EP3580085A1

EP3580085A1 - Method for displaying safety-relevant information on a display device of a vehicle

Info

Publication number: EP3580085A1
Application number: EP18700862.8A
Authority: EP
Inventors: Cosmin TUDOSIE
Original assignee: ZF Friedrichshafen AG
Current assignee: ZF Friedrichshafen AG
Priority date: 2017-02-10
Filing date: 2018-01-08
Publication date: 2019-12-18
Also published as: US20200239018A1; CN110267838A; DE102017202172A1; US11292339B2; DE102017202172B4; WO2018145834A1

Abstract

The invention relates to a method for displaying safety-relevant information on a display device (104) of a vehicle (100). In the method, the speed of the vehicle (100), surroundings information (112) which represents the surroundings of the vehicle (100), a driver reaction time (114) which represents the reaction time of the driver of the vehicle (100), said reaction time being ascertained in a reaction test, and an emergency brake reaction time (116) which represents the reaction time of an emergency brake assistant of the vehicle (100) in response to the detection of an emergency brake situation are read and used in order to overlay an emergency brake marking (118) and a driver engagement marking (120) in a map (106) which represents a roadway for the vehicle (100) on the display device (104). The emergency brake marking (118) represents an anticipated time and/or anticipated location of the engagement of the emergency brake assistant, and the driver engagement marking (120) represents an anticipated time and/or anticipated location of the latest possible engagement of the driver prior to the engagement of the emergency brake assistant.

Description

Method for displaying security-relevant information

on a display device of a vehicle

The present invention relates to a method and a device for displaying safety-relevant information on a display device of a vehicle.

Modern vehicles may be equipped with a head-up display for displaying information in a driver's field of vision.

Against this background, the present invention provides an improved method for displaying safety-relevant information on a display device of a vehicle, a corresponding device and a corresponding computer program according to the main claims. Advantageous embodiments will become apparent from the dependent claims and the description below.

A method is presented for displaying safety-relevant information on a display device of a vehicle, the method comprising the following steps:

Reading a speed of the vehicle, an environment information representative of an environment of the vehicle, a driver response time representing a reaction time of a driver of the vehicle determined in a response test, and an emergency brake response time representing a response time of an emergency brake assistant of the vehicle in response to detection of an emergency braking situation; and

Displaying an emergency braking mark and a driver intervention mark in a map representing a lane of the vehicle on the display device using the speed, the surroundings information, the driver reaction time and the emergency brake response time, wherein the emergency brake marking represents an expected time and / or location of engagement of the emergency brake assist and the Driver intervention mark represents an expected time and / or a probable location of a driver's latest intervention before the intervention of the emergency brake assist. A display device can be understood as a head-up display. For example, the display device may be configured to project information onto a windshield of the vehicle and display it as virtual images in a field of view of the driver. Under environment information, information provided by an environment sensor of the vehicle or, alternatively or additionally, information about the environment of the vehicle received via a communication interface for communication with other road users can be understood. A reaction test can be understood, for example, as a driver-initiated or vehicle-initiated test for determining the driver response time. An emergency brake assistant can be understood to mean a driver assistance function of the vehicle which is designed to brake the vehicle automatically in emergency situations, ie without intervention by the driver. An emergency braking reaction time can be understood, for example, as a pre-warning time for triggering the emergency brake assistant. To recognize the emergency braking situation, the emergency brake assistant can process, for example, the surroundings information, the speed of the vehicle or other suitable parameters with regard to a driving situation of the vehicle. In particular, the emergency brake marking and the driver intervention marking can be superimposed on or next to the roadway in the map at a position which is dependent on the speed, the environment, the driver reaction time or the emergency braking reaction time.

The approach described here is based on the recognition that by fading in corresponding markings in a virtual map of a lane, a point in time or a location at which an emergency brake assistant of a vehicle is likely to intervene in a driving event or a driver of the vehicle by reacting just in time can engage in the driving events, can be graphically displayed, for example, depending on an approach of the vehicle to objects located in the vicinity of the vehicle. It can thereby be achieved that the driver can drive faster, especially in bad weather conditions with correspondingly poor visibility, since he thus has an additional control option in the assessment of their own reaction time and the reaction time of the vehicle is available. According to an embodiment, in the step of superimposing, a distance between the driver engagement mark and the emergency braking mark may be changed depending on a change of a distance between the vehicle and a surrounding object. This allows dynamic adaptation of the driver intervention and emergency braking mark to a driving situation of the vehicle.

