EP4323255A1 - Procédé de commutation entre conduite manuelle et conduite autonome, et véhicule - Google Patents

Procédé de commutation entre conduite manuelle et conduite autonome, et véhicule

Info

Publication number
EP4323255A1
EP4323255A1 EP22722250.2A EP22722250A EP4323255A1 EP 4323255 A1 EP4323255 A1 EP 4323255A1 EP 22722250 A EP22722250 A EP 22722250A EP 4323255 A1 EP4323255 A1 EP 4323255A1
Authority
EP
European Patent Office
Prior art keywords
driver
steering wheel
intention
vehicle
driving
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.)
Pending
Application number
EP22722250.2A
Other languages
German (de)
English (en)
Inventor
Felix Heinrich
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.)
Volkswagen AG
Original Assignee
Volkswagen AG
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 Volkswagen AG filed Critical Volkswagen AG
Publication of EP4323255A1 publication Critical patent/EP4323255A1/fr
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
    • B62D1/16—Steering columns
    • B62D1/18—Steering columns yieldable or adjustable, e.g. tiltable
    • B62D1/181—Steering columns yieldable or adjustable, e.g. tiltable with power actuated adjustment, e.g. with position memory
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
    • B62D1/16—Steering columns
    • B62D1/18—Steering columns yieldable or adjustable, e.g. tiltable
    • B62D1/183—Steering columns yieldable or adjustable, e.g. tiltable adjustable between in-use and out-of-use positions, e.g. to improve access
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • B62D1/286—Systems for interrupting non-mechanical steering due to driver intervention

