WO2022073705A1 - Method for deactivating an automated driving function of a vehicle - Google Patents

Method for deactivating an automated driving function of a vehicle Download PDF

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Publication number
WO2022073705A1
WO2022073705A1 PCT/EP2021/074493 EP2021074493W WO2022073705A1 WO 2022073705 A1 WO2022073705 A1 WO 2022073705A1 EP 2021074493 W EP2021074493 W EP 2021074493W WO 2022073705 A1 WO2022073705 A1 WO 2022073705A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
driving function
automated driving
deactivating
voice command
Prior art date
Application number
PCT/EP2021/074493
Other languages
German (de)
French (fr)
Inventor
Peter Wiesinger
Original Assignee
Mercedes-Benz Group AG
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 Mercedes-Benz Group AG filed Critical Mercedes-Benz Group AG
Publication of WO2022073705A1 publication Critical patent/WO2022073705A1/en

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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
    • B60W50/10—Interpretation of driver requests or demands
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/29—Instruments characterised by the way in which information is handled, e.g. showing information on plural displays or prioritising information according to driving conditions
    • 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
    • B60W50/082—Selecting or switching between different modes of propelling
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0053—Handover processes from vehicle to occupant
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/18—Information management
    • B60K2360/199—Information management for avoiding maloperation
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/12—Brake pedal position
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/21—Voice
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/215—Selection or confirmation of options

Definitions

  • the invention relates to a method for deactivating an automated driving function of a vehicle through vehicle user intervention.
  • DE 102016 007 187 A1 discloses a method for deactivating an automated driving function of a vehicle and a driver assistance system for carrying out the method.
  • the driving function is deactivated when a driver of the vehicle carries out a steering intervention or pedal intervention with a strength that exceeds a predefinable deactivation threshold.
  • the deactivation threshold is specified as a function of an operating time of the driving function and/or as a function of the driver's ability to react.
  • the deactivation threshold is specified such that it is higher immediately after activation of the driving function than some time thereafter and/or that it is higher when the driver's ability to react is low than when the driver's ability to react is high.
  • the invention is based on the object of specifying a method for deactivating an automated driving function of a vehicle that is improved over the prior art.
  • a method for deactivating an automated driving function of a vehicle by means of a vehicle user intervention provides that the automated driving function is also deactivated when the vehicle user issues a corresponding voice command.
  • the automated driving function can be deactivated using a further indicator, whereby a takeover function can be secured and integrated in critical situations for evaluation. Reliability for deactivating the automated driving function can thus be increased.
  • the voice command can be implemented as an additional function in order to be able to use it as a further indicator for the decision in unclear decision-making situations. It is thus also possible to produce a combination of voice command and vehicle user intervention in order to make the reliability for deactivation more robust in relation to a recognition logic.
  • FIG. 1 schematically shows a perspective view of a section of a vehicle with a vehicle user on a vehicle seat.
  • the only figure shows a perspective view of a section of a vehicle 1 with a vehicle user 2 on a vehicle seat 3.
  • the vehicle 1 has an assistance system for executing an automated driving function, in which a driving task is carried out entirely by the vehicle 1 .
  • the vehicle user 2 In order to end the automated driving function of the vehicle 1, ie to deactivate it, it is usually provided that the vehicle user 2 carries out a steering intervention and/or a pedal actuation.
  • the automated driving function is also deactivated when the vehicle user 2 issues a corresponding voice command, for example "Takeover".
  • the automated driving function is only deactivated if the vehicle user 2 issues the voice command at the same time as the steering intervention is carried out and/or the pedal is actuated.
  • the voice command represents a defined acoustic command from the vehicle user 2, with the assistance system for executing the automated driving function being able to be trained in relation to the voice command by adapting the voice command with regard to different vehicle users 2.
  • a set of values can also be determined by using a uniform command as a voice command or a defined range of command values.
  • an implementation of a takeover function through which the automated driving function is deactivated, using a further indicator, d. H. by means of the voice command, secured and implemented in critical situations for evaluation.
  • the reliability of the deactivation can be increased accordingly.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Traffic Control Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention relates to a method for deactivating an automated driving function of a vehicle (1) by the intervention of a vehicle user, wherein it is provided according to the invention that the automated driving function is deactivated even if the vehicle user (2) outputs a corresponding voice command.