According to a further embodiment, in the step of overlaying, an arrow running parallel to the roadway or, additionally or alternatively, pointing in the direction of the emergency braking mark can be superimposed as the driver intervention mark. As a result, the time or location of the latest possible driver intervention can be highlighted particularly effectively.

It is advantageous if, in the step of the insertion, a line crossing the roadway is displayed as the emergency braking mark. By this embodiment, the emergency brake mark can be highlighted particularly effective.

Further, the method may include a step of setting an aspect ratio of the map using the speed. For example, as the speed increases, the card can be lengthened or, conversely, shortened as the speed decreases. This allows the map to be dynamically adjusted to the rider's visibility required by speed.

According to another embodiment, in a step of determining the emergency brake response time may be determined by adding the driver response time to a vehicle response time representing a reaction time of the vehicle in processing a driver command. By this embodiment, a warning time of the emergency brake assist can be reliably detected.

It is advantageous if, in the step of fading, the emergency brake marking or, additionally or alternatively, the driver intervention marking on a windshield of the vehicle is projected. For example, the projection can take place in such a way that the markings appear in strip form on a driver-side lateral or lower edge of the windshield. Alternatively, the projection can take place in such a way that the markings are displayed at a virtual distance to the windshield, for example by superposition with an actual surroundings of the vehicle. As a result, the markers can be projected into the field of vision of the driver so that he can perceive the markings without additional head movement.

It is also advantageous if, in the step of fading in, a lane of the lane traveled by the vehicle is highlighted in the map. This allows a quick detection of a currently traveled lane.

According to a further embodiment, in the step of fading in, at least one object symbol representing an object located on the roadway can be faded in the map. For example, the object symbol may represent a further road user located in the vicinity of the vehicle, such as another vehicle, a cyclist or a pedestrian or even obstacles on the roadside, such as a tree, a bridge pier or a street lamp. Through this embodiment, the driver can gain a good overview of the current driving situation by a quick look at the map.

Here, in the step of superimposing, a size of the object icon may be changed depending on a change in a distance between the vehicle and the object. This can effectively highlight the change in distance.

The method may further comprise a step of masking a non-driver-visible area of the environment in the map. The masking can be done, for example, by shading or blurring the non-visible area. This can alert the driver to poor visibility. Thus, the driver can reduce the vehicle speed accordingly or, for example, take the risk of an emergency brake assistant.

The approach presented here also creates a device that is designed to perform the steps of a variant of a method presented here in appropriate facilities to drive or implement. Also by this embodiment of the invention in the form of a device, the object underlying the invention can be solved quickly and efficiently.

In the present case, a device can be understood as meaning an electrical device which processes sensor signals and outputs control and / or data signals in dependence thereon. The device may have an interface, which may be formed in hardware and / or software. In the case of a hardware-based embodiment, the interfaces can be part of a so-called system ASIC, for example, which contains a wide variety of functions of the device. However, it is also possible that the interfaces are their own integrated circuits or at least partially consist of discrete components. In a software training, the interfaces may be software modules that are present, for example, on a microcontroller in addition to other software modules.

In an advantageous embodiment, the device is used to control the vehicle. For this purpose, the device can access, for example, sensor signals such as acceleration, pressure, steering angle or environmental sensor signals. The control is effected via actuators such as brake or steering actuators or an engine control unit of the vehicle.

Also of advantage is a computer program product or computer program with program code which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory and for carrying out, implementing and / or controlling the steps of the method according to one of the embodiments described above is used, especially when the program product or program is executed on a computer or a device. The invention will be described by way of example with reference to the accompanying drawings. Show it:

Figure 1 is a schematic representation of a vehicle with a device according to an embodiment;

Figure 2 is a schematic representation of a vehicle of Figure 1;

Figure 3 is a schematic representation of a device according to an embodiment; and

FIG. 4 shows a flow chart of a method according to an exemplary embodiment.

In the following description of preferred embodiments of the present invention, the same or similar reference numerals are used for the elements shown in the various figures and similarly acting, wherein a repeated description of these elements is omitted.

FIG. 1 shows a schematic representation of a vehicle 100 with a device 102 according to one exemplary embodiment. The vehicle 100 is equipped with a display device 104, which according to this embodiment is designed to project safety-related information, in this case a virtual map 106 of a roadway of the vehicle 100, onto a windshield 108 of the vehicle 100. By way of example, the display device 104 projects the map 106 in Figure 1 onto the windshield 108 such that the map 106 appears as a vertical stripe on a driver left side edge of the windshield 106. Depending on the exemplary embodiment, the map 106 may also appear at a virtual distance in front of or behind the windshield 108 from the perspective of the driver, whose position in FIG. 1 is schematically represented by a steering wheel, in particular, for example, also by superposition with a real environment of the vehicle 100.

