WO2016096701A1

WO2016096701A1 - Method for operating a driver assistance system of a motor vehicle when changing from an autonomous driving mode to a manual driving mode, driver assistance system and motor vehicle

Info

Publication number: WO2016096701A1
Application number: PCT/EP2015/079558
Authority: WO
Inventors: Sascha Staude; Frank Kaiser
Original assignee: Valeo Schalter Und Sensoren Gmbh
Priority date: 2014-12-18
Filing date: 2015-12-14
Publication date: 2016-06-23
Also published as: DE102014118958A1

Abstract

The invention relates to a method for operating a driver assistance system (2) of a motor vehicle (1), in which the motor vehicle (1) is first of all operated in an autonomous driving mode and, before changing from the autonomous driving mode to a manual driving mode, a request signal is output to the driver of the motor vehicle, which signal is used to request the driver to place at least one hand on a steering wheel (5) of the motor vehicle (1), wherein the request signal is optically output using at least one operating element (4, 4') which is arranged (S2) on the steering wheel (5) of the motor vehicle (1).

Description

Method for operating a driver assistance system of a motor vehicle during the transition from an autonomous to a manual driving mode,

Driver assistance system and motor vehicle

The present invention relates to a method for operating a

Driver assistance system of a motor vehicle, in which the motor vehicle is initially operated in an autonomous driving mode and before a transition from the autonomous driving mode in a manual driving mode by means of a control device a request signal to the driver of the motor vehicle is issued, with which the driver is prompted to at least one Hand on a steering wheel of the

Motor vehicle to place. The invention also relates to a driver assistance system for a motor vehicle. Finally, the present invention relates to a motor vehicle.

In the present case, the interest is directed in particular to driver assistance systems for motor vehicles which assist the driver in driving the motor vehicle. In this case, driver assistance systems are known from the prior art, which enable both an autonomous and a manual driving mode of the motor vehicle. In the autonomous driving mode, the motor vehicle with the aid of various sensors of the driver assistance system can detect the surroundings of the motor vehicle and control the motor vehicle at least semi-autonomously. For this purpose, the driver assistance system, for example, an intervention in the steering, the brake system and / or a

Drive drive make. In this case, the driver assistance system takes over the longitudinal guidance and / or the transverse guidance of the motor vehicle. In the manual

Driving mode, the driver takes both the longitudinal guidance and the transverse guidance of the motor vehicle.

Furthermore, driver assistance systems are known from the prior art, which are designed as Abstandsregeltempomat. There are also known as congestion assistants with which the motor vehicle can be operated partially automated by the speed of the motor vehicle is controlled so that it has a certain distance from another vehicle in front of the motor vehicle. If with such

Driver assistance systems a transition from autonomous driving in the Manual driving is to be done, an acoustic and / or an optical

Request signal issued to the driver. This requires the driver to place at least one hand on the steering wheel of the motor vehicle. From the prior art it is known that this request signal is optically on a

Display device is output in the instrument cluster of the motor vehicle.

Furthermore, from the prior art operating instructions are known which

have corresponding controls with which operator actions can be detected. These controls can, for example, on the steering wheel of

Be arranged motor vehicle. As a result of a detected operating action, a device or a functional device of the motor vehicle can be activated or operated with a control device. With such controls, for example, an information and / or entertainment system, a communication device, a driver assistance system or the like can be operated.

Such operating arrangements can also have a detection device with which it can be detected whether the driver has placed at least one hand on the steering wheel of the motor vehicle. For this purpose, a corresponding capacitive sensor can be provided in or on the steering wheel rim of the steering wheel, with which a touch of the steering wheel can be detected with at least one hand. Such

Detection device is described for example in DE 10 201 1 084 903 A1.

It is an object of the present invention to provide a solution as to how the transition from an autonomous driving mode to a manual driving mode can take place more securely.

This object is achieved by a method by a

Driver assistance system and solved by a motor vehicle with the features according to the respective independent claims. Advantageous embodiments of the invention are the subject of the dependent claims, the description and the figures.

An inventive method is used to operate a driver assistance system of a motor vehicle. Here, the motor vehicle is initially operated in an autonomous driving mode and before a transition from the autonomous driving mode, a request signal is issued to the driver of the motor vehicle, with which the driver is prompted to place at least one hand on the steering wheel of the motor vehicle. In this case, the request signal is optically by means of at least one Output control element, which is arranged on the steering wheel of the motor vehicle.

