METHOD FOR STEERING A VEHICLE WITH AN AUTOMATIC OPERATING MODE AND VEHICLE WITH AN AUTOMATIC OPERATING MODE

Description

[0001] The present invention relates to a method for steering a vehicle with an automatic operating mode. It further relates to a vehicle with an automatic operating mode.

[0002] The automatic control of vehicles, especially automated steering, allows for significant improvements in driving comfort and passenger safety. Partially or fully automated steering allows the driver to delegate strenuous driving tasks, making the journey less tiring, and in a highly automated vehicle, the time spent in the vehicle can be used to perform other tasks.

[0003] Handing over manual control of the vehicle to automated systems is often accompanied by a feeling of uncertainty about the system's correct functioning. Drivers who are accustomed to manually controlling the vehicle, in particular, feel at the mercy of the automated control system and therefore unsafe. A key reason for this is that a large portion of the control processes are invisible to the user and difficult to understand.

[0004] In the method described in DE 10 2015 210 887 A1 for displaying acceleration in a vehicle, the acceleration is detected and lighting is generated in the vehicle interior in such a way that a lighting parameter is used to output the detected acceleration. In particular, a running light is used.

[0005] DE 10 2014 216 105 A1 describes a motor vehicle steering wheel that does not rotate during autonomous cornering and provides an indication of the vehicle's steering angle via a scale display provided in the steering wheel rim. Furthermore, the steering angle is displayed in either an exaggerated or reduced manner depending on the vehicle's speed.

[0006] WO 2015 / 049254 A2 relates to a method for a driver assistance system of a vehicle, in which an autopilot function of the driver assistance system can be activated and deactivated. To do this, the driver can move the vehicle's steering wheel away from or toward themselves. These steering wheel movements are detected and used to activate or deactivate the autopilot function.

[0007] Finally, US 2016 / 375925 A1 describes a steering assembly with a steering wheel, a steering gear, and a sensor assembly. The steering wheel is connected to a steering column, with the steering wheel and steering column being movable between an extended position and a retracted position. The extended position corresponds to a position in which a driver of the vehicle can make a steering input via the steering wheel, whereas the retracted position corresponds to a position in which the driver of the vehicle does not have to make any steering input via the steering wheel. In this case, an autonomous driving-assisted steering system is activated.

[0008] The present invention is based on the object of providing a method and a vehicle of the type mentioned above which enable automated driving, while at the same time information about the operation and function of the automated steering is output in a quick and intuitive manner.

[0009] According to the invention, this object is achieved by a method having the features of claim 1 and a vehicle having the features of claim 10. Advantageous embodiments and further developments emerge from the dependent claims.

[0010] In the method according to the invention of the type mentioned above, a steering angle for a steering device of the vehicle is automatically determined and implemented by the steering device. Based on the automatically determined steering angle, a value of an output parameter is determined, and the value of the output parameter is output by an output device using a lighting effect.

[0011] This advantageously provides easily perceptible feedback for an automatic function of the vehicle's steering.

[0012] For the purposes of the invention, "steering" refers to controlling the movement of the vehicle in the transverse direction, i.e., guiding the vehicle in a direction transverse to the direction of travel, in particular to the right or left. In this case, the angle of the wheel axis relative to the longitudinal axis of the vehicle is controlled by means of a steering device of the vehicle, and the direction of travel is also adjusted. For this purpose, it is customary to provide a steering wheel as an input device that can be rotated and based on whose position a specific steering angle of the wheels is set. This can be achieved by means of a mechanical coupling between the rotatably mounted steering wheel and the vehicle's steering device or by means of another coupling. For example, a rotation of the steering wheel can generate control signals for electric motors, which then cause a corresponding adjustment of the angle of the wheels.Furthermore, the steering angle can be entered in other ways, such as using a joystick or control stick.

[0013] When the vehicle is steered automatically, the desired steering angle is calculated and implemented by the steering device. This happens automatically in a conventional manner, i.e. without a specific steering angle being specified by the user. For example, sensors in the vehicle can collect data about the environment and use this data to determine the steering angle, for example to guide the vehicle along a specific lane. The steering angle determined in this way can then be implemented by the steering device. Furthermore, the steering angle can be determined using sensors that record the position of the vehicle's wheels relative to the vehicle's longitudinal axis. Depending on the steering device used, different angles can be provided for the wheels, with a value of a common, specific steering angle being determined.Alternatively or additionally, it can be provided that an acceleration, in particular a lateral acceleration of the vehicle, is determined and taken into account when determining the value of the output parameter.

[0014] The implementation of the steering angle by the steering device also takes place in a manner known per se, with various designs and methods being known.

[0015] The output parameter can be calculated in different ways based on the steering angle. The value of the output parameter can, for example, include the steering angle, be proportional to it, or be calculated in a linear or non-linear manner based on the steering angle. In particular, the value of the output parameter includes information about the magnitude and / or direction of the steering angle.