Definitions

  • the invention relates to a method for switching between autonomous driving and manual driving of a vehicle, in which at least one interior camera is used to monitor the driver of the vehicle for an intention to hand over and/or an intention to take over. If an intention to hand over is detected, the steering wheel is moved away from the driver and the journey is switched to autonomous driving. If an intention to take over is detected, the steering wheel is moved in the direction of the driver's hands and driving is switched to manual driving.
  • Autonomous driving allows the driver of a vehicle to use the driving time for other purposes, for example to work, relax or sleep. It is often desirable to move the steering wheel from the use position to another position as far away from the driver as possible. A large number of solutions have already been developed for this purpose. However, it may be necessary or desirable to switch back to manual driving, ie the driver controlling the vehicle, during autonomous driving. On the one hand, this can simply be based on the driver's request, but it can also be initiated by the driver in critical situations. Then, on the one hand, the steering wheel must be within reach of the driver again, and on the other hand, the switch from autonomous driving to manual driving must be completed.
  • a dedicated operating action by the driver is usually required for a change between the mentioned driving modes, so he has to trigger the change of driving modes by actuating an operating element or the like.
  • This is inconvenient, especially when changing to manual driving if the operating element is provided in the area of the vehicle's dashboard and the driver has shifted his seat position backwards during autonomous driving.
  • operating a control element can cost valuable time if the journey is to be handed over to the driver due to a critical driving situation and he first has to operate the control element in order to move the steering wheel in his direction and change the driving mode. It would therefore be advantageous if both the movement of the steering wheel and the change in driving mode could be changed independently of a control element.
  • the object of the invention is therefore to propose a solution as to how the driver of the vehicle can switch between autonomous and manual driving without actuating an operating element, with the steering wheel being moved into a position adapted to the driving mode. This should preferably be made possible for a change from autonomous to manual driving and vice versa.
  • At least one interior camera in the vehicle captures at least the hands of a driver of the vehicle.
  • An intention to take over and/or an intention to hand over by a driver of the vehicle is detected by means of an image analysis based on a hand movement. If an intention to take over is detected, the steering wheel is moved in the direction of the driver's hands and driving is switched to manual driving and/or if an intention to hand over is detected, the steering wheel is moved away from the driver and driving is switched to autonomous driving.
  • the method should therefore enable switching between manual driving and autonomous driving, with the position of the steering wheel being set to match the driving mode.
  • a manual drive is a drive in which the driver of the vehicle controls the vehicle.
  • An autonomous drive is a drive in which the driver does not intervene in the vehicle control.
  • the two driving styles are also referred to below as driving modes.
  • At least one interior camera in the vehicle monitors at least the driver's hands. It is therefore aligned in such a way that the driver's hands are in the camera's field of view. It can be advantageous that not only the hands but also other areas of the driver, such as his arms, his face or his entire upper body, are captured by the at least one interior camera, as will be explained elsewhere.
  • the at least one interior camera can be a camera provided specifically for carrying out the method or a camera which is already provided in the vehicle for other tasks but can also be used for the method according to the invention.
  • the method can also be carried out with more than one camera, which are provided in particular at different positions in the vehicle in order to gain a better overview of the movement of the driver's hands or optionally other (body) areas of the driver.
  • At least the driver's hands can preferably be detected continuously, but also at predefined time intervals.
  • the recordings captured by the at least one interior camera are evaluated by means of a suitable image analysis to determine whether a hand movement by the driver indicates an intention to switch to manual driving and/or an intention to hand over to autonomous driving.
  • Image analysis is used to check or detect whether the driver, for example, moves his hands towards the steering wheel from a rest position in an autonomous drive, if necessary makes a gripping movement and thus signals that he wants to take over the wheel and switch to manual driving. For example, if the driver puts his hands on his lap during manual driving or picks up an object, such as a drinking bottle, this can mean the intention to switch the journey to autonomous mode.
  • the term hand movement includes movement with one or both hands.
  • a hand movement is determined, among other things, from the position of one hand or both hands, the distance of one hand or both hands from the steering wheel or its usual position, the direction of movement of one hand or both hands and/or the movement speed of one hand or both hands. It can be voluntary or involuntary.
  • the methods known per se can be used for the image analysis itself. These include, for example, pattern recognition methods and artificial neural networks.
  • the steering wheel is moved in the direction of the driver's hands, assuming that the steering wheel will be in one of the Driver remote position was arranged, ie towards the driver and thus further towards the interior of the vehicle.
  • Moving the steering wheel can be done, for example, by means of electric motors that allow electric steering column adjustment.
  • the driving mode is switched, i.e. the vehicle switches from autonomous driving mode to manual driving mode, in which the driver has control of the vehicle.
  • the switching of the driving mode preferably takes place when the driver can grip the steering wheel or at least can almost grip it while it is being moved towards him. This ensures that the vehicle does not continue to drive uncontrolled even though the driver is not yet able to grip the steering wheel. At the same time, valuable time is saved because the driver can take over the journey as soon as he makes contact with the steering wheel.
  • the steering wheel is moved away from the driver or his hands, so that he has more space for his activities during autonomous driving and thus more enjoy comfort.
  • the driving mode is switched to autonomous driving as soon as the steering wheel is moved away from the driver, so that the vehicle never continues to drive uncontrolled.
  • the position into which the steering wheel is moved when there is an intention to hand over can also be referred to as the rest position, while the position when the steering wheel is actively operated can be referred to as the driving position.
  • the rest position of the steering wheel can preferably be achieved in that the steering wheel is lowered or stowed away in the dashboard of the vehicle.