If the steering wheel is on the right side, the display will understandably be shown in the right side strip. If, for example, the steering wheel / steering system or the driver's seat position are positioned centrally, the display can be displayed centrally or almost centrally, for example. Thus, the driver can show or hide the size of the display, the position as well as the individual elements.

The device 102 is configured to provide a speed information 110 representing an actual speed of the vehicle 100, an environment information 112 representing an environment of the vehicle 100, a driver response time 114 representing a reaction time of the driver determined in a reaction test, and an emergency brake response time 116, which represents a response time of an emergency brake assistant of the vehicle 100 when responding to an emergency situation, and to use this data to display on the map 106 an emergency brake marker 118 and a driver intervention marker 120. Here, the emergency brake marker 118 illustrated as a lane crossing line according to this embodiment represents a time or location on the lane 106 shown in the map where the emergency brake assist is expected to automatically intervene if another vehicle such as a vehicle that precedes the vehicle 100 in the same lane that exceeds the emergency brake mark 118 without the driver of the vehicle 100 previously engaging accordingly. The driver engagement mark 120 appears, as shown in FIG. 1, by way of example as an arrow parallel to the road and pointing in the direction of the emergency brake mark 118, which as a vehicle proximity indicator has the function of identifying a time or location of the driver's latest possible intervention before the automatic intervention of the emergency brake assistant. In this case, the arrowhead of the arrow approaches the extent of the emergency brake mark 118, in which a distance between the vehicle 100 and the vehicle driving in front of it decreases.

The reaction time of the driver can also take place over time. The system assumes a bad response time in such a case. If the driver can be closely monitored, the reaction time can be adjusted in real time if the driver should be distracted, for example. It is also conceivable, depending on the season, the route etc. to adjust the reaction time. This can then be taken into account for the calculation of the display. It is also conceivable to calculate the maximum reaction time between the time determined from the test and from the current situation. This maximum reaction time can then be used for the display.

In addition, the device 102 is configured to appropriately highlight a current lane of the vehicle 100 in the map 106, such as by flashing the current lane or by fading in a suitable lane marker 124 on the current lane.

The other vehicles located in the vicinity of the vehicle 100 are also displayed on the roadway in the map 106 by the device 102 in the form of corresponding object symbols 122. Here, a respective size of the object icons 122 may vary depending on a respective distance of the vehicles represented by the object icons 122 from the vehicle 100.

According to the exemplary embodiment shown in FIG. 1, the device 102 is additionally designed to suitably mask a region 126 of the card 106, which the driver of the vehicle 100 can no longer see, for example because of poor visibility, by hatching the non-visible region 126th

FIG. 2 shows a schematic representation of a vehicle 100 from FIG. 1. In contrast to FIG. 1, the projection of the card 106 takes place in such a way that it extends substantially horizontally along a lower edge of the windshield 108 in the driver's field of vision.

The object symbols 122 shown in FIG. 2 have different sizes as a function of their respective distance from the vehicle 100. The emergency brake mark 1 18 is shown here as a rectangular outline around one of the object symbols 122, which represents the intervention threshold of the emergency brake assistant. The shape of the outline may depend on which symbols the driver wishes to display in the corresponding fields. For example, if there are only round "symbols" then a round outline is advantageous because it allows the driver to interpret a better look ahead based on the data displayed than when a circle / hexalon, etc. is displayed in a rectangular outline.

Also, the driver should be given the opportunity to customize the displayed shapes / colors. He could e.g. Show all symbols around but some could e.g. have a red outline and be filled with a different color or he can customize letters within the desired geometric figures themselves.

The highlighting of the current lane of the vehicle 100 is carried out according to this embodiment by a detent 200. Left and right of the current lane corresponding lane markers 202 are additionally displayed.

Optionally, the device is designed to emphasize a lane suitable for lane change in a suitable manner, for example by fading in a change mark 204 on the lane in question, in this case for example a lane to the left of the current lane.

Hereinafter, various embodiments of the approach presented here will be described again in other words.

