EP4359275A1

EP4359275A1 - Method and device for controlling the transition between different driving functions

Info

Publication number: EP4359275A1
Application number: EP22733656.7A
Authority: EP
Inventors: Christian SCHWALBACH; Tamas FENDLER
Original assignee: Bayerische Motoren Werke AG
Current assignee: Bayerische Motoren Werke AG
Priority date: 2021-06-24
Filing date: 2022-06-20
Publication date: 2024-05-01
Also published as: CN117480083A; WO2022268704A1; DE102021116338A1

Abstract

The invention relates to a device for controlling a change between different driving functions for the at least partially automated longitudinal guidance of a vehicle. The device is designed to detect that it is intended to change from a first driving function to a different second driving function. The device is also designed to automatically adopt a set speed from the first driving function for the second driving function for the at least partially automated longitudinal guidance.

Description

Method and device for controlling the transition between different driving functions The invention relates to a method and a corresponding device for controlling the transition between different driving functions for automated longitudinal guidance of a vehicle

A vehicle can have different driving functions that support the driver of the vehicle in the longitudinal guidance of the vehicle. An exemplary driving function is a distance and speed controller (especially Adaptive Cruise Control, ACC), in which the driving speed of the vehicle automatically depends on the distance between the vehicle and a vehicle in front driving directly in front of the vehicle and/or depending on a set speed set by the driver. Another exemplary driving function is a cruise control in which the Driving speed of the vehicle is set according to the setting speed, in particular regulated. A further exemplary driving function is a distance and speed controller combined with a lateral guidance controller, for example to keep the vehicle in the lane currently being traveled on. A further exemplary driving function is a speed limiter for limiting the driving speed to the set speed set by the driver or to a speed limit recognized by the vehicle. A speed limit recognized by the vehicle can be accepted manually or automatically as the set speed for the speed limiter.

Depending on the driving situation, the driver of the vehicle can select at least one driving function from a list of different driving functions. This can result in switching between different driving functions while the vehicle is being driven. The present document deals with the technical task of increasing the comfort of the driver of the vehicle when changing between driving functions in a safe manner.

The object is solved by each of the independent claims. Advantageous embodiments are described, inter alia, in the dependent claims. It is pointed out that additional features of a patent claim dependent on an independent patent claim without the features of the independent patent claim or only in combination with a subset of the features of the independent patent claim can form a separate invention independent of the combination of all features of the independent patent claim, which can be made the subject of an independent claim, a divisional application or a subsequent application. This applies equally to the technical teachings described in the description, which can form an invention independent of the features of the independent patent claims. According to one aspect, a device for controlling a change between different driving functions for at least partially automated longitudinal guidance of a vehicle is described. The different driving functions can differ with regard to how the respective driving function engages in the longitudinal guidance (and possibly the lateral guidance) of the vehicle. For example, a driving function can be designed to limit the driving speed of the vehicle. Furthermore, another driving function can be designed to regulate the driving speed of the vehicle according to a specific target specification. To adjust or limit the driving speed, a setting speed can be used, which can be set manually by the driver of the vehicle, for example, and/or automatically (e.g. based on a recognized speed limit on the roadway traveled by the vehicle) from the respective Driving function can be taken over.

Depending on the driving function, the set speed can thus be used as a setpoint specification for a speed controller for setting the driving speed of the vehicle, or can be used as a limit for the driving speed of the vehicle.

A change between two driving functions can typically take place between driving functions from a specific set of possible driving functions. The set of possible driving functions can include

• a distance and speed controller, which is designed in particular to set the driving speed of the vehicle in such a way that the vehicle has a defined setting distance to a front vehicle, and if no front vehicle is present, the vehicle sets the setting - has speed;

• a pure speed controller, which is designed in particular to increase the driving speed with the set speed as the setpoint regulate (without taking into account the distance to a vehicle in front);

• a speed limiter designed in particular to ensure that the driving speed of the vehicle (e.g. set manually by the driver) does not exceed the set speed;

• a distance and speed controller with combined lateral guidance, which is designed in particular to bring about automated lateral guidance in addition to the above-mentioned longitudinal guidance (e.g. to keep the vehicle in the current lane);

• a driving function for detecting and automatically or manually accepting a speed limit, which is set up in particular to determine the setting speed for limiting the driving speed of the vehicle on the basis of an existing speed limit on the roadway on which the vehicle is driving and in the above-mentioned speed limiter to use; the recognized speed limit can be automatically adopted as the set speed, or only after manual confirmation by the driver of the vehicle; and or

• a driving function for taking into account an upcoming route event, in particular a curve or a signaling system, in the longitudinal guidance of the vehicle, the driving function being set up in particular to bring about an automatic deceleration of the vehicle before a route event.

