US20160039440A1

US20160039440A1 - Method and apparatus for operating a vehicle, in particular a railroad vehicle

Info

Publication number: US20160039440A1
Application number: US14/810,089
Authority: US
Inventors: Henning Voelz
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2014-08-05
Filing date: 2015-07-27
Publication date: 2016-02-11
Also published as: CN105329226B; CN105329226A; DE102014215461A1; DE102014215461B4

Abstract

A method for operating a vehicle, in particular a railroad vehicle, having a safety circuit to be actuated by a vehicle driver, the safety circuit initiating at least one emergency action if the vehicle driver actuates the safety circuit uninterruptedly, or not at all, in a predefinable time interval. Provision is made here that a condition of the vehicle driver is sensed by a camera device; and that the at least one emergency action is initiated depending on the condition of the vehicle driver.

Description

RELATED APPLICATION INFORMATION

The present application claims priority to and the benefit of German patent application no. 10 2014 215 461.8, which was filed in Germany on Aug. 5, 2014, the disclosure of which is incorporated herein by reference.

FIELD OF THE INVENTION

The present invention relates to a method for operating a vehicle, in particular a railroad vehicle, that has a safety circuit to be actuated by a vehicle driver, the safety circuit initiating at least one emergency action if the vehicle driver actuates the safety circuit uninterruptedly, or not at all, in a predefinable time interval. Also described is an apparatus, in particular a control device, for operating a vehicle, in particular a railroad vehicle, having a safety circuit to be actuated by a vehicle driver of the vehicle, which circuit is configured to initiate at least one emergency action if it has been actuated by the vehicle driver uninterruptedly, or not at all, within a predefinable time interval.

BACKGROUND INFORMATION

Methods and apparatuses of the kind recited above are known from the existing art. Safety circuits are used as a rule in railroad vehicles. The vehicle driver continuously actuates a button or a pedal of the safety circuit, said actuation being monitored by the safety circuit. Within a predefinable time period, as a rule 30 seconds, the operating element must be briefly released once or at least otherwise actuated, for example with an elevated or decreased actuation force, in order to signal that the vehicle driver, for example, is still awake. Also known are opposite methods in which the vehicle driver must actuate the safety circuit or the operating element once during the time interval in order to avoid initiation of an emergency action. If that activity is absent, i.e. if the operating element is actuated uninterruptedly or not at all within the predefinable time interval, the safety circuit then triggers at least one emergency action. An “uninterrupted actuation” is understood in this instance also as a modification-free actuation, as was described above with reference to constant actuation force. The warning can be, in known fashion, an optical or acoustic warning. If the warning is ignored by the driver, i.e. if the operating element continues not to be released, the safety circuit recognizes from this that the vehicle driver is no longer functionally capable and initiates an emergency braking operation in order to bring the vehicle to a stop. Safety circuits of this kind are also known as a “dead-man's switch.”