  • the method can be designed to act only in the event of an intention to hand over or only in the event of an intention to take over, or for both. In the latter case, the reaction of the vehicle results in accordance with the detected intention.
  • a first preferred embodiment of the method according to the invention provides that the driver is signaled whether an intention to hand over and/or an intention to take over has been detected.
  • the driver should therefore be informed whether a hand movement has taken place that triggers a change in driving mode.
  • Such a display can be advantageous in order to give the driver a feeling of security when it is displayed to him that the intention to change has been successfully recognized, especially in critical situations where he has to make a change want to switch to manual driving. This also makes sense in the reverse case, because the driver can be sure that the car will not continue uncontrolled if he lets go of the steering wheel.
  • This configuration is of particular use when a hand movement by the driver cannot be clearly detected or evaluated, so that no reliable detection of the driver's intention can take place, which means that the position of the steering wheel and the driving mode could not or would not be changed.
  • a signal can be provided that communicates to the driver that his intention to change could not be assigned with certainty, so that, for example, the hand movement can be repeated or the intended change can be manually confirmed by means of a control element.
  • This also intercepts movements that the driver makes involuntarily, for example, without intending to change driving modes.
  • the signaling as to whether an intention to hand over and/or an intention to take over has been detected can take place acoustically and/or visually.
  • An audible signal can be a tone or a sequence of tones, such as those used when using computers to indicate a successful or unsuccessful action, or can include a warning tone or a warning tone sequence if the switch has not been successfully recognized and can be carried out.
  • a visual signal can be a warning lamp lighting up, a backlit symbol in the display area of the dashboard, a verbal and/or pictorial confirmation on a display device of the vehicle such as a display or the like.
  • the at least one interior camera can be a specially provided interior camera or an already existing interior camera of the vehicle. At least one interior camera is preferably used, which is arranged above the windscreen, in or on a mirror, in or on an interior light or in the roof of the vehicle.
  • the area above the windscreen is not restricted in a direction transverse to the direction of travel.
  • the at least one camera can be positioned anywhere along the entire width of the windshield, provided it can capture at least the driver's hands.
  • the at least one interior camera can be arranged on or in the rear-view mirror, where there is a good overview of the movements of the driver's hands and, if necessary, other change indicators, and at the same time the media connections in the area of the rear-view mirror can also be used.
  • the at least one interior camera can also be arranged in or on a reading light, ambient lighting or the like and aligned in the direction of the driver's hands.
  • An arrangement of the at least one interior camera on or in the roof of the vehicle, ie on or in the roof of the vehicle, is also suitable for capturing the driver's hand movement.
  • the method is carried out with more than one camera, arranging them in different positions proves to be advantageous, especially if their image fields and/or orientations are selected in such a way that the driver's hand movement can be recorded from different perspectives. This increases the accuracy in detecting the driver's intention to change.
  • Any camera can be used for the at least one interior camera, in particular a stereo camera, a thermal imaging camera or a time-of-flight camera can be used for this. Since a stereo camera enables the creation of a three-dimensional image using two half-images, the driver's hand movements can be evaluated more clearly and therefore more reliably.
  • Time-of-flight cameras are cameras that use run-time methods to achieve a three-dimensional rendition of a recorded area and thus also allow a clearer evaluation of the driver's hand movements.
  • a thermal imaging camera proves to be advantageous because it records thermal radiation and thus the detection of at least the driver's hands is not impaired by reflections and dazzling events.
  • a further embodiment of the method according to the invention is when the at least one interior camera detects further indicators of an intention to take over and/or an intention to hand over, in particular a gesture by the driver, a direction in which the driver is looking and/or a movement of the driver's upper body .
  • further body areas of the driver are recorded by means of the at least one camera and evaluated by means of image analysis.
  • this detection can also be carried out by means of additional interior cameras.
  • Additional indicators for an intention to take over and/or an intention to hand over can be, for example, gestures as a special embodiment of a hand movement. This should be understood to mean deliberately executed, repeatable hand movements, one at a time are associated with an intention to hand over or an intention to take over. Such gestures can be limited to the use of one hand or require the use of both hands.
  • the gestures can be specified on the vehicle side as predefined gestures and/or can be defined in advance as user-defined gestures by the driver. If such a gesture is detected by the at least one interior camera and recognized by the image analysis, the intention to take over or the intention to hand over is clearly transmitted to the vehicle, so that the steering wheel can be moved to the appropriate position immediately and the driving mode can be changed.
  • Another indicator may be a driver's line of sight. This can be determined based on the position and orientation of his head or can be derived directly from the recording of the at least one interior camera by image analysis. If, for example, an intention to take over is detected from a hand movement, but the driver is not looking in the direction of travel, but instead is looking at a passenger, for example, a handover to manual driving may be dangerous because the driver cannot see the traffic. It would therefore make sense not to change the driving mode or adjust the steering wheel in such a situation, despite the recognized intention to hand over, and/or to issue a warning to point out the conflict between the detected hand movement and the detected line of sight.
  • the detection and analysis of the driver's viewing direction can also allow conclusions to be drawn as to whether the hand movement was possibly only carried out involuntarily and therefore there was no actual intention to hand over or take over.
  • the viewing direction as a further indicator is also to be understood as a verification of the driver's hand movement.
  • a movement of the driver's upper body can serve as a further indicator of an intention to take over or an intention to hand over.
  • a straightening of the upper body in temporal connection with a hand movement indicating an intention to take over can serve as confirmation of the will to take over.
  • leaning back into a lying position after a hand movement which suggests an intention to hand over, could confirm this.
