WO2016096701A1 - Procédé de fonctionnement d'un système d'assistance au conducteur d'un véhicule automobile lors du passage d'un mode de conduite autonome à un mode manuel, système d'assistance au conducteur et véhicule automobile - Google Patents

Procédé de fonctionnement d'un système d'assistance au conducteur d'un véhicule automobile lors du passage d'un mode de conduite autonome à un mode manuel, système d'assistance au conducteur et véhicule automobile Download PDF

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Publication number
WO2016096701A1
WO2016096701A1 PCT/EP2015/079558 EP2015079558W WO2016096701A1 WO 2016096701 A1 WO2016096701 A1 WO 2016096701A1 EP 2015079558 W EP2015079558 W EP 2015079558W WO 2016096701 A1 WO2016096701 A1 WO 2016096701A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor vehicle
driver
steering wheel
driving mode
assistance system
Prior art date
Application number
PCT/EP2015/079558
Other languages
German (de)
English (en)
Inventor
Sascha Staude
Frank Kaiser
Original Assignee
Valeo Schalter Und Sensoren Gmbh
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 Valeo Schalter Und Sensoren Gmbh filed Critical Valeo Schalter Und Sensoren Gmbh
Publication of WO2016096701A1 publication Critical patent/WO2016096701A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60K35/23—
    • B60K35/60—
    • B60K2360/782—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera

Definitions

  • 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
  • the invention also relates to a driver assistance system for a motor vehicle.
  • the present invention relates to a motor vehicle.
  • driver assistance systems for motor vehicles which assist the driver in driving the motor vehicle.
  • driver assistance systems are known from the prior art, which enable both an autonomous and a manual driving mode of the motor vehicle.
  • 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.
  • the driver assistance system for example, an intervention in the steering, the brake system and / or a
  • the driver assistance system takes over the longitudinal guidance and / or the transverse guidance of the motor vehicle.
  • the driver assistance system takes over the longitudinal guidance and / or the transverse guidance of the motor vehicle.
  • Driving mode the driver takes both the longitudinal guidance and the transverse guidance of the motor vehicle.
  • driver assistance systems are known from the prior art, which are designed as Abstandsregeltempomat.
  • 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.
  • a device or a functional device of the motor vehicle can be activated or operated with a control device.
  • a control device 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.
  • 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.
  • Detection device is described for example in DE 10 201 1 084 903 A1.
  • This object is achieved by a method by a
  • An inventive method is used to operate a driver assistance system of a motor vehicle.
  • 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.
  • 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.
  • Driver assistance system the motor vehicle in an autonomous or
  • the motor vehicle can also be operated semi-autonomously or semi-automatically with the aid of the driver assistance system.
  • 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
  • the current position of the motor vehicle can be determined.
  • the driver assistance system may include a corresponding navigation device with which a route for the
  • 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
  • the driver assistance system also enables manual operation of the motor vehicle.
  • 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.
  • 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.
  • the request signal is output by means of a control element which is arranged on the steering wheel.
  • 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.
  • the driver can be optically output the request signal.
  • the driver can be displayed, for example, a corresponding icon.
  • 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.
  • corresponding buttons can be displayed on the operating element, which the driver can operate.
  • 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.
  • 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.
  • 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.
  • the control device In this case, the control device
  • a first signal 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
  • 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.
  • the request signal can be determined depending on the situation.
  • 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.
  • 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.
  • 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.
  • a safe transition from the autonomous to the manual driving mode can be made possible.
  • 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.
  • 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.
  • 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.
  • 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.
  • a gaze detection device it is detected by means of a gaze detection device whether the driver directs his gaze to a roadway.
  • 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.
  • 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.
  • Eye detection device formed by a single camera.
  • 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.
  • a display is provided on a display device.
  • 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.
  • the display is provided on a head-up display of the motor vehicle.
  • a head-up display can also be referred to as a head-up display.
  • Windscreen should look.
  • the driver assistance system comprises in particular the control device, which may be formed for example by a control unit of the motor vehicle.
  • 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
  • the motor vehicle is designed in particular as a passenger car.
  • Embodiments and their advantages apply correspondingly to the driver assistance system according to the invention and to the motor vehicle according to the invention.
  • FIG. 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
  • 5 is a schematic flow diagram of a method for operating the
  • 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.
  • the driver assistance system 2 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
  • 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
  • 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.
  • 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
  • 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.
  • 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.
  • the driver assistance system 2 includes a
  • 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.
  • Fig. 3 shows an enlarged view of the first operating element 4, which is arranged on the left side of the steering wheel 5.
  • the first operating element 4 has a static region 12 and a dynamic region 13.
  • a display can be provided in the dynamic area 13.
  • 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.
  • the request signal prompts the driver to take his left hand to the steering wheel 5.
  • a symbol 15 can be displayed as the request signal.
  • 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.
  • 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'.
  • 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.
  • 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.
  • the control device 6 transmits a corresponding signal to the operating elements 4, 4 '.
  • 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'.
  • 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.
  • 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.
  • 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.
  • 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.

