WO2020020758A1

WO2020020758A1 - Method and device for visually displaying a current steering angle of a vehicle which is currently being operated in a fully automated fashion

Info

Publication number: WO2020020758A1
Application number: PCT/EP2019/069458
Authority: WO
Inventors: Nikolaos Gortsas
Original assignee: Robert Bosch Gmbh
Priority date: 2018-07-25
Filing date: 2019-07-18
Publication date: 2020-01-30
Also published as: DE102018212452A1

Abstract

The invention relates to a method for visually displaying a current steering angle of a vehicle which is currently being operated in a fully automated fashion. In this context, a current operating state of the vehicle is firstly determined (120). A steering wheel movement and the current steering wheel are decoupled (130) in accordance with a determined, fully automatic operating state. In addition, the current steering angle is detected (140) and the current steering angle is visually displayed (160) by means of a suitable display unit. Furthermore, the invention relates to a computing unit for carrying out the method and to a visual display unit for visually displaying the current steering angle. In addition, a vehicle having the computing unit, the visual display unit and a steering wheel is a subject of the invention.

Description

description

title

Method and device for the visual display of a current steering angle of a currently fully automated vehicle

State of the art

The invention relates to a method for displaying a current steering angle of a currently fully automated vehicle. In addition, the invention relates to a computing unit which is designed to

Execute method according to the invention, and a visual display unit which is controlled by the computing unit. Another object of the invention is a vehicle, which the computing unit, the visual

Display unit, and has a steering wheel.

A method for operating a motor vehicle is known from document DE 10 2015 004 745 A1, in which the steering wheel is decoupled in an autonomous operating mode. In order to continue to show the driver the current steering angle of the vehicle, in the method described here, the steering wheel is also rotated by means of an actuator according to the current steering angle during the fully automatic drive.

Starting from this prior art, it is the object of the present invention to develop an alternative method and a device which, in a simplified manner, enables the driver to record the current steering angle of a fully automatically operated vehicle with a decoupled steering wheel.

Disclosure of the invention

To achieve the object, a method according to claim 1 is proposed. In addition, a computing unit according to claim 8, one by means of

Computing unit 8 controlled display unit according to claim 9 and a vehicle according to claim 11 proposed. In the method for displaying a current steering angle of a vehicle that is currently being operated fully automatically, the current one is first

Operating status determined. For example, operating parameters of the vehicle can be recorded for this purpose. In particular, information about at least one driver assistance system of the vehicle can be recorded in this context. For example, is it detected that the at least one

Driver assistance system is currently activated, so you can click on a current

fully automated operated vehicle. A fully automated operating state means that the driver has currently completely given up control of the vehicle and that this is happening

Vehicle moves autonomously. In contrast, one differentiates one

semi-automated operating state in which the driver only partially

Has given up control of the vehicle and for example the

Longitudinal guidance of the vehicle must still be carried out independently. There is also a manual operating state in which the driver has complete control of the vehicle. If a current fully automated operating state of the vehicle is determined as the current operating state, a decoupling between the steering wheel movement and the current steering angle is carried out in a subsequent method step. This means that the connection between the steering wheel and the lateral control of the vehicle is broken, which means that the steering wheel can no longer perform the steering function.

In addition, if the currently fully automated operating state is determined, the current steering angle of the vehicle is recorded. For this purpose, for example, steering angle information can be recorded by a steering angle sensor. The detected steering angle is then visually displayed in a subsequent method step using a suitable display unit. In this context, a visual display can, for example, be a projection onto the

Windshield of the vehicle or a display on a mobile device of the vehicle driver. Such a visual display offers the advantage, for example, that the current steering angle can always be shown to the driver in his field of vision and not to a specific one

Vehicle part, such as the steering wheel, is limited. This increases the security of the process. Preferably, the steering wheel of the vehicle is motionless if one

fully automated operating state is determined. This increases driver comfort, for example, since the steering wheel does not move to indicate the current steering angle to the driver. The vehicle driver can thus easily support his legs on the steering wheel, for example.