  • the analysis of a driver’s upper body movement allows an assessment of whether an involuntary hand movement was detected or whether there is an actual will to change driving modes, for example because manual driving was taken over while the driver was lying down , either cannot be done safely or was not displayed intentionally.
  • “Fast” can mean, on the one hand, that the movement of the steering wheel is carried out at the highest possible speed that is possible, for example, when adjusting the steering column, or at least at a high speed, but on the other hand, above all, a relative indication compared to the significantly slower movement just before the contact of the driver's hands with the steering wheel.
  • the rapid movement can preferably take place over half the distance to be covered when the steering wheel is moved, more preferably over 60% and even more preferably over 70%.
  • the steering wheel In order to facilitate taking over the journey or gripping the steering wheel that is being moved towards the driver, it makes sense if the steering wheel is moved to a driver-specific predetermined position when an intention to take over is detected. So it should not simply be moved out of its resting position and towards the interior of the vehicle, but into a position in which the driver can easily reach the steering wheel and which he is particularly used to. In the simplest case, this corresponds to the position of the steering wheel from a previous manual drive. However, if there has been a change of driver in the meantime, the usual or desired steering wheel position may differ.
  • the driver and his/her preferred steering wheel position should therefore be correlated with one another, so that the driving position of the steering wheel can be set individually based on the driver's identity when an intention to take over is detected.
  • the driver's identity can be determined, for example, using the vehicle key used or by means of image recognition.
  • the position and/or the direction of movement of the driver's hands when indicating the intention to take over is known through the detection with the at least one interior camera and the subsequent image analysis. It is therefore possible—for example by means of a suitable computing unit—to calculate or at least estimate where the driver's hands are moving and at what point in time they are in which position.
  • the expected or probable position and/or direction of movement of the driver's hands can be compared with the possible directions of movement and/or the possible speed of movement of the steering wheel, so that it is possible to determine a probable contact position at which the driver's hands touch the steering wheel.
  • the movement of the steering wheel is stopped when the driver touches it.
  • it can usually be detected whether the steering wheel is being touched by the driver.
  • Various techniques and methods are known for this. Irrespective of the selected detection of a steering wheel touch, the movement of the steering wheel in the direction of the driver's hands should be stopped when such a touch is detected. This applies both to the movement of the steering wheel to the rest position and to the driving position, since in both cases there are situations in which stopping the steering wheel movement is appropriate.
  • the movement of the steering wheel can be stopped by touching it and the driver can grab the steering wheel to master the situation.
  • the driver moves his hands faster than expected and/or he prefers a different driving position at the moment. In either case, further movement of the steering wheel toward him would be undesirable or counterproductive. Therefore she can also be ended by touching the steering wheel. A later adjustment of the driving position is not excluded.
  • a vehicle which can be driven autonomously and which is designed and set up to carry out the method according to the invention.
  • a vehicle should have at least one interior camera that captures at least the hands of the driver, a device for processing and analyzing the recordings captured by the at least one interior camera, and a control device that uses the results of the image analysis to adjust the steering wheel and change the Driving mode triggers.
  • FIG. 1 shows a driver during an autonomous journey in a vehicle
  • FIG. 2 shows the hands of the driver when indicating an intention to take over
  • FIG. 3 possible positions of interior cameras for capturing the driver.
  • Figure 1 shows a driver 30 in a vehicle 50 reclining with his arms crossed.
  • the steering wheel 20 is in a position away from it, identified as the rest position 22 .
  • the steering wheel 20 is moved to this position if it is not to be used during autonomous driving.
  • Above the steering wheel 20 and the A stereo camera 10 is arranged on the windshield of the vehicle (position 12), which is set up to capture at least the hands 32 of the driver 30.
  • the steering wheel 20 is moved at an increased speed for the first 70% of the distance that the steering wheel 20 has to cover in order to reduce the distance between the steering wheel 20 and the hands 32 of the driver 30 as quickly as possible. On the remaining 30% of the distance to be covered, the steering wheel 20 is moved more slowly into the final driving position 24, so that the driver 30 can grip the steering wheel 20 pleasantly and comfortably. In addition, the drive is switched to manual drive as soon as the hands 32 can almost grasp the steering wheel 20 .
  • the movement of the steering wheel 20 is stopped so that the movement of the steering wheel 20 does not work against the movement of the driver 30 .
  • the driving position 24 of the steering wheel 20 can be a driver-specific predetermined position, which is approached by the steering wheel 20 in the knowledge of the currently acting driver 30 when signaling an intention to take over, or it can be determined individually. For this purpose, based on the position of the hands 32 of the driver 30, their direction of movement and movement speed, it is estimated when and where they will be and when and where they could take hold of the steering wheel 20. This probable contact position is then approached by steering wheel 20 as driving position 24 .
  • the success or failure of the detection is shown on a display in the area of the dashboard of the vehicle 50 by means of symbols.
  • an acoustic signal can also indicate success or failure.
  • interior camera(s) can be arranged on or in the rear-view mirror 14 and/or on or in interior lights 16 of the vehicle 50 and aligned with the driver 30 .
  • his upper body 36 and the position and orientation of his head 34 are also recorded by the interior camera 10 or an optionally available additional camera (not shown). .
  • the image analysis can be used to identify whether the driver 30 is looking ahead in the direction of travel when a detected hand movement indicates an intention to take over. If this is the case, nothing stands in the way of changing the driving mode to manual driving and moving the steering wheel 20 into the driving position 22 . On the other hand, if the driver 30 is not looking ahead or if his eyes are closed, the change is not completed and a warning tone sounds.
  • the position of the upper body 36 of the driver 30 is evaluated in the same way. If he is leaning backwards or even lying down, it is unlikely that he will want to take over the journey.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)