The device is set up to detect that a change is to be made from a first driving function to a different second driving function (e.g. each from the aforementioned set of possible driving functions). The vehicle typically includes a user interface. The device can be set up to detect the change from the first to the second driving function on the basis of a user input via the user interface. Included the user interface can be designed to enable a user (in particular the driver) of the vehicle to scroll through the list of possible driving functions by actuating a control element (e.g. a rocker) in order to accept the user input for changing from the first driving function to the second to effect driving function. A change to a different, second driving function can thus be brought about in a particularly convenient and reliable manner and recognized by the device.

The device is also set up to automatically adopt the setting speed for the at least partially automated longitudinal guidance from the first driving function for the second driving function. A particularly comfortable transition between different driving functions can be made possible by automatically adopting the setting speed.

The device can be set up to check whether the change from the first driving function to the second driving function is an exception change from a (predefined) set of one or more exception changes in which no automatic adoption of the set speed for the second driving function is to take place. The set of exception changes can in particular include a change (from any first driving function) to a speed limiter as a second driving function, and/or a change (from any first driving function) to a pure speed controller as a second driving function (in particular when if at the time of the change the current driving speed of the vehicle is higher than the set speed of the first driving function). The set of exception swaps may be stored on a storage unit of the vehicle.

The device can also be set up to prevent the automatic adoption of the set speed if it is determined that the change from the first driving function to the second driving function is an exceptional change (from the set of exception switches). Alternatively or additionally, the device can be set up to automatically accept the set speed, in particular only if it is determined that the change from the first driving function to the second driving function is not an exceptional change (from the set of exceptional changes ) is.

Driving safety and comfort can be further increased by taking into account one or more exceptional changes for which the setting speed is not automatically adopted.

The device can be set up to determine whether the current driving speed of the vehicle (when carrying out the change from the first to the second driving function) is greater or less than the set speed. The change from the first driving function to the second driving function can possibly, in particular only then, be regarded as an exceptional change if it is determined that the current driving speed is greater or less than the set speed. Alternatively or additionally, the automatic adoption of the set speed can be suppressed, in particular only when it is determined that the current driving speed is greater or less than the set speed. Comfort can be further increased by taking into account the current driving speed of the vehicle when switching between the two driving functions.

For example, it can be determined that the second driving function is a speed limiter. In this case, the change from the first driving function to the second driving function (ie the speed limiter) can be regarded as an exception change if it is determined that the current driving speed is greater than the set speed . Alternatively or additionally, the automatic takeover of the set speed can be suppressed, in particular only if it is determined that the current driving speed is greater than the set speed is. The device can thus be set up to ensure that no value that is lower than the current driving speed is accepted as the set speed for the speed limiter (as the second driving function).

In a further example, it can be determined that the second driving function is purely a speed controller (without distance control). In this case, the change from the first driving function to the second driving function (i.e. the pure speed controller) can be considered an exceptional change if it is determined that the current driving speed is less than the set speed. Alternatively or additionally, the automatic adoption of the set speed can be suppressed, in particular only when it is determined that the current driving speed is lower than the set speed. The device can thus be set up to ensure that no value that is greater than the current driving speed is accepted as the set speed for the pure speed controller (as the second driving function).

In a further example, the second driving function can be a distance and speed controller. In this case, the set speed can always be automatically adopted from the first driving function (regardless of the current driving speed of the vehicle).

The device may be set up to use the current driving speed of the vehicle (at the time of switching between the driving functions) as the set speed for the second driving function if it is determined that the change from the first driving function to the second driving function is an exceptional change and/or when it is determined that the set speed will not be automatically adopted. In this way, comfort can be further increased. According to a further aspect, a (road) motor vehicle (in particular a passenger car or a truck or a bus or a motorcycle) is described which comprises the device described in this document.