The driver is preferably shown a marker on a display unit, which marks a deviation of the current steering angle from a straight travel of the vehicle. For this purpose, the marking can move on a circular path, for example, but can also move in a straight line. The marking preferably represents a pointer. A vertically upward-pointing pointer represents a straight travel of the vehicle, and the pointer rotates clockwise on a right-hand turn of the vehicle and counter-clockwise on a left-hand turn. This has the advantage that the driver can quickly and intuitively see in which direction the vehicle is currently moving. In this connection, the rotation of the pointer preferably proceeds analogously to a rotation of the steering wheel in a manual one

Operating condition. The driver is thus visually made clear how he is

would normally turn the steering wheel in manual mode to produce the appropriate steering angle. Alternatively, the rotation of the pointer can preferably also be shown enlarged, in particular significantly enlarged, in comparison to a rotation of the steering wheel in manual driving operation. The driver can thus detect a change in the current steering angle more precisely. Alternatively, the rotation of the pointer can preferably be shown reduced, in particular significantly reduced, in comparison to a rotation of the steering wheel in manual driving operation. This has the advantage that the visual display takes up less space. A vertically downward position preferably indicates a maximum position for the pointer

corresponding to a maximum steering angle in the corresponding direction, if this reaches this position when turning clockwise or counterclockwise. A further turn would unsettle the driver, because he does not know exactly from which direction the pointer came before. When the driver reaches this maximum position, a direction of rotation from which the pointer has reached the maximum position is additionally indicated as a stop. In a further method step, a signal is preferably detected which indicates that the driver is taking back the steering movement of the vehicle. The signal, which indicates that control over the steering movement has been taken back, can represent an input signal by the driver, for example. The signal can also be generated automatically, for example, in emergency situations in which the driver has to take control of the steering movement back again. If a signal is detected, the steering wheel is again with the

Cross guidance of the vehicle coupled. This means that the driver can now manually determine the steering angle again by moving the steering wheel. Depending on that from the

Steering wheel movement resulting steering angle, the displayed marker is moved. The movement of the marking takes place in the same proportion to the rotation of the steering wheel. Alternatively, the marking can also be made more or less in relation to the steering wheel rotation. The driver can thus be visually shown how the steering angle changes, even during manual steering of the vehicle. In particular, the described display can also be used to indicate to the driver when he has reached a straight travel of the vehicle. Alternatively, the displayed marker is fixed if a signal for renewed coupling of the steering movement is detected. This means that the marker will no longer move if the signal is detected. The driver is only informed when straight-ahead driving is achieved depending on the steering wheel movement performed by the driver and the resulting steering angle. This display can, for example, also be done visually by the visual display unit. If a straight-ahead drive is reached, the marker automatically jumps to the position which one

Straight ahead is assigned. For example, the visual

Display unit can be issued after the new coupling, until a straight drive is reached. This saves energy. Alternatively, the display can also take place by means of a further visual display unit. A mechanical display can also be generated.

In a further aspect, the invention comprises a computing unit which is designed to carry out the method according to the invention. The computing unit is designed to determine a current operating state of the vehicle. Is a currently fully automated

The operating state of the vehicle is determined, so is the computing unit trained to generate a decoupling between a steering wheel movement and the current steering angle of the vehicle. Furthermore, the

Computing unit designed to determine the current steering angle of the vehicle. In this context, the computing unit can receive, for example, steering angle information from a steering angle sensor. Furthermore, the computing unit is designed to control a visual display unit for the visual display of the current steering angle.

Another object of the invention is a visual display unit, which is designed to receive control signals from a computing unit and to display the current steering angle of the fully automatically operated vehicle. The display unit preferably has a pointer, the pointer being designed to rotate clockwise in the case of a right-hand curve and counterclockwise in the case of a left-hand curve. A vertically upward-pointing pointer here represents a straight travel of the vehicle. The pointer can be a virtual pointer, which is projected into the driver's field of vision, for example, by means of a suitable projection unit. Alternatively, however, it can be a mechanical pointer that is adjustable by means of a suitable drive unit and moves in the background along a virtual display, similar to a clock. Alternatively, instead of a pointer, it can also be a plurality of LEDs which are arranged in a circle and which are controlled to light up depending on the current steering angle of the vehicle. In particular, the LEDs can be arranged circularly around the steering wheel.

The LEDs can also be arranged, for example, in a circle in the central region of the steering wheel

The invention also relates to a vehicle which has the computing unit and visual display unit described above, and a steering wheel.

