Processing device and method for situation-specific adaptation of an automated driving mode in a vehicle

Abstract

Method for situation-specific adaptation of an automated driving mode in a vehicle (100), wherein in a first step (S1) internal and external influencing factors (200; 300) affecting the driving behavior are recorded, in a second step (S2) the recorded influencing factors are processed and prioritized for evaluation, and in a third step (S3) a dynamic limit for the driving behavior (101) of the vehicle (100) is adjusted based on the evaluation, and in a fourth step (S4) the driving behavior of the vehicle is adjusted such that the dynamic limit is maintained, characterized in that - the dynamic limit includes a maximum number of permitted lane changes, and - external factors influencing driving behavior (300) include the current weather.

Description

[0001] The invention relates to a processing device for situation-specific adaptation of an automated driving mode in a vehicle according to the preamble of claim 1 and a corresponding method.

[0002] Automated vehicles—that is, partially automated, highly automated, fully automated, autonomous, and / or driverless vehicles—incorporate a wide variety of systems that the driver can adjust to achieve the most comfortable driving experience, both during manual driving and when relinquishing (at least partial) responsibility for driving to the vehicle. Different driving modes can be selected, such as Sport, Comfort, or ECO PRO mode, or individual settings can be configured via a driving experience switch, allowing for the greatest possible adaptation of the driving dynamics to the driver's preferences. Many vehicles also adapt their driving behavior based on driving dynamics, driving style, and / or navigation data. In the near future, vehicles will drive in a highly automated manner.In this mode, the driver can also configure how the vehicle dynamics should be, e.g. manually or based on a detection by the vehicle in combination with an individual preset or in another way.

[0003] Newer systems can also monitor the driver's condition; for example, a so-called drowsiness detection system uses eye movements and gaze to determine whether a driver appears tired and should take a break. Furthermore, driver assistance systems are already in production that analyze the driver's attention based on gaze analysis and issue warnings to increase the driver's focus.

[0004] US Patent 2016 / 0 264 131 A1 discloses an occupant monitoring system for a vehicle and a processing circuit associated with the occupant monitoring system. The occupant monitoring system is configured to acquire occupant data of a vehicle occupant. The processing circuit is configured to receive the occupant data; determine a vehicle operating command based on the occupant data, wherein the vehicle operating command is configured to influence the operation of the vehicle while the vehicle is in a robot driving mode; and deliver the vehicle operating command to a vehicle system.

[0005] DE 10 2015 015 283 A1 describes a device and a method for controlling the speed of a vehicle capable of transporting a large number of passengers. The device comprises at least one detector unit configured to recognize passenger data of one or more passengers of the vehicle and to generate a passenger data signal containing that data.The device further comprises a processing unit configured to receive the passenger data signal; to analyze the passenger data in order to determine passenger situation data indicating the passenger situation; to determine a maximum vehicle speed based on the passenger situation data and at least one rule that takes into account passenger safety and / or passenger comfort, and to send the maximum speed to a vehicle speed controller, limiting the vehicle speed accordingly.

[0006] DE 10 2015 210 782 A1 describes a means of transport, a driver assistance system, and a method for determining the cognitive workload of a driver of a means of transport. The method comprises the following steps: determining a first parameter for the driver's workload due to a driving situation, determining a second parameter for the driver's workload due to non-driving activities, detecting a deviation in the driver's driving behavior from a predefined driving behavior, and, based on the first parameter, the second parameter, and the deviating driving behavior, detecting an increased cognitive workload of the driver.

[0007] DE 10 2015 122 245 A1 discloses a method for operating a motor vehicle in which a state describing the degree of fatigue of a driver of the motor vehicle is determined by means of a condition monitoring device, wherein a motor vehicle component of the motor vehicle can be operated in a normal mode and in a different rest mode depending on the degree of fatigue, and in the rest mode a parameter characterizing the function of the motor vehicle component is changed with regard to the function perception felt by the driver.