The method is used to operate a driver assistance system for a motor vehicle, which supports the driver when driving the motor vehicle. With the help of

Driver assistance system, the motor vehicle in an autonomous or

be operated in automated driving mode. The motor vehicle can also be operated semi-autonomously or semi-automatically with the aid of the driver assistance system. During the autonomous driving mode, the driver assistance system can detect the environment or the environment of the motor vehicle with the aid of corresponding sensors. In addition, with the help of the driver assistance system or a corresponding

Positioning system of the driver assistance system, the current position of the motor vehicle can be determined. In addition, the driver assistance system may include a corresponding navigation device with which a route for the

Motor vehicle is determined. Thus, the driver assistance system depending on the environment, the current position of the motor vehicle and / or on the basis of

Navigation data an intervention in the steering, the brake system and / or a

Drive drive perform. In this way, the motor vehicle can be maneuvered collision-free from a starting point to a destination point. The driver assistance system also enables manual operation of the motor vehicle. Here, the driver takes both the longitudinal guidance and the transverse guidance of the motor vehicle. In other words, the driver steers the motor vehicle and actuates the accelerator pedal and the brake pedal.

If the motor vehicle is operated in the autonomous driving mode and a transition is to be made from the autonomous driving mode to the manual driving mode, a corresponding request signal can be output to the driver of the motor vehicle. The request signal prompts the driver to place at least one hand on the steering wheel of the motor vehicle. The request signal therefore asks the driver to take at least one hand to the steering wheel. In the present case, the request signal is output by means of a control element which is arranged on the steering wheel. In addition, the request signal is output optically. This is based on the knowledge that the operating element, which is arranged on the steering wheel of the motor vehicle, in the autonomous driving mode usually as

Input device can be used. This in turn means that the driver usually has his eyes on the steering wheel. If the prompts signal as known in the art, in the instrument cluster of the motor vehicle is displayed, it may be the case that the driver perceives this request signal not or only with a time delay. The prompt signal prompts the driver to put his hands on the steering wheel. When the request signal is outputted to the steering wheel, the message in the form of the request signal is output to the place where the action is to be performed. Thus, the request signal for the driver is easier to understand and perceive faster.

The operating element may comprise, for example, a touch-sensitive screen or a touchscreen or a touch display. With this control element, the driver can be optically output the request signal. For this purpose, the driver can be displayed, for example, a corresponding icon. Furthermore, for example, a representation, in particular a color representation, can be changed on the touch-sensitive screen. The control element can also be used to detect an operator input of the driver. For this purpose, in particular during the autonomous driving mode, corresponding buttons can be displayed on the operating element, which the driver can operate. It can also be provided that a plurality of operating elements, for example two operating elements, are arranged on the steering wheel of the motor vehicle. The controls can be arranged for example on the spokes of the steering wheel.

Preferably, the request signal is output by means of the at least one operating element such that the driver is requested to place either one hand or both hands on the steering wheel. When the transition between the autonomous driving mode and the manual driving mode is imminent, a signal may be provided to a control device of the motor vehicle, which may be formed by an electronic control unit, for example

Control element to be transmitted. As a result of the signal, the operating element can then output the request signal optically. In this case, the control device

For example, transmit a first signal, as a result of which a request signal is issued, which prompts the driver to place a hand on the steering wheel. It may also be the case that the control device transmits a second signal to the operating element, as a result of which the operating element is engaged

Issues a request signal, which prompts the driver to take both hands on the steering wheel. For example, it may be the case that only one hand is needed on the steering wheel because the other hand, for example, is more urgently needed on the gear selector lever. Thus, the request signal can be determined depending on the situation. In one embodiment, by means of a detection device, which in a

Interior of the motor vehicle is arranged, checks whether the at least one hand of the driver is placed on the steering wheel. In the interior of the motor vehicle, one or more detection devices can be arranged, with which it can be checked whether the driver has placed at least one hand on the steering wheel. With the aid of the detection device, for example, it can be checked whether the driver has placed the at least one hand on the steering wheel within a predetermined time duration after the output of the request signal. In this case, the transition from the autonomous driving mode to the manual driving mode can take place, for example, only if it is detected by means of the detection device that at least one hand is arranged on the steering wheel. Thus, a safe transition from the autonomous to the manual driving mode can be made possible.