The steering wheel is preferably designed to become motionless if there is a decoupling between the steering wheel movement and the current steering angle. A type of steering wheel lock can be provided for this purpose. In this context, the vehicle can additionally have a stop, in particular a mechanical stop, which is in engagement with the steering wheel as a function of a maximum steering angle. The

For this purpose, the mechanical stop can be activated, for example, by the computing unit when the maximum steering angle is reached, and thus at one Resumption of steering movement by the driver prevents the steering wheel from turning beyond the maximum steering angle. Alternatively, it can be provided, for example, that the steering column continues to rotate in accordance with the current steering angle when the steering wheel is decoupled. If the driver takes over the steering movement again, the steering column is fed back to the steering wheel. When a maximum is reached

Steering angle, the steering column has reached its maximum position and can no longer turn. Thus, when the maximum

Steering angle also generates a stop for the steering wheel. When the steering movement is resumed by the stop, the driver is informed that the maximum steering angle has been reached. Otherwise it may happen, for example, that the currently fully automated vehicle is already moving with a maximum steering angle when the vehicle is readmitted, but the driver has the feeling that he can change the steering angle even further by turning the steering wheel in the corresponding direction.

The steering wheel is preferably fastened to the dashboard of the vehicle using a fastening means, such as the steering wheel column. The

In this context, fastening means is designed to shift the steering wheel in the direction of the dashboard of the vehicle depending on the determined operating state of the vehicle. If, for example, a fully automated operating state is determined, it is advantageous to partially or completely submerge the steering wheel in the dashboard. The visual display of the current steering angle means that the steering wheel is no longer necessary in this case and the interior of the vehicle is enlarged for the driver. When the driver takes back the steering movement, it is advantageously provided that the fastening means is designed to move the steering wheel against the direction of the dashboard and thus in the direction of the vehicle driver, so that the driver can move the steering wheel again.

Description of the drawings

Figure 1 shows an embodiment of the computing unit according to the invention.

Figures 2a, 2b and 2c show an embodiment of the visual display unit according to the invention, each with different positions of a pointer. Figures 3a and 4b schematically show a side view

Embodiment of the vehicle according to the invention, wherein the steering wheel of the vehicle is in different adjustment positions.

Figure 4a shows a first embodiment of the method according to the invention.

Figure 4b shows a second embodiment of the method according to the invention.

Embodiments of the invention

FIG. 1 schematically shows a computing unit 10. This computing unit 10 is designed to determine a current operating state of a vehicle. In this context, the computing unit can, for example, receive information from at least one driver assistance system 2 of the vehicle, which indicates whether the driver assistance system 2 is currently activated or deactivated. In addition, the computing unit 10 is designed to:

Depending on the determined operating state to generate a decoupling between a steering wheel movement and a current steering angle of the vehicle. For this purpose, the computing unit 10 can control the steering wheel 20 of the vehicle, for example. In addition, the computing unit 10 serves to determine the current steering angle of the vehicle as a function of the determined operating state. In this context, the computing unit 10 can receive and evaluate steering angle information from a steering angle sensor 5. Furthermore, the computing unit 10 is designed to control a visual display unit 30 for the visual display of the current steering angle depending on the determined operating state.

The computing unit 10 can control a fastening means 40 for fastening the steering wheel to a dashboard of the vehicle such that the steering wheel is displaced in the direction and / or against the direction of the dashboard of the vehicle depending on the determined operating state of the vehicle. The fastening means 40 can be, for example, a steering rod of the steering wheel.

In addition, the computing unit 10 can be designed to be dependent on a decoupling between a steering wheel movement and a current one Steering angle for example to control a steering wheel lock 50 and thus to make the steering wheel 20 motionless. In this context, the computing unit 10 can also be designed to control a stop 60, in particular a mechanical stop, such that the stop 60 is in engagement with the steering wheel 20 as a function of a maximum steering angle.

FIG. 2a shows a visual display unit 35 with a pointer 36a as

Marking in a first position. The visual display unit 35 shows the driver the current steering angle of the current by means of the pointer 36a

fully automated vehicle. The visual display unit 35 here resembles a clock, the pointer 36a in this FIG. 2a having rotated counterclockwise 37a relative to a vertically upward position. The counterclockwise rotation 37a shows the driver a current left turn of the vehicle. 2b, the pointer 36b is in a second position. The pointer 36b stands vertically upwards and indicates to the driver that the vehicle is currently driving straight ahead. 2c, the pointer 36c is in a third position, the pointer 36a in this FIG. 2c making a clockwise rotation 37b with respect to the second position. The clockwise rotation 37a shows the driver a current right turn of the vehicle.