[0008] German patent DE 10 2016 207 447 A1 describes a method and a device for occupant assistance in a vehicle. At least one psychophysiological parameter is determined based on at least one biosignal from a vehicle occupant, captured by a predefined sensor device. Depending on this parameter, at least one state value is determined, and the occupant receives at least one activity recommendation tailored to their state via a user interface. The vehicle is equipped with activatable devices that automatically adjust the environmental conditions in the passenger compartment according to the activity recommendation or an activity chosen by the occupant.

[0009] However, with known methods and systems, there is no sufficient situation-specific adaptation of the driving mode or driving behavior of the automated vehicle based on a combination of complex situations or conditions or an interplay thereof.

[0010] Therefore, it is an object of this invention to provide a processing device and a corresponding method and system in which these disadvantages are overcome. This object is achieved according to the invention by the features of the independent claims. Advantageous embodiments are the subject of the dependent claims.

[0011] A method is proposed for the situation-specific adaptation of an automated driving mode in a vehicle. In a first step, internal and external factors influencing driving behavior are recorded. In a second step, the recorded factors are processed and prioritized for evaluation. In a third step, a dynamic limit for the vehicle's driving behavior is adjusted based on this evaluation. Finally, in a fourth step, the vehicle's driving behavior is adjusted to ensure compliance with this dynamic limit. The dynamic limit includes the number of permitted lane changes. Furthermore, external factors influencing driving behavior include the current weather conditions.

[0012] In one version, the dynamic limit includes longitudinal dynamics and / or lateral dynamics and / or the distance to a vehicle ahead and is set by adjusting corresponding control variables.

[0013] In one interpretation, internal factors influencing driving behavior include the number and type of persons in the vehicle, and / or the level of attention of the driver, and / or the driver's engagement in a secondary activity, and / or the type of secondary activity the driver is engaged in, and / or the playing of music in the vehicle, and / or the type of music, and / or the tempo and / or volume of the music being played.

[0014] In one version, external factors influencing driving behavior include the current traffic situation.

[0015] In one interpretation, the secondary activity includes at least one of the following: sleeping, reading, talking on the phone, talking to other occupants of the vehicle, eating, drinking, putting on makeup, looking in the mirror, looking in a direction other than the traffic, a perceived inattention, comprehensive fatigue and / or yawning and / or slowed reactions.

[0016] Advantageously, the adjustment of the driving behavior is carried out in such a way that, when children are detected in the vehicle and / or predefined bad weather conditions are detected and / or a predefined attention threshold of the driver is detected based on the detected secondary activity and / or a predefined type and / or the speed and / or volume of music being played is detected, a low dynamic limit for the driving behavior is set.

[0017] Advantageously, the low dynamic limit includes a predefined longitudinal and / or lateral dynamics and / or a maximum permitted number of lane changes and / or a predefined minimum distance to a vehicle ahead.

[0018] A processing device is proposed that is designed to receive internal and external factors influencing driving behavior, to evaluate them by processing and prioritizing them, and to adapt the vehicle's driving behavior based on the evaluation, or to send signals to an implementation device to carry out the adaptation.

[0019] Furthermore, a system is proposed comprising at least one recording device designed to record internal and external factors influencing driving behavior, and at least one previously described processing device.

[0020] In one embodiment, the system further includes an implementation device which is configured to receive signals for adapting the vehicle's driving behavior from the processing device and to adapt the vehicle's driving behavior based on the received signals.

[0021] Furthermore, a vehicle is proposed that incorporates the described system.

[0022] While existing systems and procedures monitor individual situations or conditions, they do not consider and prioritize a combination of different influencing factors to achieve a correspondingly complex, situation-specific adaptation of the vehicle's driving behavior. This adaptation can take into account external influences such as weather and traffic, as well as internal factors such as the number and type of occupants (e.g., passengers, children, elderly people) and / or the driver's behavior (e.g., reading, sleeping, or using a mobile phone). To achieve improved driving performance, these influences can be prioritized, and based on this prioritization, one or more parameters can be individually adjusted to modify the vehicle's driving behavior.

[0023] Further features and advantages of the invention will become apparent from the following description of exemplary embodiments of the invention, with reference to the figures in the drawing, which shows details of the invention, and from the claims. The individual features can be implemented individually or in any combination in a variant of the invention.