[0016] In one embodiment of the method according to the invention, the lighting effect comprises a spatial distribution of a light parameter. The lighting effect is thus generated in a particularly easily perceptible manner.

[0017] The generation and output of the output parameter by the light effect can occur in various, known ways. For the purposes of the invention, a "light effect" refers to a controllable light emission. Such a light emission can be generated in various ways, for example, using light-emitting diodes (LEDs, OLEDs), a liquid crystal display (LCD, TFT), incandescent lamps, a projection device, or other means for generating a light emission. Furthermore, the light effect can be modified by means for shaping a passive light emission, such as by scattering or reflection.

[0018] Furthermore, a plurality of light sources, such as light-emitting diodes, can be arranged next to or behind one another, whereby a line of light can be formed, for example, along an open or closed annular surface. Furthermore, the lighting effect can be created by means of indirect light emission from a surface, for example by one or more light sources being arranged in a way that is concealed from a typical observer and illuminating a surface so that the observer does not look directly at the light source or a ground glass screen arranged in front of it, but rather the light emission is directed towards the observer by reflection and scattering. The lighting effect can also be created by means of a display, i.e. by means of a matrix of individual pixels that can be controlled as separate light sources.

[0019] The light emission is, in particular, formed in a time-varying manner. This means that the light emission is variable, whereby light parameters such as intensity distribution, contrast, color design, spatial distribution, and / or dynamic change can be formed in different ways depending on time. The time-dependent change can, in particular, occur synchronously with a change in the output parameter.

[0020] For example, the output device can be configured such that a local maximum or minimum of a light parameter can be formed at a specific position. Such a local extremum, for example of brightness, can further be configured such that its position changes over time, i.e., a movement of the maximum or minimum is represented. Furthermore, a broadening or contraction of a light distribution can be represented, for example, by a gradient in the vicinity of a local extremum of a light distribution decreasing over time (broadening of the distribution at the position of the extremum) or increasing (sharper delimitation of the extremum). The change in the light distribution can occur symmetrically or asymmetrically.

[0021] Furthermore, a light distribution can be designed as a distribution of points or spots of varying size and brightness, for example, by creating a representation of luminous particles. This can also be achieved in a conventional manner, for example, using a backlit screen whose light transmittance varies in different areas. Backlighting with multiple light sources can, in this case, create a change in the location of the brightness distribution, in which light points appear to move.

[0022] The value of the output parameter is output based on the lighting effect, i.e., information about the value of the output parameter can be captured based on the lighting effect. This can be achieved in different ways using suitable parameterization of the lighting effect. The parameterization is based on a relationship between the output parameter and the lighting effect, for example, by forming a parameter of the lighting effect that is proportional to, or in linear or non-linear dependence on, the value of the output parameter. The value of the output parameter can be output alternatively or additionally by the lighting effect including a speed of a change in the light distribution, such as a speed of movement of a local maximum in the light distribution.

[0023] In one embodiment of the invention, the lighting effect has a display angle, and the value of the output parameter is output based on the display angle. For example, the display angle can be functionally related to the steering angle. For example, the lighting effect has an intensity maximum at the display angle, which changes according to the steering angle. By using a display angle as a parameter of the lighting effect, a particularly simple and intuitive mental connection with the steering angle during the steering process can advantageously be established.

[0024] The lighting effect can, for example, be generated in such a way that its position can be parameterized based on the display angle. It can, for example, have a position of a local extremum of its light distribution along a ring-shaped light line or a ring-shaped row of light sources, where the position can be parameterized based on an angle starting from a center of the ring.

[0025] Furthermore, a temporal change in the display angle can be used as a parameter of the lighting effect to output the value of the output parameter, for example by displaying a faster change in the display angle the larger the steering angle relative to the longitudinal axis of the vehicle.

[0026] According to another embodiment of the method according to the invention, the lighting effect does not comprise a change in the spatial distribution of a light parameter, but rather a different change in the light parameter. For example, the brightness, the color, and / or another static light parameter can change depending on the value of the output parameter. An increase in the steering angle is represented in this case by greater brightness in the light emission and / or a different color of the light emission. For example, a steering angle of zero degrees can be represented by a blue light emission. The further the steering angle is increased, the further the spectrum of the light emission shifts towards a red light emission. Alternatively or additionally, at a steering angle of zero degrees, only light with a very low intensity can be emitted.If the steering angle increases, the light intensity of the light emission increases in accordance with the increase in the steering angle.

[0027] According to a further embodiment, the light effect can be a flashing light, wherein the flashing frequency depends on the steering angle.

[0028] According to the invention, a manual operating mode can also be activated, wherein, when the manual operating mode is activated, an actual degree of adjustment of an input device is converted into the steering angle of the steering device. This enables intuitive manual operation of the control. In particular, the actual degree of adjustment and the steering angle are in a proportional, linear, or non-linear relationship to one another.

