafter Weise die Fahrzeuginsassen ungestört arbeiten können. According to another embodiment, it may be provided that the set of several possible driving strategies for selecting one of the several possible driving strategies is provided. The vehicle occupant can therefore in particular advantageously select one from the set of possible driving strategies. That means, in particular, that the vehicle occupants, in particular the driver, are offered possible driving strategies that appear particularly advantageous in the current driving situation. For example, the economy driving strategy is suggested when a fuel tank and / or an accumulator are almost empty. For example, the comfort driving strategy is proposed when the current driving situation is a traffic jam, so that advantageously the vehicle occupants can work undisturbed.
Nach einer Ausführungsform kann vorgesehen sein, dass das Bereitstellen der Menge von mehreren möglichen Fahrstrategien zum Auswählen einer der mehreren möglichen Fahrstrategien vor dem Erfassen des Fahrstrategiewunsches vorgesehen wird. According to an embodiment, provision may be made for providing the set of a plurality of possible driving strategies for selecting one of the several possible driving strategies before detecting the driving strategy request.
Gemäß einer anderen Ausführungsform kann vorgesehen sein, dass mehrere Fahrzeuge vorgesehen sind und ein jeweiliger Vergleich auf einem bezogen auf die Fahrzeuge getrennt gebildeten Server durchgeführt wird, um eine jeweilige Fahrstrategie zur Steuerung der Fahrzeuge für ein abgestimmtes Fahrverhalten der Fahrzeuge zu bilden, wobei die gebildeten Fahrstrategien an die entsprechenden Fahrzeuge gesendet werden. Der Abgleich zwischen Wunsch und Fahrsituation findet somit in vorteilhafter Weise zentral für die mehreren Fahrzeuge auf einem externen Server statt, so dass ein für alle Fahrzeuge optimales Verhalten, also eine Fahrstrategie, bestimmt werden kann, das zum Beispiel Staus vermeidet. According to another embodiment, it may be provided that a plurality of vehicles are provided and a respective comparison based on one the vehicles are made separately formed server to form a respective driving strategy for controlling the vehicles for a coordinated driving behavior of the vehicles, wherein the formed driving strategies are sent to the respective vehicles. The comparison between desire and driving situation thus advantageously takes place centrally for the several vehicles on an external server, so that an optimal behavior for all vehicles, ie a driving strategy, can be determined which, for example, avoids congestion.
Nach noch einer Ausführungsform kann vorgesehen sein, dass die möglichen Fahrstrategien basierend auf Sensordaten eines Umfeldsensorsystems des Fahrzeugs zum sensorischen Erfassen eines Fahrzeugumfelds gebildet werden. Umfeldsensoren des Umfeldsensorsystems können beispielsweise einen Temperatursensor, einen Regensensor, einen Videosensor, einen Kamerasensor, einen Radarsensor und einen Ultraschallsensor umfassen. Das heißt also insbesondere, dass mittels der Sensoren des Umfeldsensorsystems die momentane Fahrsituation bestimmt oder erfasst werden kann. Das Umfeldsensorsystem kann insbesondere einen Umfeldsensor oder mehrere Umfeldsensoren umfassen. According to yet another embodiment, it may be provided that the possible driving strategies based on sensor data of an environmental sensor system of the vehicle for the sensory detection of a vehicle environment are formed. Environmental sensors of the environmental sensor system may include, for example, a temperature sensor, a rain sensor, a video sensor, a camera sensor, a radar sensor and an ultrasonic sensor. That means, in particular, that the instantaneous driving situation can be determined or detected by means of the sensors of the environmental sensor system. The environmental sensor system may in particular comprise one environmental sensor or several environmental sensors.
Gemäß einer anderen Ausführungsform kann vorgesehen sein, dass die möglichen Fahrstrategien basierend auf Sensordaten eines Zustandssensorsystems des Fahrzeugs zum sensorischen Erfassen eines Fahrzeugzustands gebildet werden. Der Zustand des Fahrzeugs spielt also in vorteilhafter Weise eine Rolle für mögliche Fahrstrategien. According to another embodiment, it may be provided that the possible driving strategies are formed based on sensor data of a state sensor system of the vehicle for sensory detection of a vehicle condition. The condition of the vehicle thus advantageously plays a role for possible driving strategies.