For example, the vehicle 100 is equipped with a driver assistance system that knows a route of the vehicle 100. On the map 106, a current position of the vehicle 100 is displayed by means of the device 102. The map 106 is shown, for example, in a narrow shape, so that approximately a narrow curve appears approximately as a straight line. A sensor fusion of cloud information with the individual road users and with the respective traffic obstructions, in combination with information from environmental sensors such as lidar sensors or infrared cameras, enables a relatively high speed to be maintained, even in poor visibility. For example, the driver response time becomes calculated using a pre-test reaction test to tailor the system to the individual driver. The reaction time of the driver is added up to a reaction time of the vehicle 100 when responding to driver commands. This sum then represents a minimum early warning time. The minimum pre-warning time is used as the critical time for the emergency brake assist. A maximum pre-warning time is greater by a certain factor, for example by a factor of 10, than the minimum pre-warning time.

Optionally, the aspect ratio of the map 106 is adjusted via the current speed of the vehicle 100, i. h., the card is either lengthened or shortened by distortions. For example, the system automatically engages in fog to offer the driver an alternative view. The system can also be always switched on or switched on at the request of the driver.

The display in the form of the map 106, for example, laterally displayed vertically over the entire windshield 108, wherein the individual lanes are shown parallel to each other. A used lane is marked for example by a thick frame or a higher light intensity. At the same time, a vertical line which marks the driver's latest expected intervention is displayed as driver intervention flag 120. Another line represents the intervention time of the emergency brake assist, previously also called emergency brake mark 118. The own position of the vehicle 100 in the map 106 only moves horizontally. The other road users or obstacles are approaching accordingly. Parallel to the lanes, the driver intervention mark 120 is displayed vertically as an arrow. The arrow shows from top to bottom. The closer the vehicle 100 comes to an obstacle, the further the arrow travels downwards until at some point it encounters the horizontal band of the emergency brake assist. At this point, the vehicle 100 is automatically braked.

At the same time, it is possible for the ad to approach an approaching hazard without a change in parking behavior, that the display either moves slightly directly in the driver's view, but gains transparency so that the driver can continue to watch the road but still be informed or the The display will increase laterally if necessary with different transparency substances depending on how far the display spreads either directly proportional or indirectly proportional depending on where the danger lurks on which the driver must pay attention. The display advantageously does not obscure the driver's view.

For example, since a vehicle with such a system can travel faster in bad weather conditions, the system recommends the use of a middle lane, as slow vehicles usually travel on the right lanes. This has the advantage that the driver must focus less on the speed and the longitudinal control. By using the middle lane, the vehicle will also encounter fewer obstacles in such weather conditions.

Optionally, for example, by flashing a lane a recommendation for lane change pronounced before the driver can even see an obstacle.

For example, an alternative illustration is displayed horizontally to the center of the driver's side windshield 108, as shown in FIG. In this case, an obstacle is displayed enlarged or reduced in proportion to the distance of the vehicle 100. In contrast to reality, an earlier insertion takes place over the reaction time. As a result, the driver feels that the object is closer than it actually is. The driver will be able to react faster and thus the use of the emergency brake assistant will be substantially reduced. This can prevent premature or inappropriate triggering of the emergency brake assist.

Is the vehicle view due to sensor failures, such as due to extremely poor weather conditions, limited due to the route profile, such as tight corners, due to lack of cloud information, such as lack of coverage, or due to a failure to determine a used lane in the distance, so for example in the vertical display of the map 106, a top card section crossed out to mask it. Thus, can the driver adjust his speed accordingly until the crossed-out card section disappears partially or completely.

The approach presented here has the advantage that the driver due to the additional representation in the map 106 can decide prematurely whether

ne (partially) autonomous vehicle control of the vehicle 100 makes sense or not. Thus, the driver can make corresponding corrections early.

Similarly, the display can be displayed in the horizontal view. In this case, the driver is at a point where the view of the vehicle stops, a vehicle displayed that there is potentially not. Thus, the driver can expect a potential danger.

The display used should be transparent so as not to unnecessarily restrict the driver's view.

FIG. 3 shows a schematic representation of a device 102 according to an exemplary embodiment, for example a device described above with reference to FIGS. 1 and 2. The device 102 comprises a read-in unit 310 for reading in the speed information 110, the surroundings information 112, the driver reaction time 114 and the emergency braking reaction time 16. The read-in unit 310 reads the speed information 110 or the surroundings information 112, for example via an interface to sensors of the Vehicle or additionally or alternatively via a communication interface for communication with other road users. Furthermore, the device 102 has an overlay unit 320 which is designed to control the insertion of the emergency brake mark and the driver intervention mark by outputting a corresponding display control signal 322 using the data read in by the read-in unit 310.