[0029] The input device can be adjusted mechanically, with adjustment by one degree of freedom being provided in particular. The degree of adjustment is determined depending on the type of input device. If the input device is designed as a steering wheel, the degree of adjustment is a rotation angle, whereas with a joystick or control stick, a deflection of the control element in a specific direction is recorded as the degree of adjustment.

[0030] For example, in order to convert the degree of adjustment of a steering wheel into the steering angle of the steering device, a transformation is carried out by which the angle of rotation of the steering wheel is assigned a position of the wheels relative to the longitudinal axis of the vehicle.

[0031] In one embodiment, the output device is arranged on the input device. In particular, the output device is fixedly connected to the input device. Furthermore, the output device can be arranged on an element of the input device that moves when the actual degree of adjustment of the input device is adjusted.

[0032] For example, the output device is attached to a steering wheel or integrated into the steering wheel. For example, the output device can be designed as a circumferential line of light on the edge of the steering wheel or as an at least partially closed ring. Furthermore, in this example, the output device can be arranged as a display on the steering wheel, i.e., on the side of the steering wheel facing the driver of the vehicle.

[0033] In a further embodiment, when the automatic operating mode is activated, a calculated degree of adjustment is determined based on the determined steering angle, whereby the actual degree of adjustment corresponding to the automatically determined steering angle is determined. This advantageously allows the output of the light effect to be generated in such a way that an actual adjustment of the input device is represented.

[0034] In a further development, the calculated degree of adjustment is output through the light effect. This advantageously achieves a particularly easy-to-understand output of the relationship between the degree of adjustment and the value of the output parameter.

[0035] In a further embodiment, the actual degree of adjustment includes a rotation angle. This makes it particularly easy to display the output parameter using the display angle of the light effect.

[0036] For example, if the input device is a steering wheel, the degree of adjustment corresponds to the steering wheel's rotation angle. In manual mode, the actual degree of adjustment, i.e., the actual rotation angle of the steering wheel, is converted into the steering angle. In automatic mode, this process can be reversed; the actual degree of adjustment can be determined based on the automatically determined steering angle; for example, the steering wheel is rotated along with the steering angle. This signals to the vehicle occupants which interventions are being performed by the automatic control system, for example, by rotating the steering wheel more sharply the larger the steering angle.

[0037] In the automatic operating mode, the movement of the steering wheel can also be decoupled from the actual steering angle of the steering device, in particular by the steering wheel not moving in dependence on the steering angle. The steering wheel can, for example, remain in a neutral position. Using the method according to the invention, the value of the output parameter, in particular a measure of the steering angle, can now be output through the light effect, instead of an actual change in the degree of adjustment.

[0038] For example, it can be provided that in the automatic operating mode, a steering wheel remains in a specific position and at a specific, in particular a neutral, degree of adjustment, while the value of the output parameter is output by an output device arranged on the steering wheel. The neutral degree of adjustment refers in particular to the degree of adjustment at which straight-ahead driving would be carried out in the manual operating mode. For example, the lighting effect can be generated such that a local extremum of a light distribution is generated relative to an axis of the steering wheel at an angle that is formed depending on the steering angle.

[0039] In particular, it determines how the input device would need to be adjusted, for example, by what angle the steering wheel would need to be turned to generate the calculated steering angle. For example, it determines how far the steering wheel would need to be turned to achieve the same steering angle in manual mode as is currently determined in automatic mode. This angle is then output using the lighting effect based on the value of the output parameter.

[0040] In a further development, the input device can be moved between a rest position and an operating position when the automatic operating mode is activated. In particular, the movement can occur during a transition between the automatic and manual operating modes. This advantageously enables particularly efficient use of the vehicle in the automatic operating mode.

[0041] For example, a steering wheel can be moved to a rest position when the automatic operating mode is activated, where it takes up less space in the vehicle interior. Conversely, it can be moved to an operating position when switching to manual operating mode. In the rest position, the steering wheel can, for example, be locked into place and / or used to place or attach objects, such as a mobile phone or tablet PC. Furthermore, more space can be available for the driver's movements in rest mode, while the input device takes up more space in operating mode.

[0042] In one embodiment, an operating action is detected, and the input device is moved depending on the detected operating action. This advantageously allows the user to easily initiate the movement of the input device between the rest position and the operating position.

[0043] For example, it can be provided that the operating action includes actuating a specific operating element, such as tapping a switching element or actuating a switch. It can also be provided that the operating action generates a transition from manual to automatic operating mode or from automatic to manual operating mode.

[0044] According to the invention, a transition animation is generated and output by the output device when switching between the automatic and manual operating modes. This advantageously provides an easily comprehensible representation of the fact that a switch between the operating modes is taking place. According to the invention, the transition animation is generated when switching between the operating modes in such a way that a light effect spreads out from the position where the user's hand touched or last touched the steering device, or is contracted at this position.