According to a further aspect, a method for controlling a change between different driving functions for at least partially automated longitudinal guidance of a vehicle is described. The method includes detecting that a change is to be made from a first driving function to a different second driving function. The method also includes the automatic adoption of the setting speed for the at least partially automated longitudinal guidance from the first driving function for the second driving function. According to a further aspect, a software (SW) program is described. The SW program can be set up to be executed on a processor (e.g. on a vehicle's control unit) and thereby to carry out the method described in this document. According to a further aspect, a storage medium is described. That

Storage medium can comprise a SW program which is set up to be executed on a processor and thereby to carry out the method described in this document. In the context of the document, the term "automated driving" can be understood as driving with automated longitudinal or lateral guidance or autonomous driving with automated longitudinal and lateral guidance. Automated driving can be, for example, driving on the freeway for a longer period of time or driving for a limited time as part of parking or manoeuvring. The term "automated driving" includes automated driving with any degree of automation. Exemplary degrees of automation are assisted, partially automated, highly automated or fully automated driving. These degrees of automation were defined by the Federal Highway Research Institute (BASt) (see BA St publication "Research compact", issue 11/2012). With assisted driving, the driver constantly performs longitudinal or lateral guidance, while the system takes over the other function within certain limits. With semi-automated driving (TAF), the system takes over longitudinal and lateral guidance for a certain period of time and/or in specific situations, whereby the driver has to constantly monitor the system, as with assisted driving. With highly automated driving (HAD), the system takes over longitudinal and lateral guidance for a certain period of time without the driver having to constantly monitor the system; however, the driver must be able to take control of the vehicle within a certain period of time. With fully automated driving (VAF), the system can automatically handle driving in all situations for a specific application; a driver is no longer required for this application. The four levels of automation mentioned above correspond to SAE levels 1 to 4 of the SAE J3016 standard (SAE - Society of Automotive Engineering). For example, highly automated driving (HAF) corresponds to level 3 of the SAE J3016 standard. Furthermore, SAE J3016 also provides SAE Level 5 as the highest degree of automation, which is not included in the BASt definition. SAE Level 5 corresponds to driverless driving, in which the system can automatically handle all situations like a human driver throughout the journey; a driver is generally no longer required.

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

The invention is described in more detail below using exemplary embodiments. show it

FIG. 1 exemplary components of a vehicle;

FIG. 2a shows an exemplary user interface of a vehicle;

FIG. 2b shows an exemplary selection list of different driving functions; and

FIG. 3 shows a flowchart of an exemplary method for changing a driving function for automated longitudinal guidance of a vehicle.

As explained at the outset, the present document deals with increasing the comfort of the driver of a vehicle when selecting, in particular when changing, between different driving functions. In this context, FIG. 1 shows exemplary components of a vehicle 100. The vehicle 100 includes one or more environment sensors 102 (e.g. a radar sensor, a lidar sensor, a camera, an ultrasonic sensor, etc.) that are set up to collect environment data (i.e. sensor data) to detect in relation to the environment of the vehicle 100. A (control) device 101 of the vehicle 100 is set up to operate one or more actuators 103 for automated (longitudinal and/or lateral) guidance of the vehicle 100 depending on the environment data in order to provide one or more driving functions. The one or more actuators 103 can include a drive motor of the vehicle 100 and/or one or more (friction) brakes of the vehicle 100 .

An exemplary driving function is a distance and speed controller that is set up to automatically adjust the driving speed of vehicle 100 as a function of the distance of vehicle 100 from a vehicle in front driving directly from vehicle 100 and/or as a function of a set setting adjust speed. Another example The driving function is set up to take route events on the route traveled by vehicle 100 into account when guiding the vehicle longitudinally. Examples of route events are speed limits, curves, signaling systems (especially traffic lights), etc.

The vehicle 100 includes a user interface 104 (e.g., on the steering wheel and/or dashboard of the vehicle 100) that allows the driver of the vehicle 100 to make adjustments to the vehicle 100. In particular, the driver may be enabled to select an automated longitudinal guidance driving function of the vehicle 100 from a list of different automated longitudinal guidance driving functions to cause the vehicle 100 to operate with the selected driving function.