FIG. 4 shows a flow diagram of a method 400 according to one exemplary embodiment. The method 400 for displaying safety-relevant information on a display device of a vehicle can be performed, for example, using a previously described with reference to FIGS. 1 to 3. In this case, the speed of the vehicle, the environment information, the driver reaction time and the emergency brake response time are read in in a step 410. In a step 420, the emergency brake mark and the driver engagement flag are superimposed on the display device using the speed, the environment information, the driver response time and the emergency brake response time in the map representing the lane of the vehicle.

The embodiments described and shown in the figures are chosen only by way of example. Different embodiments may be combined together or in relation to individual features. Also, an embodiment can be supplemented by features of another embodiment. Furthermore, method steps according to the invention can be repeated as well as carried out in a sequence other than that described.

If an exemplary embodiment comprises a "and / or" link between a first feature and a second feature, this can be read so that the embodiment according to one embodiment, both the first feature and the second feature and according to another embodiment, either only the first Feature or only the second feature.

REFERENCE CHARACTERS

100 vehicle

102 device

104 display device

106 map

108 windshield

1 10 Speed information

1 12 Environment information

1 14 driver reaction time

1 16 emergency brake reaction time

1 18 emergency brake mark

120 driver intervention mark

122 object icon

124 lane marking

126 non-accessible area

200 detent

202 lane marking

204 change mark

310 reading unit

320 insertion unit

322 display control signal

400 procedures

410 step of reading

420 step of fade in

Claims

claims

1 . A method (400) for displaying safety-relevant information on a display device (104) of a vehicle (100), the method (400) comprising the following steps:

Reading in (410) a speed of the vehicle (100), an environment information (1 12) representing an environment of the vehicle (100), a driver response time (1 14) representing a reaction time of a driver of the vehicle (100) determined in a reaction test, and an emergency brake response time (1 16) representing a response time of an emergency brake assist of the vehicle (100) in response to detecting an emergency braking situation; and

Superimposing (420) an emergency braking mark (1 18) and a driver intervention mark (120) in a map (106) on the display device (104) representing a roadway of the vehicle (100) using the speed, the environment information (1 12), the driver response time (1 14) and the emergency brake response time (1 16), wherein the emergency brake mark (1 18) represents a probable time and / or a probable location of intervention of the emergency brake assist and the driver intervention mark (120) an estimated time and / or a probable location of a possible latest Intervention of the driver before the intervention of the emergency brake assistants represented.

2. The method (400) of claim 1, wherein in the step of fading (420), a distance between the driver engagement mark (120) and the emergency brake mark (1 18) depending on a change in a distance between the vehicle (100) and one in the environment changed object is changed.

3. Method (400) according to one of the preceding claims, wherein in the step of overlaying (420) a parallel to the roadway and / or in the direction of the emergency brake mark (1 18) pointing arrow is displayed as the driver intervention mark (120).

4. The method (400) according to one of the preceding claims, wherein in the step of the superimposition (420), a line crossing the road as the emergency brake mark (1 18) is displayed.

The method (400) of any of the preceding claims, comprising a step of adjusting an aspect ratio of the card (106) using the velocity.

6. The method (400) of claim 1, further comprising the step of determining the emergency brake response time by adding the driver response time to a vehicle response time representing a response time of the vehicle during processing of a driver command.

7. The method (400) according to one of the preceding claims, wherein in the step of overlaying (420) the emergency brake mark (1 18) and / or the driver engagement mark (120) on a windshield (108) of the vehicle (100) is projected.

8. The method (400) according to any one of the preceding claims, wherein in the step of the overlay (420) one of the vehicle (100) traveled lane of the carriageway in the map (106) is highlighted.

9. Method (400) according to one of the preceding claims, in which in the step of overlaying (420) at least one object symbol (122) representing an object on the roadway is superimposed on the map (106).

The method (400) of claim 9, wherein in the step of fading (420), a size of the object icon (122) is changed in response to a change in a distance between the vehicle (100) and the object.

1 1. Method (400) according to one of the preceding claims, in which, in a masking step, an area (126) of the surroundings in the map (106), which is not visible to the driver, is masked.

12. Device (102) with units (310, 320), which are designed to carry out and / or to control the steps of a method (400) according to one of claims 1 to 11.

13. A computer program configured to execute and / or control the method (400) according to one of claims 1 to 11.

14. A machine-readable storage medium on which the computer program according to claim 13 is stored.