[0024] Preferred embodiments of the invention are explained in more detail below with reference to the accompanying drawing. Fig. Figure 1 shows a schematic representation of important components for carrying out the method in a vehicle according to an embodiment of the present invention. Fig. Figure 2 shows a flowchart of the method according to one embodiment of the present invention.

[0025] In the following figure descriptions, identical elements or functions are marked with the same reference symbols.

[0026] Fig. Figure 1 shows a schematic representation of important components for carrying out the procedure in a vehicle 100. The sequence of the procedure is shown schematically in Fig. 2 shown.

[0027] The method and system described below are illustrated by an application in an automated vehicle 100, for example, a passenger car or a truck with appropriate equipment. Advantageously, the invention is used in at least highly automated vehicles 100, since more complex relationships exist between internal and external influencing factors 200 and 300. However, the invention can also be used in partially automated vehicles 100. Therefore, whenever a vehicle 100 or an automated vehicle 100 is mentioned below, it should always be understood as a vehicle 100 that is at least partially automated.

[0028] The invention focuses on the situation-specific adaptation of at least partially automated controlled variables 101 to adapt the driving behavior of a vehicle 100, i.e., the longitudinal and / or lateral dynamics and / or the number of permitted lane changes and / or a distance to the vehicle in front and other components or properties relating to the driving behavior for controlling or regulating the vehicle 100. Longitudinal dynamics is generally understood to mean longitudinal movement along the longitudinal axis, i.e., the change in the (stationary) position of the vehicle, and includes, for example, drive and brakes, driving resistance, fuel consumption, etc. Lateral dynamics is, in principle, understood to mean any lateral movement along the transverse axis, including steering, cornering, rollover stability, etc.

[0029] The following considers external influencing factors 300, such as the current weather and / or traffic situation, as well as internal influencing factors 200, such as the presence and type of secondary employment of the driver, whether children are in the vehicle, and whether, what kind, and how loud music is being played in the vehicle. However, further external and internal influencing factors 200 and 300, respectively, can be used to adapt the driving behavior, depending on what information can be provided and what information is relevant for deciding whether and how the driving behavior should be adapted. The aim of the invention is to establish an independent control system for the vehicle, based on external and internal influencing factors 200 and 300, to adapt the vehicle's driving behavior 100 after (manual or automatic) activation of the automated driving mode, in order to offer the driver a coherent overall experience.The adjustment is made via the control variables 101 already mentioned above as examples.

[0030] In Fig. Figure 1 schematically illustrates how a complete system for implementing the invention can be structured. For this purpose, a processing unit 10 is provided in a vehicle 100. The processing unit 10 can be implemented as a single control unit or it can be divided into several components, i.e., also further control units, which perform different tasks. The processing unit 10 can receive and process information, e.g., in the form of signals or data, transmitted by at least one detection unit 200 or 300. The processing unit 10 can be configured to process and prioritize the received information so that an evaluation is generated to determine whether and how the driving behavior of the vehicle 100 should be adjusted. Advantageously, a dynamic limit is defined for this purpose, so that the driving behavior can be adjusted accordingly by adapting the corresponding control variables 101.The evaluated data can then either be sent directly from the processing unit 10 to one or more units for adjusting the actuators 101 of the vehicle 100, or signals are sent to one or more implementation units 30, and the one or more implementation units 30 perform the adjustments or send corresponding signals to the one or more units for adjusting the actuators 101 for implementation.

[0031] The driver's condition, such as fatigue, inattention, etc., as well as environmental conditions like weather and traffic, whether and which persons are in the vehicle 100, whether and what secondary activities the driver is engaged in, whether and what music is being played and how loud it is, can be recorded by one or more corresponding detection devices 200 or 300 located in the vehicle. The corresponding classification of the aforementioned internal and external influencing factors 200 or 300 recorded by the detection devices 200 or 300 can be carried out in a known manner. The core of the proposed system or processing device 10 or the procedure is to use the recorded information to adjust the vehicle's controller 100 accordingly and to prioritize the influencing factors 200 or 300 so that the driving experience is as comfortable and safe as possible for the driver.