Abstract

L'invention concerne un procédé de commutation entre conduite autonome et conduite manuelle d'un véhicule (50), dans lequel le conducteur (30) du véhicule (50) est observé, au moyen d'au moins une caméra intérieure (10), en termes d'intention de transfert et/ou d'intention de prise de contrôle. Si une intention de transfert est détectée, le volant (20) est éloigné du conducteur (30) et la conduite passe en conduite autonome. Si une intention de prise de contrôle est détectée, le volant (20) est déplacé vers les mains (32) du conducteur (30) et la conduite passe en conduite manuelle.
EP22722250.2A 2021-04-16 2022-04-12 Procédé de commutation entre conduite manuelle et conduite autonome, et véhicule Pending EP4323255A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021203818.2A DE102021203818A1 (de) 2021-04-16 2021-04-16 Verfahren zum Wechsel zwischen einer manuellen und einer autonomen Fahrt und Fahrzeug
PCT/EP2022/059687 WO2022218950A1 (fr) 2021-04-16 2022-04-12 Procédé de commutation entre conduite manuelle et conduite autonome, et véhicule

Publications (1)

Publication Number Publication Date
EP4323255A1 true EP4323255A1 (fr) 2024-02-21

Family

ID=81595658

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22722250.2A Pending EP4323255A1 (fr) 2021-04-16 2022-04-12 Procédé de commutation entre conduite manuelle et conduite autonome, et véhicule

Country Status (4)

Country Link
EP (1) EP4323255A1 (fr)
CN (1) CN117157226A (fr)
DE (1) DE102021203818A1 (fr)
WO (1) WO2022218950A1 (fr)

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013019141A1 (de) 2013-11-15 2015-05-21 Audi Ag Fahrmoduswechsel beim Fahrerassistenzsystem
DE102014225383A1 (de) * 2014-12-10 2016-06-16 Robert Bosch Gmbh Verfahren zum Betreiben eines Kraftfahrzeugs, Kraftfahrzeug
DE102015206501A1 (de) 2015-04-13 2016-10-13 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Betreiben eines Fahrzeugs und Fahrzeug
US10780915B2 (en) * 2016-12-07 2020-09-22 Steering Solutions Ip Holding Corporation Vehicle steering system having a user experience based automated driving to manual driving transition system and method
DE102018005421B4 (de) 2018-07-07 2024-02-01 Psa Automobiles Sa Vorrichtung und Verfahren zur beschleunigten Umschaltung aus einer Komfortstellung in eine Fahrstellung
US11608088B2 (en) * 2019-10-14 2023-03-21 Continental Automotive Systems, Inc. Optics based detection of hands on-off and hand gesture based function selection for human driver

Also Published As

Publication number Publication date
WO2022218950A1 (fr) 2022-10-20
DE102021203818A1 (de) 2022-10-20
CN117157226A (zh) 2023-12-01

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