SUMMARY OF THE INVENTION

The method according to the present invention having the features described herein has the advantage that operation of the safety circuit by the vehicle driver is plausibilized by an additional system. The result is to ensure on the one hand that the emergency action is justifiably initiated, and on the other hand that an emergency action is initiated, if applicable, sooner than hitherto, when it is recognized that the vehicle driver is not functionally capable. Provision is made for this purpose, according to the present invention, that a condition of the vehicle driver is sensed by way of a camera device; and that the at least one emergency action is initiated depending on the sensed condition of the vehicle driver. The actuation of the safety circuit is thus plausibilized by sensing the condition of the driver. In particular, if the camera device senses that the vehicle driver is functionally incapable, for example because the camera device cannot sense the vehicle driver at all, for example because he has left the operator's cabin, the emergency action is initiated immediately. The camera device is configured in particular to sense the driver's face and, by face recognition, to detect and optionally evaluate reactions of the driver. Carrying out face recognition using a camera device is known in principle from the existing art, so that this need not be discussed here in further detail. Face recognition allows the identification of reactions by the driver that allow inferences as to the vehicle driver's condition.
Provision may be made that an optical and/or acoustic warning is outputted as an emergency action if the safety circuit is actuated uninterruptedly, or not at all, in the predefinable time period. The optical or acoustic warning informs the vehicle driver that he or she has actuated the safety circuit uninterruptedly during the predefinable time period. The vehicle driver is thereby reminded that he or she must, for example, interrupt actuation of the safety circuit in order to demonstrate his or her functional capability. It is also conceivable to initiate/output a haptic warning as an emergency action. This first emergency action offers the possibility that, for example, the uninterrupted actuation involves an unintentional and in particular inattentive uninterrupted actuation of the safety circuit, even though the vehicle driver is functionally capable. If the vehicle driver then actuates the safety circuit, in particular within a second predefinable interval that begins upon output of the warning, the driver's functional capability is then recognized and the safety circuit is shifted into its initial state.
According to an advantageous refinement of the invention, provision is made that the vehicle driver is monitored by the camera device with regard to a reaction to the outputted warning. Outputting of the optical or acoustic warning, constituting a first emergency action, should cause the vehicle driver, if he or she is functionally capable, to recognize the warning and react thereto, possibly unconsciously, with a change in his or her facial features. This reaction is sensed by the camera device. If the vehicle driver therefore does react to the outputted warning, it is inferred therefrom that the vehicle driver is in principle functionally capable. If no reaction is sensed by the camera device, it is then inferred that the vehicle driver is functionally incapable.
Provision furthermore may be made that a further emergency action is initiated after a predefinable time following output of the optical and/or acoustic warning, the time being predefined depending on the reaction of the vehicle driver to the outputted warning. The result thereby achieved is that the driver is again reminded regarding correct actuation of the safety circuit in order to determine his or her functional capability. The further warning is outputted earlier or later depending on the condition of the vehicle driver. If it is has previously been ascertained by way of the camera device that the driver has not reacted to the outputted warning, the further emergency action is initiated earlier than in the case in which a reaction of the driver to the outputted warning was sensed. Because the further emergency action is outputted earlier if the driver has not reacted to the previously outputted warning, the method is shortened overall as compared with a conventional method with output of a second warning, so that a functional incapability of the vehicle driver can be reacted to more quickly.
Provision is made for this purpose, in particular, that the predefined time is predefined to be shorter if no reaction by the vehicle driver to the outputted warning has been ascertained by the camera device, and longer if a reaction by the vehicle driver has been sensed. The advantages already recited result therefrom.
According to an advantageous refinement, provision is made that depending on the reaction of the vehicle driver, the safety circuit initiates an emergency braking operation as a further emergency action. Provision is made in particular that the emergency braking operation is initiated when it has been determined that the vehicle driver has not reacted to the outputted warning.
Alternatively, provision may be made that depending on the reaction of the vehicle driver, the safety circuit outputs a further acoustic and/or optical warning as a further emergency action. The vehicle driver is thereby once again reminded to operate the safety circuit. Initiation of an emergency braking operation can thereby be delayed, and undesired initiation of an emergency braking operation can be prevented. This is provided in particular when a vehicle speed of the vehicle which permits delayed initiation of an emergency braking operation is sensed. Provision may be made for this purpose that depending on the reaction of the vehicle driver and the present vehicle speed of the vehicle, the safety circuit outputs as a further emergency action either the emergency braking operation or the further acoustic and/or optical warning. If a limit speed value is exceeded, the emergency braking operation is then initiated immediately as a further emergency action, in order to increase safety overall.
Provision furthermore may be made that the vehicle driver is monitored by the camera device with regard to a further reaction to the further outputted warning; and that the emergency braking operation is initiated depending on the further reaction. Provision is therefore made here that the emergency braking operation is initiated only if there is also no reaction by the driver to the further acoustic or optical warning.
The apparatus according to the present invention having the features described herein is notable for the fact that a camera device is provided which is configured to sense a condition of the vehicle driver, the safety circuit triggering the at least one emergency action depending on the sensed condition of the vehicle driver. Further features and advantages are evident from what has already been described above, and from the descriptions herein.
The present invention will be explained in further detail below with reference to an exemplifying embodiment.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows an apparatus for operating a railroad vehicle.