[0045] The transition animation can be designed in different ways. For example, the transition animation can comprise a change in the light distribution of the output device, in which a transition is output from a light distribution in manual operating mode to a distribution with the light effect according to the invention. For example, a propagation of a light pulse from a specific position across the entire output device can be displayed.

[0046] In a further development, the user's approach to the input device is detected, and the automatic or manual operating mode is activated depending on the detected approach. This advantageously makes switching between the operating modes particularly easy.

[0047] For example, the manual operating mode can be activated when a user touches, approaches, and / or reaches for the input device, i.e., in particular, the steering wheel. Conversely, the automatic operating mode can be activated when a user moves away from the input device, i.e., in particular, when the user releases the steering wheel and / or moves away from it.

[0048] Proximity detection occurs in a conventional manner, for example, using capacitive sensors, detection radiation reflected from a user's hand, or other methods. This can detect whether and how the input device is touched, or whether and in what spatial area the user is located in the vicinity of the input device.

[0049] Furthermore, it can be taken into account at which position the user, i.e. in particular a hand of the user, is detected relative to the input device.

[0050] This development of the invention enables an automatic transition from manual to automatic operating mode when the driver releases and / or moves away from the input device. Conversely, the manual operating mode can be automatically activated, and the user can resume manual control by approaching or touching the input device.

[0051] In particular, it can be provided that in the manual operating mode, no light distribution or a uniform light distribution is generated by the output device, and that during the transition to the automatic operating mode, an uneven light distribution is generated by the lighting effect. In this case, the transition animation can include a transition to the uneven light distribution of the automatic operating mode.

[0052] The transition animation can further comprise further means for generating a light distribution in the vehicle, in particular a device for generating interior lighting. This can comprise, for example, a light bar arranged in the interior of the vehicle, for example in the area of ​​the dashboard and / or on the side of the vehicle. In a further example, it can be provided that the light bars also output information about an acceleration of the vehicle, in particular about a lateral acceleration of the vehicle. This can support the output of the value of the output parameter, which is formed as a function of the steering angle, since the lateral acceleration acting on the vehicle is changed by adjusting the steering angle of the steering device when cornering.

[0053] The vehicle according to the invention with an automatic operating mode comprises a control unit by which a steering angle for a steering device of the vehicle can be automatically determined, wherein the steering angle can be implemented by the steering device, and a determination unit by which a value of an output parameter can be determined based on the automatically determined steering angle. It also comprises an output device by which the value of the output parameter can be output by means of a lighting effect and, furthermore, a manual operating mode can be activated. The vehicle further comprises an input device, wherein, when the manual operating mode is activated, an actual degree of adjustment of the input device can be implemented as the steering angle of the steering device, and when switching between the automatic and manual operating modes, a transition animation can be generated and output by the output device.When changing between the operating modes, the transition animation can be generated in such a way that a light effect spreads out from the position at which the user's hand touches or last touched the steering device or is contracted at that position.

[0054] The vehicle according to the invention is particularly designed to implement the above-described method according to the invention. The vehicle thus has the same advantages as the method according to the invention.

[0055] In one embodiment of the vehicle according to the invention, the output device comprises a plurality of adjacent light sources, wherein the light sources emit light to create the lighting effect. The lighting effect is generated by successively varying a light parameter of the light emitted by individual adjacent light sources or by groups of adjacent light sources. This advantageously allows the output device to be configured as a running light and / or by means of light distribution along a row of adjacent light sources.

[0056] In a further embodiment, a manual operating mode can be activated, and the vehicle further comprises an input device. When the manual operating mode is activated, an actual degree of adjustment of the input device can be implemented as a steering angle of the steering device. The input device is advantageously designed as a steering wheel, wherein the actual degree of adjustment can be determined based on a rotation angle of the steering wheel.

[0057] In a further development, the output device is arranged on the input device. In particular, the output device is arranged directly on or on a surface of the input device, which moves when the actual degree of adjustment of the input device is changed. The output device is arranged, for example, on a steering wheel or mechanically connected to it.

[0058] In a further embodiment, the input device has a proximity detection device by which a user's approach to the input device can be detected, and the automatic or manual operating mode can be activated depending on the detected approach. In particular, a position of the user, in particular a hand of the user, relative to the input device can be determined. This makes it possible to implement an automatic transition between a manual and the automatic operating mode.

[0059] The invention will now be explained using embodiments with reference to the drawings. Figure 1 shows an embodiment of the vehicle according to the invention, Figures 2A to 2C show a first embodiment of the method according to the invention and Figures 3 to 14 show a second embodiment of the method according to the invention.

[0060] With reference to Figure 1 an embodiment of the vehicle according to the invention is explained.

[0061] A vehicle 1 comprises a control unit 2, which in turn comprises a detection unit 6. A steering device 3, an input device 4, a steering wheel 4 in the illustrated embodiment, and an output device 5, a light strip 5 in the illustrated embodiment, are coupled to the control unit 2.