In one embodiment, the detection device is arranged in and / or on the steering wheel of the motor vehicle and has at least one sensor element, by means of which it is checked whether the at least one hand is placed on the steering wheel. The

Detection device may for example comprise a capacitive sensor with which it can be checked whether the at least one hand touches the steering wheel or not. The detection device can also have two capacitive sensor elements with which it can be detected whether the driver has placed one or both hands on the steering wheel. In addition, it can be checked with the detection device, which hand on the steering wheel and / or where the at least one hand is placed.

In a further embodiment, the detection device has a camera, by means of which it is detected whether the at least one hand is placed on the steering wheel. The detection device may have a corresponding interior camera which checks with the aid of an image processing device whether the driver has placed one or both hands on the steering wheel. Also with this camera can be checked which of the hands is placed on the steering wheel.

Furthermore, it is advantageous if it is detected by means of the detection device, whether a hand or both hands are placed on the steering wheel. By means of the control element, the request signal can be output so that the driver should place either one or both hands on the steering wheel. The request signal may be configured to prompt the driver to attach the right hand, the left hand, or both hands to the steering wheel. The detection device is now included designed to check whether the driver has followed this request signal or not. Only when the driver has followed the request signal can a transition from the autonomous drive mode to the manual drive mode take place. In this way, the motor vehicle can be operated safely.

In a further refinement, it is detected by means of a gaze detection device whether the driver directs his gaze to a roadway. In particular, with the

Eye detection device to be detected, whether the driver directs his view of the road or street in the direction of travel in front of the motor vehicle. With the

It is also possible to check whether the driver directs his gaze through a predetermined area through the windshield. The

Viewing direction detection device may have a corresponding camera, which is arranged in the interior of the motor vehicle. This camera can also be the camera that detects whether the driver has placed the at least one hand on the steering wheel. In this case, the detection means and the

Eye detection device formed by a single camera.

Preferably, the motor vehicle is operated in the manual driving mode, if it is detected by means of the detection device that the at least one hand of the driver is placed on the steering wheel and is detected by the gaze detecting means that the driver directs his gaze on the road. Only when the driver has placed the at least one hand on the steering wheel and directs his view of the road, it can be assumed that the driver follows the traffic. Only when the driver has placed the at least one hand on the steering wheel and directs his view of the road, the transition or the transition of the autonomous driving mode can take place. In this way, the motor vehicle can be operated safely.

Furthermore, it is advantageous if, when terminating the autonomous driving mode, a display is provided on a display device. Thus, the driver can be informed, for example, that the autonomous driving mode has been completed and the vehicle is to operate manually. In this way, the driver is reliably informed about the termination of the autonomous driving mode.

In particular, the display is provided on a head-up display of the motor vehicle. Such a head-up display can also be referred to as a head-up display. The confirmation that the manual driving mode is active again, in particular the driver is not on the control element, which is arranged on the steering wheel, output. The message informing the driver about the termination of the autonomous

Informed driving mode, in particular on the head-up display output, since the driver at the beginning of the manual driving mode on the road or through the

Windscreen should look.

An inventive driver assistance system for a motor vehicle is designed to carry out a method according to the invention. The driver assistance system comprises in particular the control device, which may be formed for example by a control unit of the motor vehicle. In addition, the driver assistance system comprises at least one operating element, which is arranged on the steering wheel of the motor vehicle. The at least one operating element in particular comprises a touch-sensitive screen.

A motor vehicle according to the invention comprises an inventive

Driver assistance system. The motor vehicle is designed in particular as a passenger car.

The preferred embodiments presented with reference to the process according to the invention

Embodiments and their advantages apply correspondingly to the driver assistance system according to the invention and to the motor vehicle according to the invention.

Further features of the invention will become apparent from the claims, the figures and the description of the figures. The features and feature combinations mentioned above in the description, as well as the features and feature combinations mentioned below in the description of the figures and / or in the figures alone, can be used only in the respectively indicated combination, but also in other combinations or in isolation, without the scope of To leave invention. There are thus also embodiments of the invention as encompassed and disclosed, which are not explicitly shown and explained in the figures, but by separated

Feature combinations emerge from the described embodiments and can be generated. Embodiments and combinations of features are also to be regarded as disclosed, which thus do not have all the features of an originally formulated independent claim.

The invention will now be explained in more detail by means of preferred embodiments and with reference to the accompanying drawings. Showing:

1 is a schematic representation of a motor vehicle according to a

Embodiment of the present invention, wherein the motor vehicle has a driver assistance system;

Fig. 2 shows an operating arrangement of the driver assistance system, wherein the

Operating arrangement has two controls;

3 shows a first operating element of the operating arrangement;

4 shows a second operating element of the operating arrangement; and

5 is a schematic flow diagram of a method for operating the

Driver assistance system.