Fig. 2a shows an example user interface 104 on a dashboard 202 of the vehicle 100. The user interface 104 may include one or more controls 221, e.g to scroll or page through a list of driving functions to select a driving function. Alternatively or additionally, a parameter of a driving function (e.g. the setting speed) can be changed, e.g. increased or reduced, and/or set with the selection control element 223 . Furthermore, the user interface 104 can optionally have a confirmation operating element 222 with which a selected driving function and/or a specified parameter can be confirmed. Alternatively, a driving function can be selected and/or a parameter defined automatically after a certain period of time (e.g. 2 seconds). The one or more operating elements 221 can be arranged on the steering wheel 220 of the vehicle 100 .

Furthermore, the user interface 104 can have a screen 231 for displaying information, eg for displaying the list of available Driving functions and / or to display a set parameter value include. FIG. 2 b shows an exemplary list 200 of different driving functions 201 that can be displayed on the screen 231 . The driver of the vehicle 100 can use a control 223 to scroll through the list 200 (as indicated by the double arrow) to select a particular driving function 201 from the list of driving functions 201 . In FIG. 2b the selected driving function 201 is represented by a hatched area.

As already explained above, the vehicle 100 can include a plurality of different driving functions 201 that support the driver of the vehicle 100 in the longitudinal guidance of the vehicle 100 . These driving functions 201 can be made available to the driver via the selection list 200 for selection. Exemplary driving functions 201 are

• a distance and speed controller;

• a speed controller with a set speed set by the driver (as a setpoint for the controller);

• a driving function 201 for detecting speed limits with automatic or manual adoption of the detected speed limit as the set speed;

• a speed limiter with a set speed set by the driver (as maximum speed);

• a driving function 201 with a combined automated longitudinal guidance (e.g. by the distance and speed controller) and an automated lane guidance; and or

• a driving function 201 for the automatic consideration of route events (such as curves or signal systems, in particular traffic lights).

The different driving functions 201 for the longitudinal guidance of the vehicle 100 each typically have a setting speed that is set by the driver can be set manually and/or which can be taken over automatically by vehicle 100, for example due to a detected speed limit. The (control) device 101 of the vehicle 100 can be set up, when the driver changes the driving function 201 , to adopt the set speed from the previous driving function 201 as the set speed in the newly selected driving function 201 . In this way, the comfort for the driver of the vehicle 100 can be increased because the set speed does not have to be defined again when the driving function is changed.

The automatic takeover of the setting speed can take place as standard for changing between driving functions 201 . Furthermore, the device 101 can be set up to check whether an exception changeover between driving functions 201 occurs, in which an automatic takeover of the set speed is suppressed. For this purpose, the device 101 can be set up to check whether a change between driving functions 201 carried out by the driver belongs to a predefined set of exception changes.

The set of exception changes can include a change from any driving function 201 to the speed limiter as an exception change, in particular when the previously used set speed is less than the current driving speed of vehicle 100 . In this case, the current driving speed of vehicle 100 (possibly automatically) can be used as the new set speed for the speed limiter.

Another example of an exception change is the change from any driving function 201 to the speed controller, in particular when the previously used set speed is greater than the current driving speed of vehicle 100 . In this case, the current Driving speed of the vehicle 100 (possibly automatically) can be used as the new setting speed for the cruise control.

By taking into account a number of exception changes, in which the automatic adoption of the set speed is prevented when changing the respectively active driving function 201 (and possibly the current driving speed of the vehicle 100 is automatically adopted as the new set speed). the comfort for the driver of the vehicle 100 can be further increased.

Fig. 3 shows a flowchart of an exemplary (possibly computer-implemented) method 300 for controlling the change between different driving functions 201 for at least partially automated longitudinal guidance of a vehicle 100. The different driving functions 201 can differ in terms of how the driving functions 201 each respond to the Longitudinal and / or lateral guidance of the vehicle 100 act.

The method 300 includes the detection 301 that a change is to be made from a first driving function 201 to a different second driving function 201 . This can be detected based on a user input via a user interface 104 of the vehicle 100, for example.

The method 300 also includes the automatic adoption 302 of the set speed for the at least partially automated longitudinal guidance from the first driving function 201 for the second driving function 201. In particular, this can prevent the user from setting the set speed for the second driving function 201 (again ) must enter via the user interface 104. Instead, the second driving function 201 can be operated automatically at the set speed from the first driving function 201 . The measures described in this document can be used to increase comfort when changing driving functions 201 in a safe manner.