Abstract

L'invention concerne un procédé destiné à faire fonctionner un système d'assistance au conducteur (2) d'un véhicule automobile (1), dans lequel le véhicule automobile (1) est entraîné d'abord dans un mode de conduite autonome et, avant un passage du mode de conduite autonome dans un mode manuel, un signal d'invitation est émis pour le conducteur du véhicule automobile et permet d'inviter le conducteur à placer au moins une main sur un volant (5) du véhicule automobile (1), le signal d'invitation étant émis de manière visuelle au moyen d'au moins un élément de commande (4, 4') qui est disposé (S2) sur le volant (5) du véhicule automobile (1).
PCT/EP2015/079558 2014-12-18 2015-12-14 Procédé de fonctionnement d'un système d'assistance au conducteur d'un véhicule automobile lors du passage d'un mode de conduite autonome à un mode manuel, système d'assistance au conducteur et véhicule automobile WO2016096701A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014118958.2A DE102014118958A1 (de) 2014-12-18 2014-12-18 Verfahren zum Betreiben eines Fahrerassistenzsystems eines Kraftfahrzeugs beim Übergang von einem autonomen zu einem manuellen Fahrmodus, Fahrerassistenzsystem sowie Kraftfahrzeug
DE102014118958.2 2014-12-18

Publications (1)

Publication Number Publication Date
WO2016096701A1 true WO2016096701A1 (fr) 2016-06-23

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Family Applications (1)

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PCT/EP2015/079558 WO2016096701A1 (fr) 2014-12-18 2015-12-14 Procédé de fonctionnement d'un système d'assistance au conducteur d'un véhicule automobile lors du passage d'un mode de conduite autonome à un mode manuel, système d'assistance au conducteur et véhicule automobile

Country Status (2)

Country Link
DE (1) DE102014118958A1 (fr)
WO (1) WO2016096701A1 (fr)

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CN110603166A (zh) * 2017-06-02 2019-12-20 本田技研工业株式会社 车辆控制系统、车辆控制方法及车辆控制程序
CN110892351A (zh) * 2017-07-21 2020-03-17 索尼半导体解决方案公司 车辆控制装置和车辆控制方法
US10800429B2 (en) 2016-11-18 2020-10-13 Toyota Jidosha Kabushiki Kaisha Vehicle system and vehicle

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WO2018175101A1 (fr) * 2017-03-20 2018-09-27 Neonode Inc. Systèmes et procédés de capteur tactile pour véhicules
DE102017205260A1 (de) 2017-03-28 2018-10-04 Bayerische Motoren Werke Aktiengesellschaft Fahrsystem zum automatisierten Fahren mit einer Lenkradanzeige
JP7005933B2 (ja) 2017-05-09 2022-01-24 オムロン株式会社 運転者監視装置、及び運転者監視方法
DE102017208505A1 (de) * 2017-05-19 2018-11-22 Bayerische Motoren Werke Aktiengesellschaft Fahrerassistenz-Einrichtung mit automatischem Angebot einer Fahrerassistenzfunktion und entsprechendes Verfahren
DE102017208508A1 (de) * 2017-05-19 2018-11-22 Bayerische Motoren Werke Aktiengesellschaft Hands-On-Detektion mit Unterscheidung des Anliegens lediglich einer einzigen Hand und beider Hände am Lenkrad und darauf basierendes Fahrerassistenzsystem
DE102017208762A1 (de) * 2017-05-23 2018-11-29 Bayerische Motoren Werke Aktiengesellschaft Fahrsystem zum automatisierten Fahren mit Mitteln zum Markieren von Bereichen am Lenkrad und entsprechendes Verfahren
DE102017208763A1 (de) * 2017-05-23 2018-11-29 Bayerische Motoren Werke Aktiengesellschaft Fahrsystem zum automatisierten Fahren mit einer Lenkradanzeige zur Anzeige der Entfernung zu einem Endpunkt für automatisiertes Fahren und Verfahren zur Anzeige der Entfernung
DE102017217820A1 (de) * 2017-10-06 2019-04-11 Zf Friedrichshafen Ag Lenkvorrichtung für ein Fahrzeug
FR3075739B1 (fr) * 2017-12-21 2022-03-25 Psa Automobiles Sa Dispositif de controle d’une fonction de conduite autonome d’un vehicule, a phase intermediaire de desactivation
DE102019132578A1 (de) * 2019-12-02 2021-06-02 Bayerische Motoren Werke Aktiengesellschaft Fahrzeugführungssystem und Verfahren zum Beenden eines automatisierten Fahrmodus
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CN110892351B (zh) * 2017-07-21 2024-02-20 索尼半导体解决方案公司 车辆控制装置和车辆控制方法

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