FIG. 2 is a flow chart showing a method for operating the vehicle by way of the apparatus.

DETAILED DESCRIPTION

FIG. 1 is a simplified depiction of a vehicle 1 that is configured as a railroad vehicle. Vehicle 1 has a vehicle driver's cabin 2 in which a vehicle driver 3 can operate vehicle 1. A corresponding operating device 4 having multiple operating elements, as well as a vehicle driver's seat 5 for a vehicle driver, are provided for this purpose in vehicle driver's cabin 2.
Vehicle 1 furthermore has an apparatus 6 that is provided as a dead-man's switch in order to monitor the functional capability of vehicle driver 3. Apparatus 6 has for this purpose a safety circuit 7 having an operating element 8, operating element 8 being configured in the present case as a foot pedal. Alternatively, provision can also be made to embody operating element 8 as a manual switch, in particular as a pushbutton.
Apparatus 6 furthermore has a camera device 9 that is configured and configured in such a way that it senses vehicle driver 3, in particular his or her face. By face recognition, camera device 9 senses the condition of the vehicle driver, in particular in the form of reactions by the vehicle driver that result from a change in the facial features of the face and/or in the head position of vehicle driver 3.
The manner of operation of apparatus 6 will now be explained in further detail by way of FIG. 2, referring to a flow chart.
As already mentioned, apparatus 6 monitors the functional capability of vehicle driver 3. Firstly, the actuation of operating element 8 by vehicle driver 3 is monitored. Safety circuit 7 detects the functional capability of the vehicle driver when the vehicle driver interrupts actuation of operating element 8 at least once within a predefinable time period. A time interval of 30 seconds may be established as a predefinable time interval. If the vehicle driver interrupts the actuation of operating element 8 or of safety circuit 7 within this time interval, it is recognized on that basis that the vehicle driver is functionally capable.
If it is sensed in step S1, however, that the driver is actuating operating element 8 uninterruptedly, or not at all, in the predefined time interval, then in a following step S2 an optical warning is outputted by safety circuit 7, for example by way of a light-emitting arrangement 10 provided on operating device 4.
Subsequently thereto, camera device 9 monitors the condition of the vehicle driver in a step S3. A face recognition operation is carried out in order to sense reactions by vehicle driver 3.
If the result of the monitoring of the vehicle driver in step S3 is that vehicle driver 3 is attentive and, in particular, has registered the optical warning, then in a step S4.1 an acoustic warning is outputted after a predefined time has elapsed. If camera device 9 detects by face recognition that the vehicle driver is inattentive, for example because he or she does not react to the optical warning, or reacts to the optical warning but without interrupting or modifying the operation of operating element 8, the acoustic warning is then outputted in a step S4.2 at a point in time before the point in time of the acoustic warning of step S4.1, so that the vehicle driver's attention is drawn, at an earlier point in time, to his or her inattentiveness or to the actuation of safety circuit 7.
If it is determined by way of the condition monitoring using camera device 9 that the driver is functionally incapable, for example because he or she does not react at all to the optical warning of step S2, an emergency braking operation of vehicle 1 is then initiated in a step S4.3. The result is that thanks to the monitoring of the driver's condition using camera device 9, initiation of the emergency braking operation can occur sooner than in the case of existing dead-man's switches.
If vehicle driver 3 does not react to the acoustic warning of step S4.1 or S4.2, and if it is ascertained by way of camera device 9 that the vehicle driver is functionally incapable, for example because he or she has not reacted either to the optical warning or to the acoustic warning, another acoustic warning is then triggered in a step S5.1 before an emergency braking operation is triggered in a step S5.2 if the vehicle driver also does not react to the repeated acoustic warning in step S5.1, or in steps S4.1 or S4.2.
If a reaction by the vehicle driver to the repeated acoustic warning in step S5.1 is detected, however, and in particular is correspondingly verified by an actuation of operating element 8 by a vehicle driver, then normal operation of apparatus 6 and of vehicle 1 is resumed in a step S6.
The suppression or delaying of emergency braking as a result of outputting a further warning in steps S4.1, S4.2, or S5.1 is to be understood as optional. The method can be accomplished in principle without the output of an additional or repeated acoustic or optical warning. Known methods for face recognition can be utilized in evaluating the image of vehicle driver 3 acquired by camera device 9. In particular, a reaction by the vehicle driver is identified on the basis of the position and orientation of the face. The condition of the vehicle driver can be recognized on the basis of these data. In particular, it is possible to infer, for example, that the vehicle driver is inattentive if he or she is not looking in the direction of travel or if his or her face is not oriented in the direction of travel. Optionally, the orientation of the vehicle driver's eyes can also be monitored, and the vehicle driver's attentiveness can be inferred from the orientation of his or her eyes. Corresponding face recognition methods are also used, for example, in motor vehicles in order to sense a fatigue condition of the motor vehicle driver.
Camera device 9 can be made up of a camera or of multiple cameras. In particular, a stereoscopic camera device having two cameras offers the possibility of carrying out a three-dimensional determination of the head position, and thereby achieving greater accuracy in ascertaining the vehicle driver's condition. It is also conceivable to dispose multiple camera devices in distributed fashion in vehicle driver's cabin 2, the corresponding parameters or head position data then being calculated in combination from the images acquired thereby.
The utilization of apparatus 3, and the execution of the method described, are not limited to rail vehicles or railroad vehicles. Apparatus 6 and the method described can also be used in other types of vehicle, for example maritime vessels or motor vehicles. It is also conceivable to output haptic warnings or warning messages.