Figure 3a shows schematically in side view a vehicle 70 with the

Display unit 30, the computing unit 10 and a steering wheel 20a, which is connected to the dashboard 80 of the vehicle 70 via a steering rod 40. In this embodiment, the computing unit 10 is integrated in the visual display unit 30. The visual display unit 30 is designed as a screen. In Figure 3a, the vehicle 70 is in a manual or

partially automated operating state in which the driver of the vehicle 70, not shown here, must use the steering wheel to steer the vehicle 70. The handlebar 40 is extended accordingly, so that the driver can turn the steering wheel 20a.

In contrast, FIG. 3b shows the vehicle 70, which is currently being operated in a fully automated manner. The driver of vehicle 70 therefore no longer needs steering wheel 20b. The handlebar 40 is almost completely retracted, so that the steering wheel 20b has moved relative to the steering wheel 20a in the direction of the dashboard 80 of the vehicle 70. In addition, is a Steering wheel lock shown, which serves to lock the steering wheel 20b and thus immobilize it, if the vehicle 70 is operated fully automatically.

FIG. 4a shows a first embodiment of the method for displaying a current steering angle of a vehicle that is currently being operated fully automatically. In a first method step 110, operating data of the

Vehicle. This can be data, for example, which provide information on the extent to which the at least one driver assistance system of the vehicle is currently active or deactivated. If it is determined in a subsequent method step 120 that the vehicle is currently being operated manually or in a partially automated manner, the method is ended or alternatively started from the beginning. However, if it is determined in method step 120 that the vehicle is currently being operated fully automatically, a decoupling between a steering wheel movement and a current steering angle is generated in a subsequent method step 130. In addition, the current steering angle is recorded in a subsequent method step 140 and then visually displayed in a method step 160 using a suitable display unit. In this

A marker can be displayed, which is a

Marked deviation of the current steering angle from driving the vehicle straight ahead. The marker can represent a pointer. An upright pointer represents a straight travel of the vehicle, one

Deviation from this position counterclockwise represents a left turn of the vehicle and a deviation from the vertically upward position clockwise represents a right turn of the vehicle. In optional method step 163 it is checked whether the pointer has reached a vertically downward position by rotating clockwise or counterclockwise. If this position has not been reached, proceed to method step 160. However, if the vertically downward position is reached, this indicates a maximum position for the pointer and in a subsequent method step 165 the driver is additionally shown a direction of rotation from which the pointer has reached the maximum position.

In an optional method step 150 following method step 140, the steering wheel of the vehicle is fixed and thus made motionless. In an optional method step 170 following method step 160, it is checked whether a signal is detected which indicates that the driver is taking back the steering movement of the vehicle. If no signal is detected here, method step 160 is continued. However, if such a signal is detected, the steering wheel movement and the resulting steering angle are coupled again in a subsequent method step 180. In a subsequent step 190, the displayed marking of the display unit is moved along in accordance with the steering angle resulting from the steering wheel movement.

Figure 4b shows a second embodiment of the method according to the invention. In contrast to the first embodiment, the displayed marker is fixed in a method step 185 following method step 180. In a subsequent method step 195, it is checked whether the driver has made a steering angle by the steering wheel movement that corresponds to a straight travel of the vehicle. If it is determined here that the vehicle has traveled straight ahead, this is indicated in a subsequent method step 200.

Claims

Expectations

1. A method for the visual display of a current steering angle of a currently fully automated vehicle (70), the method comprising the following method steps:

Determining (120) a current operating state of the vehicle (70), and depending on a determined fully automated operating state: decoupling (130) between a steering wheel movement and the current steering angle,

Detecting (140) the current steering angle, characterized in that the current steering angle is visually displayed (160) by means of a suitable display unit (30, 35).

2. The method according to claim 1, characterized in that the steering wheel (20, 20a, 20b) of the vehicle (70) as a function of a determined

fully automated operating state is motionless (150).