[0062] In the exemplary embodiment, the light strip 5 is arranged on the steering wheel 4; in particular, it runs essentially parallel to the circumference of the steering wheel 4 in an open ring shape. Furthermore, in the exemplary embodiment, the steering wheel 4 comprises a proximity detection unit 4a, which can detect whether and at what position a user, in particular a user's hand, approaches the steering wheel 4 and / or whether and at what position a user touches the steering wheel 4.

[0063] In further embodiments, the light strip 5 is designed as a completely circumferential ring parallel to the circumference of the steering wheel 4. Furthermore, the light strip can be designed as a display, using an LCD or incandescent lamps, or in other ways.

[0064] According to the invention, vehicle 1 can be operated in an automatic operating mode. Furthermore, a manual operating mode can be activated in the exemplary embodiment. The various operating modes are activated in a conventional manner, in particular based on user input or automatically.

[0065] When the manual operating mode is activated, a user, in particular the driver of the vehicle 1, can input a steering angle by means of the input device 4, i.e. the steering wheel 4, which is implemented by the steering device 3 of the vehicle 1.

[0066] When implementing the steering angle, the wheels of the vehicle 1 are adjusted by the steering device 3 so that their axles have a specific angle relative to a longitudinal axis of the vehicle 1, so that the lateral steering of the vehicle 1 can be adjusted. In particular, the direction of travel of the vehicle 1 can be changed in this way.

[0067] When the automatic operating mode is activated, the steering angle is determined automatically. This occurs in a conventional manner, for example, based on data acquired by sensors of vehicle 1 and processed by control unit 2 to determine a target trajectory of vehicle 1 and calculate the steering angle required to achieve the target trajectory. In this case, the lateral control of vehicle 1 occurs automatically.

[0068] Furthermore, further operating modes can be provided which provide at least partially automatic control, for example a lane keeping assistant which only intervenes in the lateral control of the vehicle 1 when the vehicle 1 threatens to leave a predetermined lane, or an overtaking assistant which supports the driver of the vehicle 1 during overtaking maneuvers.

[0069] With reference to the Figures 1 and 2A to 2C, a first embodiment of the method according to the invention is explained. In particular, the method described above with reference to Figure 1 explained embodiment of the vehicle according to the invention.

[0070] In the method, in the automatic operating mode of the vehicle 1, a steering angle for the steering device 3 of the vehicle 1 is automatically determined and implemented by the steering device 3. Based on the steering angle, a value of an output parameter is determined, which is then output by an output device 5, in the example by the light strip 5. To output the value of the output parameter, a light effect 7 is generated. The value of the output parameter can be formed based on various variables. In particular, it comprises a measure of the specific steering angle. For example, the value can be proportional to the steering angle or have a linear or non-linear dependence on the steering angle.

[0071] Figure 2Ashows a steering wheel 4, which has a circular circumference in a manner known per se and is mounted so as to be rotatable about the center of the circular shape. A rotation of the steering wheel 4 is characterized by a degree of adjustment, which corresponds to a rotation angle α of the steering wheel 4. In the Figure 2A In the case shown, the steering wheel is in a neutral position 10, corresponding to a rotation angle α of 0.

[0072] Furthermore, a luminous strip 5 is arranged on the steering wheel 4. In the exemplary embodiment, the luminous strip 5 is integrated into the steering wheel 4, i.e., when the steering wheel 4 is rotated, the luminous strip 5 also rotates to the same extent. In the exemplary embodiment, the luminous strip 5 comprises light-emitting diodes (LEDs, OLEDs) arranged in a row, above which a diffuser layer is arranged. A viewer looking at the surface of the luminous strip 5 cannot therefore see the light emissions generated by the individual light-emitting diodes of the luminous writing 5 individually and directly; instead, the light emission is scattered by the diffuser layer. In this way, the individual light-emitting diodes are not directly visible, but rather a luminous strip is formed, wherein the spatial distribution of the light emission along the luminous strip 5 can be designed in various, conventional ways.

[0073] In the Figure 2BIn the illustrated case, the steering wheel 4 is shown rotated by the angle of rotation α. ​​In the exemplary embodiment, the angle of rotation α is the angle formed by an axis of symmetry of the steering wheel 4 in the neutral position 10 with the axis of symmetry of the rotated steering wheel 4 in the turned position 11.

[0074] If the manual operating mode is activated, the steering wheel 4 is rotated manually by the driver of the vehicle 1. The driver therefore determines the steering angle and thus the lateral steering of the vehicle 1 by turning the steering wheel 4. If, however, the automatic operating mode is activated, the steering angle is determined automatically and implemented by the steering device 3 of the vehicle 1. In this case, the rotation of the steering wheel 4 by the angle α is carried out automatically, in particular by means of a motor, and serves as feedback for the user of the vehicle 1.