In einer weiteren Ausführungsform kann vorgesehen sein, dass das Zustands- sensorsystem einen Füllstandssensor zum Erfassen eines Füllstands einer An- triebsenergiespeichereinrichtung des Fahrzeugs umfasst. Eine Antriebsenergie- speichereinrichtung umfasst beispielsweise einen Kraftstofftank und/oder eine Fahrzeugbatterie, beispielsweise einen Akkumulator. So kann in vorteilhafter Weise basierend auf dem Füllstand eine maximale Reichweite des Fahrzeugs bestimmt werden. Die maximale Reichweite kann dann in vorteilhafter Weise als Grundlage für mögliche Fahrstrategien verwendet werden, beispielsweise für eine Economy-Fahrstrategie. Nach noch einer Ausführungsform kann vorgesehen sein, dass das Zustands- sensorsystem einen Drucksensor zum Messen eines Reifendrucks umfasst. Dadurch kann in vorteilhafter Weise eine mögliche Fahrstrategie basierend auf einem Reifendruck gebildet werden. So ist in der Regel bei einem zu niedrigen Reifendruck eine Defensiv-Fahrstrategie sinnvoller als eine Sportlich- Fahrstrategie. In a further embodiment it can be provided that the state sensor system comprises a fill level sensor for detecting a fill level of a drive energy storage device of the vehicle. A drive energy storage device comprises, for example, a fuel tank and / or a vehicle battery, for example an accumulator. Thus, a maximum range of the vehicle can be determined advantageously based on the level. The maximum range can then be used advantageously as a basis for possible driving strategies, for example for an economy driving strategy. According to yet another embodiment, it may be provided that the state sensor system comprises a pressure sensor for measuring a tire pressure. As a result, a possible driving strategy can be advantageously formed based on a tire pressure. As a rule, when the tire pressure is too low, a defensive driving strategy makes more sense than a sporty driving strategy.
In einer weiteren Ausführungsform kann vorgesehen sein, dass die möglichen Fahrstrategien basierend auf Wetterdaten, insbesondere Wettervorhersagedaten, und/oder Verkehrsdaten, beispielsweise Staudaten und/oder TMC (Traffic Message Channel)-Verkehrsdaten, und/oder Kartendaten, insbesondere Kartendaten einer digitalen Karte, und/oder Uhrzeitdaten gebildet werden. Diese Daten können beispielsweise als Cloud-Daten vorgesehen sein. Das heißt also insbesondere, dass diese Daten in einer Cloud bereitgestellt und von dort aus abgerufen werden können. In a further embodiment it can be provided that the possible driving strategies based on weather data, in particular weather forecast data, and / or traffic data, such as traffic data and / or traffic message channel (TMC) traffic data, and / or map data, in particular map data of a digital map, and / or time data are formed. This data can be provided, for example, as cloud data. This means in particular that this data can be provided in a cloud and retrieved from there.