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

Claims

Expectations

1) Device (101) for controlling a change between different driving functions (201) for at least partially automated longitudinal guidance of a vehicle (100); wherein the device (101) is set up

- to detect that from a first driving function (201) to a different second driving function (201) is to be changed; and

- Automatically adopt a setting speed for the at least partially automated longitudinal guidance from the first driving function (201) for the second driving function (201).

2) Device (101) according to claim 1, wherein the device (101) is set up

- to check whether the change from the first driving function (201) to the second driving function (201) is an exceptional change from a set of one or more exceptional changes in which no automatic takeover of the set speed for the second driving function (201) is to take place; and

- prohibit the automatic acquisition of the set speed when it is determined that the change from the first driving function (201) to the second driving function (201) is an exceptional change; and or

- Carry out the automatic takeover of the setting speed, in particular only if it is determined that the change from the first driving function (201) to the second driving function (201) is not an exceptional change from the set of exceptional changes.

3) device (101) according to claim 2, wherein the device (101) is set up, a current driving speed of the vehicle (100) as

Set speed for the second driving function (201) to use when it is determined that the change from the first driving function (201) to the second driving function (201) is an exceptional change.

4) Device (101) according to any one of claims 2 to 3, wherein the device (101) is set up

- To determine whether a current driving speed of the vehicle (100) is less than the set speed, in particular when the second driving function (201) is a pure speed controller; and

- to consider the change from the first driving function (201) to the second driving function (201), in particular only as an exceptional change if it is determined that the current driving speed is less than the set speed; and or

- to prevent the automatic adoption of the setting speed, in particular only when it is determined that the current driving speed is less than the setting speed.

5) Device (101) according to any one of claims 2 to 3, wherein the device (101) is set up

- To determine whether a current driving speed of the vehicle (100) is greater than the set speed, in particular when the second driving function (201) is a speed limiter; and

- To consider the change from the first driving function (201) to the second driving function (201), in particular only as an exceptional change if it is determined that the current driving speed is greater than the set speed; and or

- To prevent the automatic adoption of the setting speed, in particular only when it is determined that the current driving speed is greater than the setting speed. 6) Apparatus (101) according to any one of claims 2 to 5, wherein the set of exception transitions comprises

- A change to a speed limiter as a second driving function (201); and or

- A change to a pure speed controller as the second driving function (201).

7) Device (101) according to any one of the preceding claims, wherein

- The device (101) is set up to detect a change from a first to a second driving function (201), both of which are part of a set of possible driving functions (201); and

- includes the set of possible driving functions (201),

- a distance and speed controller;

- a pure cruise control;

- a speed limiter;

- a distance and speed controller with combined lateral guidance;

- a driving function for detecting and automatically or manually adopting a speed limit; and or

- A driving function for taking into account an upcoming route event, in particular a curve or a signaling system, in the longitudinal guidance of the vehicle (100).

8) Device (101) according to any one of the preceding claims, wherein

- the vehicle (100) comprises a user interface (104); and

- The device (101) is set up to change from the first to the second driving function (201) on the basis of a user input via the detect user interface (104).

9) Device (101) according to claim 8, wherein the user interface (104) is designed to enable a user of the vehicle (100) to scroll through a list of possible driving functions (201) by actuating a control element (223) in order to to effect the user input for changing from the first driving function (201) to the second driving function (201).

10) Device (101) according to any one of the preceding claims, wherein

- The set speed within the first and/or second driving function (201) serves as a setpoint specification for a speed controller for setting a driving speed of the vehicle (100); or

- The set speed within the first and/or second driving function (201) serves as a limitation for the driving speed of the vehicle (100).

11) Device (101) according to any one of the preceding claims, wherein the first driving function (201) and the second driving function (201) differ in relation to how the respective driving function (201) engages in the longitudinal guidance of the vehicle (100).

12) Method (300) for controlling a change between different driving functions (201) for at least partially automated longitudinal guidance of a vehicle (100); the method (300) comprising

- Detecting (301) that a change is to be made from a first driving function (201) to a different second driving function (201); and

- Automatic adoption (302) of a setting speed for the at least partially automated longitudinal guidance from the first driving function (201) for the second driving function (201).