[0075] In particular, in the automatic operating mode, the steering angle is first determined, and then the rotation angle α of the steering wheel 4 corresponding to this steering angle is calculated. The steering wheel 4 is then rotated by this calculated rotation angle α. In further exemplary embodiments, it can be provided that the automatic rotation of the steering wheel by a rotation angle α occurs in a different manner, for example, by generating a smaller or greater rotation of the steering wheel 4 in the automatic operating mode than would be the case with a manual rotation in the manual operating mode.

[0076] In the Figure 2C In the case shown, the automatic operating mode of vehicle 1 is activated and the lateral control of vehicle 1 is based on a calculated steering angle. Based on this steering angle, the angle of rotation α for the steering wheel 4 is calculated. Unlike in the case shown in Figure 2BIn the case shown, however, it is not the steering wheel 4 that is rotated, but rather a light effect 7 is generated, through which the angle of rotation α is output. This occurs because the light effect 7 is generated at a specific position along the light strip 5, wherein this position is determined such that it corresponds to a deflection by the angle of rotation α starting from the neutral position 10. This means that the light effect 7 has a display angle that corresponds to the (calculated) angle of rotation α. ​​In particular, the position of the light effect 7 on the light strip 5 of the steering wheel 4 corresponds to the intersection point between the course of the light strip 5 and a line that corresponds to the hypothetical axis of symmetry of the steering wheel 4 during a rotation by the calculated angle of rotation α.

[0077] The light effect 7 is generated in a manner known per se. For example, a light distribution is generated along the light strip 5, wherein the light distribution has a non-uniform light emission along the extension direction of the writing 5. The light distribution relates, for example, to the intensity, the color, or another parameter of the light emission. Furthermore, the light distribution can relate to a dynamic parameter, for example a flashing speed or a periodic change in another light parameter. The light distribution is generated such that a specific position of a light effect 7 can be detected. Such a position can be detected, for example, based on a local extremum of the light distribution for a specific light parameter, for example, based on a local brightness maximum or minimum.In further embodiments, several positions of the light effect 7 can be detected, for example by generating several local extrema or by displaying several light points.

[0078] In further embodiments, the position at which the light effect 7 is generated can be determined in a different way. For example, it can be provided that, depending on the steering angle, no static light effect 7 is generated at a fixed position of the light strip 5, but rather that the light effect 7 moves even at a fixed steering angle, with the movement occurring more rapidly the larger the steering angle. In this case, the direction of the angle of rotation can be output by the movement of the light effect 7, and based on the movement speed of the light effect 7, the magnitude of the steering angle can also be output.

[0079] In further embodiments, the light effect 7 extends across the entire light strip 5 or across another illuminated area. In this case, the steering angle is not output by locally outputting the light effect in a different position. Rather, the light intensity and / or the color of the light emission of the light strip 5 or the illuminated area changes with a changing steering angle. The greater the steering angle, the brighter the illuminated area shines or the more the spectrum of the light emission shifts toward a specific color, for example, into the red spectral range.

[0080] With reference to the Figures 3 to 14 A second exemplary embodiment of the method according to the invention is explained. This is based in particular on the exemplary embodiment of the vehicle according to the invention explained above with reference to FIG.

[0081] In the Figure 3In the case shown, the manual operating mode of the vehicle 1 is activated. The driver of the vehicle 1 operates the steering wheel 4 with his hands 9 and can influence the lateral steering of the vehicle 1, in particular by turning the steering wheel 4. Furthermore, an interior lighting 8 is arranged on the dashboard of the vehicle 1, which extends transversely along the dashboard and has a light bar. Luminous particles can be displayed within this light bar, whereby this display takes place in a manner known per se and can be formed differently in further exemplary embodiments, for example by means of a display or a row of light-emitting diodes or other light sources.

[0082] In this exemplary embodiment, the steering wheel 4 is not round, but rectangular with rounded corners. The input device can be designed differently in further exemplary embodiments, whereby in principle any shape of the steering wheel 4 is possible. In this exemplary embodiment, a logo 12, which is designed as a button 12, is also arranged on the side of the steering wheel 4 facing the driver. This means that the button 12 is operable and can be activated, for example, by touch. Based on a touch detected in this way, a function can be executed, as described in detail below.

[0083] In the Figure 4In the case shown, a handover scenario is presented. Here, the driver of the vehicle 1 transfers control to an automatic system, i.e., starting from the manual operating mode, the automatic operating mode of the vehicle 1 is activated. This occurs when the driver releases the steering wheel 4. The proximity detection unit 4a, which is integrated into the steering wheel 4 in the exemplary embodiment, detects that a touch of the steering wheel 4, as in Figure 3 shown, is released and that the user's hands 9 move away from the steering wheel 4. The positions at which the hands 9 are arranged relative to the steering wheel 4 are also recorded.

[0084] A transition animation is generated, signaling the transition from the manual operating mode to the automatic operating mode. In the exemplary embodiment, the steering wheel 4 has a device for generating a light effect 7, which is arranged concealed and runs parallel within the circumference of the steering wheel 4. Light emission is generated and becomes indirectly visible on the surface of the steering wheel 4. The light effect 7 can be detected using a light distribution that includes local extremes assigned to a specific position and marking this position. In the example shown, these local extremes are maxima of the brightness of the emitted light.