In einer weiteren Ausführungsform kann vorgesehen sein, dass die Fahrstrategie Fahrzeugmanöver ausgewählt aus der folgenden Gruppe von Fahrzeugmanövern umfasst: Beschleunigen des Fahrzeugs, Beschleunigen des Fahrzeugs, um eine neue Fahrzeugsollgeschwindigkeit zu erreichen, Bremsen des Fahrzeugs, Bremsen des Fahrzeugs, um eine neue Fahrzeugsollgeschwindigkeit zu erreichen, Durchführen eines Fahrspurwechsels, Durchführen eines Überholvorgangs, Durchführen eines Abbiegevorgangs, Anhalten, Einparken, schneller fahren, langsamer Fahren, Spurwechsel, insbesondere Spurwechsel sobald wie möglich, Überholmanöver, insbesondere Überholmanöver sobald wie möglich, Abbiegen in eine bestimmte Richtung, Anhalten, insbesondere Anhalten sobald wie möglich, Einparken, insbesondere Einparken sobald wie möglich, oder eine Kombination hiervon. In another embodiment, the driving strategy may include vehicle maneuvers selected from the following group of vehicle maneuvers: accelerating the vehicle, accelerating the vehicle to achieve a new vehicle target speed, braking the vehicle, braking the vehicle to achieve a new target vehicle speed Carrying out a lane change, performing an overtaking operation, making a turn, stopping, parking, driving faster, slow driving, lane change, especially lane change as soon as possible, overtaking maneuvers, in particular overtaking maneuvers as soon as possible, turning in a particular direction, stopping, in particular stopping as soon as possible as possible, parking, in particular parking as soon as possible, or a combination thereof.
In einer Ausführungsform kann vorgesehen sein, dass eine Mensch-Maschinen- Schnittstelle vorgesehen ist. Über eine solche Schnittstelle kann beispielsweise die Fahrstrategie ausgewählt und/oder die Auswahl an möglichen Fahrstrategien bereitgestellt werden. Nach einer weiteren Ausführungsform kann die Mensch-Maschinen-Schnittstelle ein mechanischen Eingabegerät, insbesondere ein Lenkrad zum Bilden eines Lenkradmoments, einen Joystick, umfassen. In einer weiteren Ausführungsform kann die Mensch-Maschinenschnittstelle für eine Gestensteuerung und/oder für eine Sprachsteuerung ausgebildet sein. In an embodiment it can be provided that a man-machine interface is provided. By way of example, the driving strategy can be selected via such an interface and / or the selection of possible driving strategies can be provided. According to another embodiment, the man-machine interface may include a mechanical input device, in particular a steering wheel for forming a steering wheel torque, a joystick. In another embodiment, the human-machine interface may be configured for gesture control and / or voice control.
In einer anderen Ausführungsform kann die die Mensch-Maschinenschnittstelle eine neuronale Schnittstelle umfassen. Dadurch ist in vorteilhafter Weise eine di- rekte Verbindung mit menschlichen Nervenzellen ermöglicht. In another embodiment, the human-machine interface may include a neural interface. As a result, a direct connection with human nerve cells is advantageously made possible.
Die Erfindung wird im Folgenden anhand von bevorzugten Ausführungsbeispielen näher erläutert. Hierbei zeigen Figur 1 ein Ablaufdiagramm eines Verfahrens zum Betreiben eines Fahrzeugs, The invention will be explained in more detail below with reference to preferred embodiments. 1 shows a flow diagram of a method for operating a vehicle,
Figur 2 eine Vorrichtung zum Betreiben eines Fahrzeugs und Figur 3 ein Ablaufdiagramm eines weiteren Verfahrens zum Betreiben eines Fahrzeugs. FIG. 2 shows a device for operating a vehicle, and FIG. 3 shows a flowchart of a further method for operating a vehicle.
Figur 1 zeigt ein Ablaufdiagramm eines Verfahrens zum Betreiben eines Fahrzeugs. FIG. 1 shows a flowchart of a method for operating a vehicle.
Gemäß einem Schritt 101 wird ein Wunsch eines Fahrzeuginsassens für eine Fahrstrategie des Fahrzeugs erfasst. Gemäß einem Schritt 103 wird die gewünschte Fahrstrategie mit einer Menge von mehreren möglichen Fahrstrategien für eine momentane Fahrsituation des Fahrzeugs verglichen. Gemäß einem Schritt 105 wird das Fahrzeug abhängig von einer Fahrstrategie, die abhängig von dem Vergleich aus der Menge von möglichen Fahrstrategien ausgewählt. According to a step 101, a desire of a vehicle occupant for a driving strategy of the vehicle is detected. According to a step 103, the desired driving strategy is compared with a set of several possible driving strategies for a current driving situation of the vehicle. In accordance with a step 105, the vehicle is selected as a function of a driving strategy that is selected as a function of the comparison from the set of possible driving strategies.