Description

Verfahren zum Deaktivieren einer automatisierten Fahrfunktion eines Fahrzeuges Method for deactivating an automated driving function of a vehicle
Die Erfindung betrifft ein Verfahren zum Deaktivieren einer automatisierten Fahrfunktion eines Fahrzeuges durch einen Fahrzeugnutzereingriff. The invention relates to a method for deactivating an automated driving function of a vehicle through vehicle user intervention.
Aus der DE 102016 007 187 A1 sind ein Verfahren zum Deaktivieren einer automatisierten Fahrfunktion eines Fahrzeuges und ein Fahrerassistenzsystem zur Durchführung des Verfahrens bekannt. Die Fahrfunktion wird deaktiviert, wenn ein Fahrer des Fahrzeuges einen Lenkeingriff oder Pedaleingriff mit einer eine vorgebbare Deaktivierungsschwelle übersteigenden Stärke durchführt. Die Deaktivierungsschwelle wird dabei in Abhängigkeit einer Betriebsdauer der Fahrfunktion und/oder in Abhängigkeit einer Reaktionsfähigkeit des Fahrers vorgegeben. Dabei wird die Deaktivierungsschwelle derart vorgegeben, dass sie unmittelbar nach einer Aktivierung der Fahrfunktion höher ist als einige Zeit danach und/oder dass sie bei einer geringen Reaktionsfähigkeit des Fahrers höher ist als bei einer hohen Reaktionsfähigkeit des Fahrers. DE 102016 007 187 A1 discloses a method for deactivating an automated driving function of a vehicle and a driver assistance system for carrying out the method. The driving function is deactivated when a driver of the vehicle carries out a steering intervention or pedal intervention with a strength that exceeds a predefinable deactivation threshold. The deactivation threshold is specified as a function of an operating time of the driving function and/or as a function of the driver's ability to react. The deactivation threshold is specified such that it is higher immediately after activation of the driving function than some time thereafter and/or that it is higher when the driver's ability to react is low than when the driver's ability to react is high.
Der Erfindung liegt die Aufgabe zugrunde, ein gegenüber dem Stand der Technik verbessertes Verfahren zum Deaktivieren einer automatisierten Fahrfunktion eines Fahrzeuges anzugeben. The invention is based on the object of specifying a method for deactivating an automated driving function of a vehicle that is improved over the prior art.
Die Aufgabe wird erfindungsgemäß durch ein Verfahren gelöst, welches die in Anspruch 1 angegebenen Merkmale aufweist. The object is achieved according to the invention by a method which has the features specified in claim 1.
Vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche. Advantageous configurations of the invention are the subject matter of the dependent claims.
Ein Verfahren zum Deaktivieren einer automatisierten Fahrfunktion eines Fahrzeuges durch einen Fahrzeugnutzereingriff sieht erfindungsgemäß vor, dass die automatisierte Fahrfunktion auch dann deaktiviert wird, wenn der Fahrzeugnutzer einen entsprechenden Sprachbefehl ausgibt. Durch Anwendung des Verfahrens kann die automatisierte Fahrfunktion mittels eines weiteren Indikators deaktiviert werden, wodurch eine Übernahmefunktion abgesichert und in kritischen Situationen zur Bewertung integriert werden kann. Somit kann eine Zuverlässigkeit zur Deaktivierung der automatisierten Fahrfunktion erhöht werden. According to the invention, a method for deactivating an automated driving function of a vehicle by means of a vehicle user intervention provides that the automated driving function is also deactivated when the vehicle user issues a corresponding voice command. By using the method, the automated driving function can be deactivated using a further indicator, whereby a takeover function can be secured and integrated in critical situations for evaluation. Reliability for deactivating the automated driving function can thus be increased.
Insbesondere kann der Sprachbefehl als zusätzliche Funktion implementiert werden, um in unklaren Entscheidungssituationen als weiterer Indikator zur Entscheidung herangezogen werden zu können. Somit ist es auch möglich, eine Kombination von Sprachbefehl und Fahrzeugnutzereingriff herzustellen, um die Zuverlässigkeit zur Deaktivierung in Bezug auf eine Erkennungslogik robuster zu gestalten. In particular, the voice command can be implemented as an additional function in order to be able to use it as a further indicator for the decision in unclear decision-making situations. It is thus also possible to produce a combination of voice command and vehicle user intervention in order to make the reliability for deactivation more robust in relation to a recognition logic.