[0085] In the exemplary embodiment, the lighting effect is generated such that the positions on the handlebar 4 marked by the lighting effect 7 correspond to the positions of the last contact by the user's hands 9. This means that a lighting effect 7 is displayed in which the maximum light intensity occurs where the hands 9 last touched the steering wheel 4. This makes it clear that control is transferred from the user's hands 9 to the vehicle 1.

[0086] In the Figure 5 In the case shown, a further, subsequent step of the handover animation is shown, whereby the light effect 7 changes in such a way that a widening of the Figure 4 shown extremes of the light distribution, wherein the light distribution spreads over the entire circumference of the steering wheel 4. In particular, the widening occurs to the same extent as the hands 9 move away from the steering wheel.

[0087] In the Figure 6 In the case shown, the light distribution of the light effect 7 ultimately widens to such an extent that a closed ring parallel to the circumference of the steering wheel 4 is shown on the steering wheel 4. Furthermore, a spread of the light effect 7 to the interior lighting 8 is shown, with differently colored areas of the light emission moving along the interior lighting 8.

[0088] In the embodiment, the Figure 4 In the case shown, a light effect 7 with maxima of the light distribution, which are located at the user's hands. These maxima broaden and pass through the Figure 5 stage shown, finally reaching the stage shown in Figure 6 case shown to the interior lighting 8. In further embodiments, the light effect 7 can be formed in a different way and a different way of propagation can also be shown.

[0089] In the Figure 6 In the case illustrated, automatic steering of the vehicle 1 is provided. In this case, a rotation angle is set for the steering wheel 4 as a function of the steering angle, i.e., the steering wheel rotates to the extent that the automatically determined steering angle changes. The rotation of the steering wheel 4 occurs, in particular, in such a way that it corresponds to the rotation that would be necessary for the same steering in manual operating mode. In further exemplary embodiments, the steering wheel can be rotated in a different manner, for example, more strongly or less strongly, slower or faster than would be necessary in manual operating mode.

[0090] In the Figure 7In the case shown, the user touches the logo 12 arranged on the steering wheel 4, which is designed as a button 12, with his hand 9. This actuates the button 12 and generates a control signal. The steering wheel 4 is moved toward the dashboard, where it finally locks into place. This means that a transition takes place from an operating position in which the steering wheel 4 can rotate or be rotated, to a rest position in which the steering wheel does not move.

[0091] The arrangement of the steering wheel 4 in the rest position is in Figure 8 shown. In this case, the steering wheel 4 is no longer rotated depending on the steering angle, but remains in a neutral position. The steering wheel 4 can now be used for other purposes, for example, as a table or as a support for a mobile phone or tablet computer.

[0092] Figure 9shows a case in which the steering wheel 4 is in the rest position. Since no rotation of the steering wheel 4 is provided here to indicate the adjustment of the steering angle to a user, the light effect 7 is generated such that this rotation by a specific angle of rotation is output in a different way. For this purpose, the light distribution in the area of ​​the steering wheel 4 is formed such that local extremes are formed, in the illustrated embodiment, two opposite maximum illumination intensities. These extremes move along the circumference of the steering wheel 4 depending on the changed steering angle in a manner that corresponds to a rotation of the steering wheel by which the respectively automatically determined steering angle would be achieved. This means that if a rotation of the steering wheel 4 by a specific angle of rotation were necessary to manually adjust the steering angle, the light effect 7 is output at this angle on the steering wheel 4 in the rest position.

[0093] Furthermore, further data can be output based on the light distribution on the steering wheel 4 and by the interior lighting 8. For example, it can be determined whether a change in direction is planned during automatic driving. Depending on the planned change, a lighting effect 7 can be generated for the steering wheel 4 and / or the interior lighting 8 in order to output the corresponding planned steering angle. This can also be achieved through a color design; for example, a color of a lighting effect 7 indicating a planned change in direction can change depending on the distance of the vehicle 1 from the location of the planned change in direction, such as an intersection.

[0094] Figure 10shows a case in which the steering wheel 4 is in the rest position and the user's hand 9 presses the button 12 on the steering wheel 4. This leads to the steering wheel 4 being extended, i.e., a movement into the operating position in which the steering wheel can also be rotated. Figure 11 The case is shown in which the steering wheel 4 is extended to the operating position, while the automatic operating mode remains activated. During automatic control of the vehicle 1, the steering wheel 4 rotates again to indicate the setting of the automatically determined steering angle.

[0095] In the Figure 12 In the illustrated case, the beginning of a change from the automatic to the manual operating mode is shown. The user's hands 9 approach the steering wheel 4 and the light distribution, which was previously (as in Figure 11shown) was uniformly formed around the entire circumference of the steering wheel 4, accumulates in the vicinity of the hands 9, that is, the light distribution is formed such that a local maximum is formed at the point close to the hands 9 of the user.