Figur 2 zeigt eine Vorrichtung 201 zum Betreiben eines Fahrzeugs. Die Vorrichtung 201 umfasst eine Erfassungseinrichtung 203 zum Erfassen eines Wunsches eines Fahrzeuginsassens für eine Fahrstrategie des Fahrzeugs. Ferner ist eine Vergleichseinrichtung 205 zum Vergleichen der gewünschten Fahrstrategie mit einer Menge von mehreren möglichen Fahrstrategien für eine momentane Fahrsituation des Fahrzeugs vorgesehen. Des Weiteren weist die Vorrichtung 201 eine Steuerung 207 zum Steuern des Fahrzeugs abhängig von einer Fahrstrategie auf, die abhängig von dem Vergleich aus der Menge von möglichen Fahrstrategien ausgewählt ist. FIG. 2 shows a device 201 for operating a vehicle. The device 201 comprises a detection device 203 for detecting a desire of a vehicle occupant for a driving strategy of the vehicle. Furthermore, a comparison device 205 is provided for comparing the desired driving strategy with a set of a plurality of possible driving strategies for a current driving situation of the vehicle. Furthermore, the device 201 has a controller 207 for controlling the vehicle depending on a driving strategy that is selected depending on the comparison of the set of possible driving strategies.
Figur 3 zeigt ein Ablaufdiagramm eines weiteren Verfahrens zum Betreiben eines Fahrzeugs. FIG. 3 shows a flowchart of a further method for operating a vehicle.
Gemäß einem Schritt 301 werden mögliche Fahrstrategien für ein Fahrzeug bezogen auf eine momentane Fahrsituation basierend auf Sensordaten eines Umfeldsensorsystems des Fahrzeugs zum sensorischen Erfassen eines Fahrzeugumfelds gebildet. Diese möglichen Fahrstrategien werden im Schritt 301 ferner basierend auf Sensordaten eines Zustandssensorsystems des Fahrzeugs zum sensorischen Erfassen eines Fahrzeugzustands gebildet. Hierbei umfasst das Zustandssensorsystem einen Füllstandssensor zum Erfassen eines Füllstands einer Antriebsenergiespeichereinrichtung des Fahrzeugs, so dass eine maximale Reichweite des Fahrzeugs bestimmt werden kann. Dies insbesondere in Abhängigkeit von Kartendaten einer digitalen Karte eines Navigationssystems. According to a step 301, possible driving strategies for a vehicle based on a current driving situation based on sensor data of an environmental sensor system of the vehicle for sensory detection of a vehicle environment are formed. These possible driving strategies are further formed in step 301 based on sensor data of a vehicle state sensor system for sensory sensing of a vehicle condition. Here, the state sensor system includes a level sensor for detecting a level of a drive energy storage device of the vehicle, so that a maximum range of the vehicle can be determined. This in particular depending on map data of a digital map of a navigation system.
In einem nicht gezeigten Ausführungsbeispiel kann vorgesehen sein, dass zur Berechnung oder Bildung der möglichen Fahrstrategien noch weitere Daten verwendet werden, die beispielsweise weiter oben bereits beschrieben wurden. In an embodiment, not shown, it may be provided that, for the calculation or formation of the possible driving strategies, further data are used which have already been described above, for example.
Die möglichen Fahrstrategien werden in einem Schritt 303 zur Auswahl bereitgestellt, beispielsweise mittels einer Mensch-Maschinen-Schnittstelle. Ein Fahrzeuginsasse kann somit in vorteilhafter Weise aus den bereitgestellten Fahrstrategien eine Fahrstrategie auswählen. The possible driving strategies are provided for selection in a step 303, for example by means of a man-machine interface. A vehicle occupant can thus advantageously select a driving strategy from the provided driving strategies.