3. The method according to any one of claims 1 or 2, characterized in that the driver is shown a marker on the display unit (30, 35), the marker marking a deviation of the current steering angle from a straight travel of the vehicle (70).

4. The method according to claim 3, characterized in that the marking represents a pointer (36a, 36b, 36c), wherein a vertically upward pointer (36a, 36b, 36c) represents a current straight travel of the

Vehicle (70), the pointer (36a, 36b, 36c) rotating clockwise (37b) on a right turn and counterclockwise (37a) on a left turn.

5. The method according to claim 4, characterized in that at one

Rotating clockwise (37b) or counterclockwise (37a) the pointers (36a, 36b, 36c) reach a vertically downward position of the pointers (36a, 36b, 36c), the vertically downward position being a maximum position for identifies the pointer (36a, 36b, 36c), the driver (36a, 36b, 36c) a direction of rotation is additionally displayed, from which the pointer (36a, 36b, 36c) has reached the maximum position.

6. The method according to any one of claims 3 to 5, characterized in that the method has the following additional method steps:

Detection (170) of a signal, the signal being based on a

Readmission of the steering movement of the vehicle (70) by the driver, and

Coupling (180) the steering wheel movement and the resulting steering angle as a function of the detected signal, and

Moving (190) the displayed marker depending on the steering angle resulting from the steering wheel movement.

7. The method according to any one of claims 3 to 5, characterized in that the method has the following additional method steps:

Detection (170) of a signal, the signal being based on a

Readmission of the steering movement of the vehicle by the driver (70), and

Fixing (185) the displayed marker depending on the detected signal, and

Display (200) of driving straight ahead as a function of the steering wheel movement performed by the driver and the resulting steering angle.

8. arithmetic unit (10) designed to carry out a method according to one of claims 1 to 7, wherein the arithmetic unit (10) is designed to determine a current operating state of a vehicle (70), and a decoupling between depending on a determined fully automated operating state generate a steering wheel movement and the current steering angle of the vehicle (70), and

determine the current steering angle, and

to control a visual display unit (30, 35) for the visual display of the current steering angle.

9. Visual display unit (30, 35), wherein the visual display unit (30, 35) is designed to receive control signals from a computing unit (10) according to claim 8, and a current steering angle of a currently fully automated vehicle (70) visually display.

10. The visual display unit (30, 35) according to claim 9, characterized in that the visual display unit (30, 35) has a pointer (36a, 36b, 36c), the pointer (36a, 36b, 36c) being designed to to turn clockwise (36c) on a right turn and counterclockwise (36a) on a left turn, a vertically upward-pointing pointer (36a, 36b, 36c) representing a current straight travel of the vehicle (70).

11. Vehicle (70) with

a computing unit (10) according to claim 8, and

a visual display unit (30, 35) according to one of claims 9 or

10 and

a steering wheel (20, 20a, 20b),

wherein the computing unit (10) is designed to have a current one

To determine the operating state of a vehicle (70) and to generate a decoupling between a steering wheel movement and a current steering angle as a function of a determined fully automated operating state, and to determine the current steering angle and to generate control signals for the visual display unit (30, 35), the Depending on the control signals generated, the display unit (30, 35) is designed to visually display the current steering angle to a driver of the vehicle (70).

12. Vehicle (70) according to claim 11, characterized in that the

Steering wheel (20, 20a, 20b) is designed as a function of one

Decoupling between a steering wheel movement and a current one

Steering angle to become motionless.

13. Vehicle (70) according to claim 12, characterized in that the

Vehicle (70) additionally has a stop (60), in particular a mechanical stop, the stop (60) being in engagement with the steering wheel (20, 20a, 20b) depending on a maximum steering angle.

14. Vehicle (70) according to claim 13, characterized in that the stop (60), in particular the mechanical stop, of the

Computing unit (10) for preventing rotation of the steering wheel (20, 20a, 20b) beyond the maximum steering angle.

15. Vehicle (70) according to any one of claims 12 to 14, characterized

characterized in that the steering wheel (20, 20a, 20b) with a

Fastening means (40) is fastened to a dashboard (80) of the vehicle (70), the fastening means (40) being designed to move the steering wheel (20, 20a, 20b) in the direction and in dependence on the determined operating state of the vehicle (70) / or to move against the direction of the dashboard (80) of the vehicle (70).