[0096] In the Figure 13 In the case shown, the user touches the steering wheel 4 with his hands 9 and the light distribution is formed in such a way that a narrowing intensity maximum of the light distribution is generated at the position of the hands 9 on the steering wheel 4. At the same time, it is shown using the interior lighting 8 that the light effect 7, which previously passed to the interior lighting 8 during the transition from manual to automatic mode, again describes a reverse movement, i.e. from the area of ​​the peripheral interior lighting 8 to the steering wheel 4. In this way, it is shown that control is passed back from the vehicle 1 to the user.

[0097] In the Figure 14 The case presented will finally be the case as in Figure 3 shown in which the change to the manual operating mode is completed and the steering angle is adjusted based on the manually changed angle of rotation of the steering wheel 4.

[0098] The extension of the light effect 7 by means of the interior lighting 8 described in the exemplary embodiment can be omitted in further exemplary embodiments, i.e. the light effect 7 can remain limited to the steering wheel 4 in all the steps described.

[0099] In further embodiments, the steering wheel can also remain in the rest position in the operating position and in the automatic operating mode without rotating with a changing steering angle.

[0100] In further embodiments, instead of the steering wheel 4, an input device 4 may be provided, for example a control stick, a joystick or another input device. List of reference symbols

[0101] 1Vehicle 2Control unit 3Steering device 4Input device; steering wheel 4aProximity detection unit 5Output device; light strip 6Detection unit 7Light effect 8Interior lighting 9Hand 10Adjustment degree; neutral position 11Adjustment degree; turned position 12Button; logo αAngle of rotation

Claims

1. Method for steering a vehicle (1) with an automatic operating mode, in which method a steering angle for a steering device (3) of the vehicle (1) is automatically determined and implemented by the steering device (3); a value of an output parameter being determined based on the automatically determined steering angle and the value of the output parameter being output by an output device (5) by means of a light effect (7) and a manual operating mode also being able to be activated, an actual degree of adjustment of an input device (4) being implemented as a steering angle of the steering device (3) when the manual operating mode is activated and a transition animation being generated and output by the output device (5) when changing between the automatic and the manual operating mode, characterized in that the transition animation when changing between the operating modes is generated in such a way that a light effect spreads out from the position at which the user's hand touches or last touched the steering device (3) or is contracted at this position.

2. Method according to claim 1, characterized in that the light effect (7) comprises a local distribution of a light parameter.

3. Method according to any of the preceding claims, characterized in that the light effect (7) has a display angle and the value of the output parameter is output based on the display angle.

4. Method according to any of the preceding claims, characterized in that when the automatic operating mode is activated, a calculated degree of adjustment is determined based on the determined steering angle, it being determined which actual degree of adjustment the automatically determined steering angle corresponds to.

5. Method according to claim 4, characterized in that the calculated degree of adjustment is output through the light effect (7).

6. Method according to any of claims 1 to 5, characterized in that the actual degree of adjustment includes an angle of rotation (α).

7. Method according to any of claims 1 to 6, characterized in that the input device (4), when the automatic operating mode is activated, can be moved between a rest position and an operating position.

8. Method according to claim 7, characterized in that an operating action is detected and the input device (4) is moved depending on the detected operating action.

9. Method according to any of claims 1 to 8, characterized in that an approach of a user to the input device (4) is detected and the automatic or manual operating mode is activated depending on the detected approach.

10. Vehicle (1) with an automatic operating mode, comprising a control unit (2) by which a steering angle for a steering device (3) of the vehicle (1) can be automatically determined, the steering angle being able to be implemented by the steering device (3), a determination unit (6) by which a value of an output parameter can be determined based on the automatically determined steering angle, and an output device (5) through which the value of the output parameter can be output by means of a light effect (7) and a manual operating mode can also be activated and the vehicle (1) further comprises an input device (4), an actual degree of adjustment of the input device (4) being able to be implemented as a steering angle of the steering device (3) when the manual operating mode is activated, and a transition animation being able to be generated and output by the output device (5) when changing between the automatic and the manual operating mode, characterized in that the transition animation when changing between the operating modes can be generated in such a way that a light effect spreads out from the position at which the user's hand touches or last touched the steering device (3) or is contracted at this position.

11. Vehicle (1) according to claim 10, characterized in that the output device (5) comprises a plurality of light sources arranged adjacent to one another, the light sources emitting light to produce the light effect (7), and the light effect (7) being produced by successively changing a light parameter of the light emitted by the light sources of individual light sources arranged adjacent to one another or of groups of light sources arranged adjacent to one another.

12. Vehicle (1) according to claim 10 or 11, characterized in that the input device (4) has an approach detection means (4a) by which an approach of a user to the input device (4) can be detected, and the automatic or manual operating mode can be activated depending on the detected approach.