In the figures, the same and functionally identical elements are the same

Provided with reference numerals.

Fig. 1 shows a motor vehicle 1 according to an embodiment of the present invention in a plan view. The motor vehicle 1 is presently designed as a passenger car. The motor vehicle 1 further comprises a driver assistance system 2, which serves to assist the driver in guiding the motor vehicle 1. With the help of the driver assistance system 2, the motor vehicle 1 can be maneuvered autonomously or automatically. In this case, the driver assistance system 2 takes over the

Transverse guide and / or the longitudinal guide of the motor vehicle 1. The

Driver assistance system can thus perform a steering intervention, an intervention in the brake system and / or an intervention in the drive motor of the motor vehicle 1. The motor vehicle 1 can also be operated manually. In this operating mode, the driver takes over both the longitudinal guidance and the transverse guidance of the

Motor vehicle 1.

The driver assistance system 2 further comprises a control device 6

Control device 6 may be formed, for example, by an electronic control unit (ECU - Electronic Control Unit) of the motor vehicle 1. In addition, the driver assistance system 2 comprises an operating arrangement 3, which has at least one operating element 4 includes. The operating element 4 comprises in particular a touch-sensitive screen and is - as explained in more detail below - on a steering wheel 5 of the

Motor vehicle 1 is arranged. With the operating element 4, operator actions of an occupant of the motor vehicle, in particular of the driver of the motor vehicle 1, can be detected. If an operating action is detected with the operating element 4, a signal can be transmitted to the control device 6 via a corresponding data line. The control device 6 can now function of the detected

Control action corresponding functional devices or devices of the motor vehicle 1 drive. Such functional devices may be, for example, an information and / or an entertainment system, a navigation system, an air conditioning system, the driver assistance system 2 or the like.

When the motor vehicle 1 is operated by means of the driver assistance system 2 in the autonomous driving mode and there is a transition between the autonomous

Driving mode in the manual driving mode before, the control element 4 can be controlled by means of the control device 6. Then, a request signal is output to the driver by means of the control element 4. This request signal prompts the driver to take at least one hand to the steering wheel 5.

The driver assistance system 2 further comprises a detection device 8 by means of which it can be detected whether the driver has placed at least one hand on the steering wheel 5. In addition, the driver assistance system 2 includes a

Eye detection device 9, by means of which it can be checked whether the driver of the motor vehicle 1 directs his view of the road ahead of the motor vehicle 1. Fig. 2 shows the operating arrangement 3 in a further embodiment. In this case, the

Operating arrangement 3, a first control element 4 and a second control element 4 'on. The first and the second operating element 4, 4 'are arranged on the spokes 7 of the steering wheel 5. The controls 4. 4 'have a touch-sensitive screen.

Fig. 3 shows an enlarged view of the first operating element 4, which is arranged on the left side of the steering wheel 5. It can be seen here that the first operating element 4 has a static region 12 and a dynamic region 13. In this case, a display can be provided in the dynamic area 13. When the driver is to take his hand to the steering wheel 5 in a transition from the autonomous driving mode to the manual driving mode, the driver is presented with the optical prompting signal in the dynamic range 13. Present will be the driver as the request signal, a symbol 15 is shown, which shows a hand on the steering wheel 5. In particular, the request signal prompts the driver to take his left hand to the steering wheel 5.

4 shows a detailed view of the second operating element 4 ', which is arranged on the right side of the steering wheel 5. Again, the driver in the dynamic range 13, a symbol 15 can be displayed as the request signal. Here, a button 14 is also displayed in the static area, by means of which the driver can operate corresponding vehicle functions. For example, he may request a voice input by operating the button 14. By the symbol 15 provided in the dynamic range 13, the driver is particularly prompted to take his right hand to the steering wheel 5. It can be decided depending on the situation with the help of the control device 6, whether the driver should take one or both hands to the steering wheel 5. Depending on this, the request signal in the form of the symbol 15 can be output with the first operating element 4, with the second operating element 4 'or with both operating elements 4, 4'.