In einem Schritt 305 wird ein Fahrstrategiewunsch eines Fahrzeuginsassens er- fasst, beispielsweise mittels der Mensch-Maschinen-Schnittstelle. In a step 305, a driving strategy request of a vehicle occupant is detected, for example by means of the human-machine interface.
In einem Schritt 307 wird die gewünschte Fahrstrategie mit den möglichen Fahr- Strategien verglichen. In der Regel wird der Fahrzeuginsasse eine der bereitgestellten Fahrstrategien auswählen, so dass gemäß einem Schritt 309 das Fahrzeug basierend auf der ausgewählten Fahrstrategie gesteuert wird. In a step 307, the desired driving strategy is compared with the possible driving strategies. Typically, the vehicle occupant will select one of the provided driving strategies so that, in accordance with step 309, the vehicle is controlled based on the selected driving strategy.
Falls aber im Schritt 307 festgestellt wird, dass die gewünschte Fahrstrategie keine der bereitgestellten Fahrstrategien entspricht, so wird in einem Schritt 311 eine Fahrstrategie aus der Menge von bereitgestellten möglichen Fahrstrategien ausgewählt, die der gewünschten Fahrstrategie am ähnlichsten ist und somit insbesondere Vorgaben des Fahrzeuginsassens bezüglich einer Fahrzeugführung am nächsten kommt. If, however, it is determined in step 307 that the desired driving strategy does not correspond to one of the provided driving strategies, then in a step 311 a driving strategy is selected from the set of possible driving strategies provided which is most similar to the desired driving strategy and thus, in particular, vehicle occupant requirements Vehicle guidance comes closest.
In einem Schritt 313 wird das Fahrzeug basierend auf der im Schritt 31 1 ausgewählten Fahrstrategie gesteuert. In a step 313, the vehicle is controlled based on the driving strategy selected in step 31 1.

Claims

Ansprüche claims
Verfahren zum Betreiben eines Fahrzeugs, umfassend die folgenden Schritte: A method of operating a vehicle, comprising the following steps:
- Erfassen (101) eines Wunsches eines Fahrzeuginsassens für eine Fahrstrategie des Fahrzeugs,  Detecting (101) a desire of a vehicle occupant for a driving strategy of the vehicle,
- Vergleichen (103) der gewünschten Fahrstrategie mit einer Menge von mehreren möglichen Fahrstrategien für eine momentane Fahrsituation des Fahrzeugs und  - Comparing (103) the desired driving strategy with a set of several possible driving strategies for a current driving situation of the vehicle and
- Steuern (105) des Fahrzeugs abhängig von einer Fahrstrategie, die abhängig von dem Vergleich aus der Menge von möglichen Fahrstrategien ausgewählt wird.  - controlling (105) the vehicle depending on a driving strategy, which is selected depending on the comparison of the set of possible driving strategies.
Verfahren nach Anspruch 1 , wobei die Menge von mehreren möglichen Fahrstrategien zum Auswählen einer der mehreren möglichen Fahrstrategien bereitgestellt wird. The method of claim 1, wherein the set of multiple possible driving strategies is provided for selecting one of the plurality of possible driving strategies.
Verfahren nach Anspruch 1 oder 2, wobei mehrere Fahrzeuge vorgesehen sind und ein jeweiliger Vergleich auf einem bezogen auf die Fahrzeuge getrennt gebildeten Server durchgeführt wird, um eine jeweilige Fahrstrategie zur Steuerung der Fahrzeuge für ein abgestimmtes Fahrverhalten der Fahrzeuge zu bilden, wobei die gebildeten Fahrstrategien an die entsprechenden Fahrzeuge gesendet werden. The method of claim 1 or 2, wherein a plurality of vehicles are provided and a respective comparison is performed on a relative to the vehicles separately formed server to form a respective driving strategy for controlling the vehicles for a coordinated driving behavior of the vehicles, the formed driving strategies the corresponding vehicles are sent.