Ausführungsbeispiele der Erfindung werden im Folgenden anhand einer Zeichnung näher erläutert. Exemplary embodiments of the invention are explained in more detail below with reference to a drawing.
Dabei zeigt die: The shows:
Fig. 1 schematisch eine perspektivische Ansicht eines Ausschnittes eines Fahrzeuges mit einem Fahrzeugnutzer auf einem Fahrzeugsitz. 1 schematically shows a perspective view of a section of a vehicle with a vehicle user on a vehicle seat.
Die einzige Figur zeigt eine perspektivische Ansicht eines Ausschnittes eines Fahrzeuges 1 mit einem Fahrzeugnutzer 2 auf einem Fahrzeugsitz 3. The only figure shows a perspective view of a section of a vehicle 1 with a vehicle user 2 on a vehicle seat 3.
Das Fahrzeug 1 verfügt über ein Assistenzsystem zur Ausführung einer automatisierten Fahrfunktion, bei welcher eine Fahraufgabe vollumfänglich von dem Fahrzeug 1 ausgeführt wird. The vehicle 1 has an assistance system for executing an automated driving function, in which a driving task is carried out entirely by the vehicle 1 .
Um die automatisierte Fahrfunktion des Fahrzeuges 1 zu beenden, also zu deaktivieren, ist üblicherweise vorgesehen, dass der Fahrzeugnutzer 2 einen Lenkeingriff und/oder eine Pedalbetätigung durchführt. In order to end the automated driving function of the vehicle 1, ie to deactivate it, it is usually provided that the vehicle user 2 carries out a steering intervention and/or a pedal actuation.
Um eine solche Übernahmefunktion in Bezug auf die Fahraufgabe abzusichern, so dass eine Zuverlässigkeit zur Deaktivierung erhöht werden kann, ist vorgesehen, dass die automatisierte Fahrfunktion auch dann deaktiviert wird, wenn der Fahrzeugnutzer 2 einen entsprechenden Sprachbefehl, beispielsweise "Takeover", ausgibt. In einer möglichen Ausführungsform wird die automatisierte Fahrfunktion nur dann deaktiviert, wenn der Fahrzeugnutzer 2 den Sprachbefehl gleichzeitig mit der Durchführung des Lenkeingriffes und/oder der Pedalbetätigung ausgibt. In order to secure such a takeover function in relation to the driving task, so that the reliability of the deactivation can be increased, it is provided that the automated driving function is also deactivated when the vehicle user 2 issues a corresponding voice command, for example "Takeover". In one possible specific embodiment, the automated driving function is only deactivated if the vehicle user 2 issues the voice command at the same time as the steering intervention is carried out and/or the pedal is actuated.
Insbesondere stellt der Sprachbefehl ein definiertes akustisches Kommando des Fahrzeugnutzers 2 dar, wobei das Assistenzsystem zum Ausführen der automatisierten Fahrfunktion in Bezug auf den Sprachbefehl trainiert werden kann, indem der Sprachbefehl hinsichtlich unterschiedlicher Fahrzeugnutzer 2 angepasst wird. Durch Verwendung eines einheitlichen Kommandos als Sprachbefehl oder eines definierten Kommando-Werte-Umfanges kann zudem ein Wertevorrat bestimmt werden. In particular, the voice command represents a defined acoustic command from the vehicle user 2, with the assistance system for executing the automated driving function being able to be trained in relation to the voice command by adapting the voice command with regard to different vehicle users 2. A set of values can also be determined by using a uniform command as a voice command or a defined range of command values.
Mittels des Verfahrens wird eine Umsetzung einer Übernahmefunktion, durch welche die automatisierte Fahrfunktion deaktiviert wird, mittels eines weiteren Indikators, d. h. mittels des Sprachbefehles, abgesichert und in kritischen Situationen zur Bewertung implementiert werden. Die Zuverlässigkeit der Deaktivierung kann entsprechend erhöht werden. Using the method, an implementation of a takeover function, through which the automated driving function is deactivated, using a further indicator, d. H. by means of the voice command, secured and implemented in critical situations for evaluation. The reliability of the deactivation can be increased accordingly.