Referring again to FIG. 2, it can be seen that the

Detection device 8 has two sensor devices which are arranged in and / or on the steering wheel. The respective sensor device can be, for example, a capacitive sensor device. With the help of the detection device 8 can be detected whether the driver's left hand, right hand or both hands on the

Steering wheel 5 has positioned. Further, in Fig. 2, the gaze detecting device 9 is shown, which may have, for example, a corresponding camera. With the help of

Eye detection device 9 can be determined whether the driver directs his view of the roadway or the road in front of the motor vehicle 1. The operating arrangement 3 further comprises a display device 1 1, which is designed as a head-up display or as a head-up display. The operating arrangement 3 can also be another

Include display device, which is arranged for example in the instrument cluster 10.

5 shows a schematic flow diagram of a method for operating the driver assistance system 2 according to an embodiment of the present invention. In step S1, the driver assistance system 2 or the control device 6 recognizes that the autonomous or automated driving operation has to be ended or the driver wishes to take over the motor vehicle 1 again. Before the transition between the autonomous driving mode and the manual driving mode, the control device 6 transmits a corresponding signal to the operating elements 4, 4 '.

In a step S2, the symbol 15 is displayed on the first operating element 4, the second operating element 4 'or on both operating elements 4, 4'. Thus, with the controls 4, 4 'issued the request signal, with which the driver is asked to take the left hand, the right hand or both hands to the steering wheel 5.

In a step S3, it is checked with the aid of the detection device 8 whether the left hand, the right hand or both hands are located on the steering wheel 5 of the motor vehicle 1. In a further step S4, it is checked by means of the gaze detection device 9 whether the driver directs his gaze to the road in front of the motor vehicle 1 and / or whether the driver gazes through a predetermined region of the windshield of the motor vehicle 1.

In a step S5, it is checked whether the driver has positioned at least one hand on the steering wheel 5 and whether he is looking at the road in front of the motor vehicle 1. If both requirements are met, switching takes place between the autonomous and the manual driving mode or driving operation.

Finally, in a step S6, a display is provided on the display device 11 or on the head-up display, which indicates to the driver that the manual operating mode of the motor vehicle 1 has been activated. Thus, a safe transition between the autonomous driving mode and the manual driving mode can take place.

Claims

claims

1 . Method for operating a driver assistance system (2) of a

Motor vehicle (1), in which the motor vehicle (1) is initially operated in an autonomous driving mode and before a transition from the autonomous driving mode in a manual driving mode, a request signal to the driver of the motor vehicle (1) is output, which prompted the driver is to place at least one hand on a steering wheel (5) of the motor vehicle (1),

characterized in that

the request signal is emitted optically by means of at least one operating element (4, 4 ') which is arranged on the steering wheel (5) of the motor vehicle (1) (S2).

2. The method according to claim 1,

characterized in that

the request signal is output by means of the at least one operating element (4, 4 ') such that the driver is requested to place either one hand or both hands on the steering wheel (5).

3. The method according to claim 1 or 2,

characterized in that

by means of a detection device (8), which in an interior of the

Motor vehicle (1) is arranged, it is checked whether the at least one hand of the driver is placed on the steering wheel (5) (S3).

4. The method according to claim 3,

characterized in that

the detection device (8) is arranged in and / or on the steering wheel (5) and has at least one sensor element, by means of which it is checked whether the at least one hand is placed on the steering wheel (5).

5. The method according to claim 3 or 4,

characterized in that

the detection device (8) has a camera, by means of which it is detected whether the at least one hand is placed on the steering wheel (5).

6. The method according to any one of claims 3 to 5,

characterized in that

is detected by means of the detection device (8), whether a hand or both hands are placed on the steering wheel (5).

7. The method according to any one of the preceding claims,

characterized in that

by means of a gaze detecting device (9) is detected, whether the driver directs his gaze to a roadway (S4).

8. The method according to claim 7,

characterized in that

the motor vehicle (1) is operated in the manual driving mode if it is detected by means of the detection device (8) that the at least one hand of the driver is placed on the steering wheel (5) and if the driver recognizes by means of the gaze detection device (9) His eyes are on the road (S5).

9. The method according to any one of the preceding claims,

characterized in that

upon completion of the autonomous driving mode, an indication on one

Display device (1 1) is provided (S6).

10. The method according to claim 9,

characterized in that

the display is provided on a head-up display of the motor vehicle (1).

1 1. Driver assistance system (2) for a motor vehicle (1), which is designed to carry out a method according to one of the preceding claims.

12. Motor vehicle (1) with a driver assistance system (2) according to claim 1. 1