[0032] The following describes the procedure as it appears in Fig. 2 shown, described. In a first step S1, internal and external influencing factors 200 and 300 respectively affecting driving behavior are recorded.

[0033] As described above, internal factors influencing driving behavior include at least the number and type of persons in the vehicle, and / or the driver's level of attention, and / or the driver's engagement in any secondary activity, including the type of secondary activity, and / or the playing of music in the vehicle, and / or the type of music, and / or the tempo in beats per minute (bpm), and / or the volume of the music being played. External factors influencing driving behavior include at least the current weather and / or the current traffic situation.

[0034] The driver's level of attention can vary depending on their secondary activity. For example, a driver might be significantly more distracted by reading or sleeping than by talking on the phone, conversing with another passenger, or singing along to a song or listening to music. This can be detected and evaluated by systems installed in the vehicle. Alternatively, the evaluation can be based on predefined schemes, such as those stored in a lookup table. Furthermore, any number of other combinations of secondary activity and driver attention are conceivable, including factors related to the driver's current physical or emotional state, provided these can be measured or recorded.

[0035] In a second step S2, the recorded internal and external influencing factors 200 and 300 that affect driving behavior are processed and prioritized for evaluation.

[0036] Prioritization can vary depending on the vehicle and / or driver type. It can also be adjusted based on the nature of the secondary activity. For example, a higher priority and a lower dynamic threshold can be applied if the driver is asleep or talking to other passengers, perhaps even turning their seat towards them. Therefore, it becomes clear that prioritization can either be static, i.e., fixed and preset, or dynamically adjusted based on the behavior of the driver and / or passengers. This can be achieved through machine learning algorithms or presets based on trials and / or experience. In any case, no exhaustive list or combination of possible scenarios can be provided here, as these can change dynamically, and the proposed processing unit, system, and procedure can accommodate all possible combinations.

[0037] In a third step, S3, a dynamic limit for the vehicle's driving behavior (100) is adjusted based on the evaluation. In a fourth step, S4, the corresponding control variables (101) are then adjusted to comply with the dynamic limit, i.e., to keep the driving behavior within the limits of the dynamic limit. The dynamic limit thus defines a threshold up to which the control variables can be varied to maintain a specific driving behavior.

[0038] For example, a low dynamic limit means that all control variables 101 or combinations thereof are set or limited to values ​​that correspond to safer or safer driving behavior, e.g. longitudinal and / or lateral dynamics are restricted so that a skidding of the vehicle 100 is prevented as far as possible.

[0039] The permitted number of lane changes can also be reduced if, for example, the system detects that the road surface is icy or it is raining. Additionally, it can be set that the distance to a vehicle in front is greater than the prescribed distance or the distance normally maintained by the driver. Other parameters that influence driving behavior can also be adjusted accordingly, if necessary.

[0040] For example, it can be specified that the dynamic threshold is always set to a low level if it is detected that children or elderly people are in the vehicle. This means that the detection of children has the highest priority and no other detection can change the selected dynamic threshold.

[0041] The limit can also be set lower if the following influencing factors 200 and / or 300 have been recorded individually or in combination: - external influencing factors 300: the weather is bad, i.e., for example, there is snow or ice on the road, it is raining, or fog, rain or the sun impairs visibility, etc. - Internal influencing factors 200: the type of secondary activity of the driver, e.g. sleeping, reading, talking on the phone, talking to other occupants of the vehicle, eating, drinking, putting on makeup, looking in the mirror, looking in a direction other than the traffic situation, a detected inattention, comprehensive tiredness and / or yawning and / or slowed reactions; - Internal influencing factors 200: the type or volume of music being played, whereby the music classification can be based on the tempo (bpm) of the respective song, e.g., either via the interior microphone or in the audio system itself; as well as the genre of the song, which can be determined, e.g., via radio or the internet. With slower or quieter music, the driving mode can be adjusted accordingly, for example, in bad weather or when there are children in the vehicle, or set to a lower level. - Internal influencing factors 200: Individuals with predefined behaviors or characteristics, e.g., elderly people, sick people, anxious people. The characteristics or behavior of individuals can be recorded and determined using one or more recording devices 200.