Claims

Patentansprüche Verfahren zum Deaktivieren einer automatisierten Fahrfunktion einesClaims Method for deactivating an automated driving function of a
Fahrzeuges (1) durch einen Fahrzeugnutzereingriff, dadurch gekennzeichnet, dass die automatisierte Fahrfunktion auch dann deaktiviert wird, wenn der Fahrzeugnutzer (2) einen entsprechenden Sprachbefehl ausgibt. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die automatisierte Fahrfunktion deaktiviert wird, wenn der Fahrzeugnutzereingriff und die Ausgabe des Sprachbefehles gleichzeitig erfolgen. Vehicle (1) by a vehicle user intervention, characterized in that the automated driving function is also deactivated when the vehicle user (2) issues a corresponding voice command. Method according to Claim 1, characterized in that the automated driving function is deactivated if the vehicle user intervention and the output of the voice command take place at the same time.
PCT/EP2021/074493 2020-10-05 2021-09-06 Method for deactivating an automated driving function of a vehicle WO2022073705A1 (en)

Applications Claiming Priority (2)

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DE102020006089.7A DE102020006089A1 (en) 2020-10-05 2020-10-05 Method for deactivating an automated driving function of a vehicle
DE102020006089.7 2020-10-05

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014208638A1 (en) * 2014-05-08 2015-11-12 Continental Teves Ag & Co. Ohg Driver assistance system and method for automated logging of log data
DE102016007187A1 (en) 2015-12-19 2017-06-22 Daimler Ag Method for deactivating an automated driving function of a vehicle and driver assistance system for carrying out the method
WO2019000367A1 (en) * 2017-06-30 2019-01-03 Beijing Didi Infinity Technology And Development Co., Ltd. Systems and methods for switching driving mode of vehicle
US20200189612A1 (en) * 2018-12-17 2020-06-18 Continental Automotive Systems Inc. Automatic driver assistance system
DE102020003102A1 (en) * 2020-05-22 2020-07-09 Daimler Ag Method for verifying a gesture command and / or a voice command of a vehicle user

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014208638A1 (en) * 2014-05-08 2015-11-12 Continental Teves Ag & Co. Ohg Driver assistance system and method for automated logging of log data
DE102016007187A1 (en) 2015-12-19 2017-06-22 Daimler Ag Method for deactivating an automated driving function of a vehicle and driver assistance system for carrying out the method
WO2019000367A1 (en) * 2017-06-30 2019-01-03 Beijing Didi Infinity Technology And Development Co., Ltd. Systems and methods for switching driving mode of vehicle
US20200189612A1 (en) * 2018-12-17 2020-06-18 Continental Automotive Systems Inc. Automatic driver assistance system
DE102020003102A1 (en) * 2020-05-22 2020-07-09 Daimler Ag Method for verifying a gesture command and / or a voice command of a vehicle user

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