Claims

What is claimed is:

1. A method for operating a vehicle, having a safety circuit to be actuated by a vehicle driver, the method comprising:

initiating, via the safety circuit, at least one emergency action if the vehicle driver actuates the safety circuit uninterruptedly, or not at all, in a predefinable time interval;

wherein a condition of the vehicle driver is sensed by a camera device, and

wherein the at least one emergency action is initiated depending on the condition of the vehicle driver.

2. The method of claim 1, wherein at least one of an optical warning and an acoustic warning is outputted as an emergency action if the safety circuit is actuated uninterruptedly, or not at all, in the predefinable time period.

3. The method of claim 1, wherein the vehicle driver is monitored by the camera device with regard to a reaction to the outputted warning.

4. The method of claim 1, wherein a further emergency action is initiated after a predefinable time following output of the warning, the time being predefined depending on the reaction of the vehicle driver to the outputted warning.

5. The method of claim 1, wherein the predefined time is predefined to be shorter if no reaction by the vehicle driver to the outputted warning has been ascertained by the camera device, and longer if a reaction by the vehicle driver has been sensed.

6. The method of claim 1, wherein depending on the reaction of the vehicle driver, the safety circuit initiates an emergency braking operation as a further emergency action.

7. The method of claim 1, wherein depending on the reaction of the vehicle driver, the safety circuit outputs at least one of a further optical warning and a further acoustic warning as a further emergency action.

8. The method of claim 1, wherein the vehicle driver is monitored by the camera device with regard to a further reaction to the further warning, and wherein the emergency braking operation is initiated depending on the further reaction.

9. The method of claim 1, wherein a face recognition operation is carried out to sense a reaction of the vehicle driver.

10. The method of claim 1, wherein the vehicle is a railroad vehicle.

11. An apparatus for operating a vehicle, comprising:

a safety circuit to be actuated by a vehicle driver of the vehicle, which safety circuit is configured to initiate at least one emergency action if it has been actuated by the vehicle driver uninterruptedly, or not at all, within a predefinable time interval; and

a camera device to sense a condition of the vehicle driver;

wherein the safety circuit is configured to trigger the emergency action depending on the sensed condition of the vehicle driver.

12. The apparatus of claim 11, wherein the vehicle is a railroad vehicle.