[0042] Conversely, if it is detected that there are no children or persons with predefined behaviors or characteristics, as described above, in vehicle 100, that the weather conditions are classified as good, and that the type and volume of the music are classified accordingly, the dynamic limits can be increased. This means that, for example, with fast and aggressive music, the driving dynamic limits are set higher, i.e., more longitudinal and / or lateral dynamics are permitted, and / or more lane changes and a smaller distance to the vehicle in front are allowed.

[0043] The driving behavior is adjusted by modifying the longitudinal and / or lateral dynamics, the number of permitted lane changes, the distance to a vehicle ahead, and other possible parameters. These settings allow for the definition of a predefined dynamic limit, which can be set according to the detected internal and external influencing factors, as described above. The dynamic limit is further determined based on the prioritization of these internal and / or external influencing factors.

[0044] The proposed method, processing device, and system enable situation-specific adaptation of a vehicle's driving behavior across dynamic limits. Advantageously, the method is implemented as a computer program that can be executed on a processing device such as an electronic control unit (ECU).

Claims

[1] Method for situation-specific adaptation of an automated driving mode in a vehicle (100), wherein in a first step (S1) internal and external influencing factors (200; 300) affecting driving behavior are recorded, in a second step (S2) the recorded influencing factors are processed and prioritized for evaluation, and in a third step (S3) a dynamic limit for the driving behavior (101) of the vehicle (100) is adjusted based on the evaluation, and in a fourth step (S4) the driving behavior of the vehicle is adjusted in such a way that the dynamic limit is observed, characterized by , that - the dynamic limit includes a maximum number of permitted lane changes, and - external factors influencing driving behavior (300) include the current weather. [2] Method according to claim 1, wherein the dynamic limit includes the longitudinal dynamics and / or the lateral dynamics and / or the distance to a vehicle driving ahead and is set by adjusting appropriate control variables. [3] Method according to any of the preceding claims, wherein internal factors influencing driving behavior (200) include the number and type of persons in the vehicle, and / or the degree of attention of the driver, and / or the driver's pursuit of a secondary activity, and / or the type of secondary activity pursued by the driver, and / or the playing of music in the vehicle and / or the type of music and / or the tempo and / or volume of the music played, and / or external factors influencing driving behavior (300) include the current traffic situation. [4] Method according to claim 3, wherein the secondary activity includes at least one of the following: sleeping, reading, talking on the telephone, talking to other occupants of the vehicle, eating, drinking, putting on makeup, looking in the mirror, looking in a direction other than the traffic, a detected inattention, including tiredness and / or yawning and / or slowed reactions. [5] Method according to claim 3 or 4, wherein the adjustment of the driving behavior is carried out such that, upon detection of children in the vehicle and / or detection of predefined adverse weather conditions and / or detection of a fall below a predefined attention threshold of the driver based on the detected secondary activity and / or detection of a predefined type and / or the speed and / or volume of music being played, a low dynamic limit for the driving behavior is set. [6] Method according to claim 5, wherein the low dynamic limit comprises a predefined longitudinal and / or lateral dynamic and / or a maximum allowed number of lane changes and / or a predefined minimum distance to a vehicle ahead. [7] Processing device (10) designed to receive internal driving behavior influencing factors (200) and external driving behavior influencing factors (300), to evaluate them by processing and prioritizing them, and - to adjust a dynamic limit for the driving behavior of the vehicle (100) based on the evaluation according to the method according to one of the preceding claims, or - To send signals for adapting the driving behavior of the vehicle to an implementation device for carrying out the adaptation according to the method according to one of the preceding claims. [8] System comprising at least one detection device (200, 300) configured to detect internal factors influencing driving behavior (200) and external factors influencing driving behavior (300), and at least one processing device (10) according to claim 7. [9] System according to claim 8, wherein the system further comprises an implementation device (30) which is configured to receive signals for adapting the driving behavior of the vehicle (100) from the processing device (10) and to adjust the dynamic limit for the driving behavior of the vehicle (100) based on the received signals. [10] Vehicle (100) comprising the system according to claim 8 or 9.

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