Verfahren nach einem der vorherigen Ansprüche, wobei die möglichen Fahrstrategien basierend auf Sensordaten eines Umfeldsensorsystems des Fahrzeugs zum sensorischen Erfassen eines Fahrzeugumfelds gebildet werden. Method according to one of the preceding claims, wherein the possible driving strategies are formed based on sensor data of an environmental sensor system of the vehicle for sensory detection of a vehicle environment.
5. Verfahren nach einem der vorherigen Ansprüche, wobei die möglichen Fahrstrategien basierend auf Sensordaten eines Zustandssensorsystems des Fahrzeugs zum sensorischen Erfassen eines Fahrzeugzustands gebildet werden. 5. The method according to any one of the preceding claims, wherein the possible driving strategies based on sensor data of a state sensor system of Vehicle are formed for sensory detection of a vehicle condition.
Verfahren nach Anspruch 5, wobei das Zustandssensorsystem einen Füllstandssensor zum Erfassen eines Füllstands einer Antriebsenergiespei- chereinrichtung des Fahrzeugs umfasst. The method of claim 5, wherein the state sensor system comprises a level sensor for detecting a level of a drive energy storage device of the vehicle.
Verfahren nach Anspruch 5 oder 6, wobei das Zustandssensorsystem einen Drucksensor zum Messen eines Reifendrucks umfasst. The method of claim 5 or 6, wherein the condition sensor system comprises a pressure sensor for measuring a tire pressure.
Verfahren nach einem der vorherigen Ansprüche, wobei die Fahrstrategie Fahrzeugmanöver ausgewählt aus der folgenden Gruppe von Fahrzeugmanövern umfasst: Beschleunigen des Fahrzeugs, Beschleunigen des Fahrzeugs, um eine neue Fahrzeugsollgeschwindigkeit zu erreichen, Bremsen des Fahrzeugs, Bremsen des Fahrzeugs, um eine neue Fahrzeugsollgeschwindigkeit zu erreichen, Durchführen eines Fahrspurwechsels, Durchführen eines Überholvorgangs, Durchführen eines Abbiegevorgangs, Anhalten, Einparken oder eine Kombination hiervon. The method of claim 1, wherein the driving strategy comprises vehicle maneuvers selected from the following group of vehicle maneuvers: accelerating the vehicle, accelerating the vehicle to achieve a new target vehicle speed, braking the vehicle, braking the vehicle to achieve a new target vehicle speed, Carry out a lane change, perform an overtaking, make a turn, stop, park or a combination thereof.
Vorrichtung (201) zum Betreiben eines Fahrzeugs, umfassend: Apparatus (201) for operating a vehicle, comprising:
- eine Erfassungseinrichtung (203) zum Erfassen eines Wunsches eines Fahrzeuginsassens für eine Fahrstrategie des Fahrzeugs,  a detection device (203) for detecting a desire of a vehicle occupant for a driving strategy of the vehicle,
- eine Vergleichseinrichtung (205) zum Vergleichen der gewünschten Fahrstrategie mit einer Menge von mehreren möglichen Fahrstrategien für eine momentane Fahrsituation des Fahrzeugs und  a comparison device (205) for comparing the desired driving strategy with a set of a plurality of possible driving strategies for a current driving situation of the vehicle and
- eine Steuerung (207) zum Steuern des Fahrzeugs abhängig von einer Fahrstrategie, die abhängig von dem Vergleich aus der Menge von möglichen Fahrstrategien ausgewählt ist.  - A controller (207) for controlling the vehicle depending on a driving strategy, which is selected depending on the comparison of the set of possible driving strategies.
Computerprogramm, umfassend Programmcode zur Durchführung des Verfahrens nach einem der Ansprüche 1 bis 8, wenn das Computerprogramm in einem Computer ausgeführt wird. Computer program comprising program code for carrying out the method according to one of claims 1 to 8, when the computer program is executed in a computer.
EP14718370.1A 2013-06-11 2014-04-14 Method and device for operating a vehicle Withdrawn EP3007952A1 (en)

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DE102013210883A1 (en) 2014-12-11
US20160137203A1 (en) 2016-05-19

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