DRIVING ASSISTANCE SYSTEM AND DRIVING ASSISTANCE PROCEDURES FOR A VEHICLE

Description

[0001] The present disclosure relates to a driver assistance system for a vehicle, a vehicle having such a driver assistance system, a driver assistance method for a vehicle, and a storage medium for executing the driver assistance method. In particular, the present disclosure relates to changing or switching between different automated driving modes. State of the art

[0002] Driver assistance systems for automated driving are becoming increasingly important. Automated driving can be achieved with various levels of automation. Examples of automation levels include assisted, partially automated, conditionally automated, highly automated, or fully automated driving. These levels of automation were defined by the Federal Highway Research Institute (BASt) (see the BASt publication "Research Compact," issue 11 / 2012). For example, vehicles with Level 4 operate fully autonomously in urban traffic.

[0003] Modern vehicles can now offer a variety of automated driving modes, such as lane keeping assist, cruise control, and a speed limiter. The driver can generally select a desired automated driving mode through a corresponding user interface, which is then activated by the driver assistance system. However, if the selected automated driving mode is not available, a corresponding error message is displayed. This can cause driver inconvenience.

[0004] DE 10 2018 110 629 A1 describes a vehicle system with a display for a message indicating the automatic activation of a driver assistance feature, an electronic control unit configured to determine whether preset driving conditions are met, and a processor configured to cause the display, upon receiving a notification indicating the fulfillment of the conditions, to display the message, initiate a countdown, and automatically activate the driver assistance feature upon expiration of the countdown without further user intervention if no other inputs or commands are received during the countdown. If the preset conditions have not been met, the processor first initiates a standby mode and waits for a notification indicating the fulfillment of the preset conditions from one or more ECUs of the vehicle.Once the notification has been received and / or the processor determines that the preset conditions have been met, the method proceeds to initiate the countdown.

[0005] DE 10 2009 033 752 A1 discloses a method and a device for switching various driver assistance functions in a motor vehicle by means of a first switching element, wherein the driver assistance functions can be switched in a predetermined order. By actuating the first switching element, a subsequent driver assistance function is selected, which follows a currently selected driver assistance function according to the predetermined order. Information about the selection and / or activation of the currently selected driver assistance function is displayed on a display unit. Upon actuation of the first switching element, the subsequent driver assistance function is selected and activated if predetermined criteria for activating the subsequent driver assistance function are met.

[0006] DE 10 2015 218 444 A1 discloses a user interface device for selecting an operating mode for automated driving in a motor vehicle. The user interface device comprises a switching device for switching between different driving automation levels of a motor vehicle, a selection device for defining at least one driving parameter for configuring the driving automation level selected by the switching device, and a display device interacting with the selection device for displaying available selection options for the at least one driving parameter when configuring the selected driving automation level.Thus, the selection and configuration of one of several driving automation levels of the motor vehicle is made possible, even when there are a large number of such levels and configuration options, by means of a simple and space-saving operating concept with only two different input types, namely switching between the driving automation levels and configuration using the selection device.

[0007] DE 10 2017 208 506 A1 relates to a driving system with a plurality of different driving functions for automated driving with varying degrees of automation for a motor vehicle. At least the driving function with the highest degree of automation is not always available. A user interface of the driving system comprises a control element common to the majority of the driving functions for signaling the driver's desire for automated driving to the driving system. The driving system is configured to detect driver actuation of the common control element for automated driving. After detecting actuation of the common control element, the available driving function with the highest possible degree of automation is determined from the plurality of driving functions.If the driving function that has the highest possible degree of automation among the available driving functions has been determined, it can be activated. Disclosure of the invention

[0008] It is an object of the present disclosure to provide a driving assistance system for a vehicle, a vehicle having such a driving assistance system, a driving assistance method for a vehicle, and a storage medium for executing the driving assistance method, which can improve a selection of an automated driving mode from a plurality of different automated driving modes.

[0009] In particular, it is an object of the present disclosure to reduce the occurrence of error messages when selecting an automated driving mode and / or when switching between different automated driving modes.

[0010] This object is achieved by the subject matter of the independent claims, which define the scope of the invention. Advantageous embodiments are specified in the subclaims.

[0011] According to an independent aspect of the present disclosure according to claim 1, a driver assistance system for a vehicle, in particular a motor vehicle, is specified. The driver assistance system comprises at least one user interface configured to receive a user input for selecting an automated driving mode from two or more different automated driving modes and / or user inputs for switching between the two or more different automated driving modes; and at least one processor unit configured to: wait a predetermined first period of time after a user input for selecting an automated driving mode before activating the selected automated driving mode, if the selected automated driving mode is available upon selection by the user input;and wait a predetermined second period of time after a user input to select an automated driving mode before attempting to activate the selected automated driving mode if the selected automated driving mode is not available when selected by the user input, the second period of time being longer than the first period of time;

[0012] According to the invention, different time periods are provided for the activation of an automated driving mode selected by a user, depending on whether the selected automated driving mode is available at the time of selection or not. If the selected automated driving mode is available at the time of selection, the time period until activation is shorter than if the selected automated driving mode is unavailable.

[0013] For example, the selected automated driving mode may only be unavailable for a short time or temporarily. Due to the longer time period between selection and activation attempt, the activation attempt may not start until the initially unavailable selected automated driving mode becomes available again.

[0014] In another example, the selected automated driving mode may be permanently unavailable. Due to the longer time period between selection and activation attempt, the user has more time to recognize this circumstance, for example, through a corresponding notification on a display, and to select another automated driving mode without an attempt to activate the unavailable automated driving mode being made.

[0015] As a result, the occurrence of error messages to the user indicating a failed activation attempt can be reduced.

[0016] At the time the user selects the automated driving mode, the vehicle may be operating in a manual mode, i.e., controlled by the driver. Alternatively, the vehicle may already be operating in another automated driving mode at the time the user selects the automated driving mode, i.e., switching between two different automated driving modes may occur.

[0017] The term "time period," as used in the present disclosure, indicates a period of time between the selection of the automated driving mode by user input and the activation or attempted activation of the automated driving mode, i.e., the start of active control. The time period can, for example, correspond to a debounce time or be a debounce time.

[0018] Preferably, if the selected automated driving mode is available, the first time period is 2 seconds or less, in particular 1 second or less.

[0019] Due to the initial time period, the system does not switch to active normal operation immediately, but only after the specified time has elapsed. This allows the user to successively jump through a list of automated driving modes without each automated driving mode being activated immediately. In other words, the user can skip automated driving modes without activating them.

[0020] Preferably, in the event of unavailability of the selected automated driving mode, the second time period is 10 seconds or less, in particular 5 seconds or less or 2 seconds or less.

[0021] The unavailability of automated driving mode can have various reasons. For example, a technical error may be present, which can be temporary or permanent. A temporary error may occur, for example, if the reliability of sensor data from an environmental sensor system is insufficient, for example, because the environmental sensor system is affected by current weather conditions such as snow or rain. A permanent error may occur, for example, if the environmental sensor system is defective.

[0022] However, the present disclosure is not limited to the above examples, and unavailability of the automated driving mode may have other causes that prevent or do not allow activation of the automated driving mode.

[0023] Preferably, the two or more different automated driving modes can be selected successively via the user interface. In particular, the selection can be made by so-called "toggling" or "mode toggling," in which, for example, a cursor jumps through a list of different automated driving modes based on repeated user input.

[0024] Preferably, the user interface comprises at least one display device configured to display the two or more different automated driving modes for selection by the user.

[0025] In some embodiments, the at least one display device may be configured to display a list of the two or more different automated driving modes. Through repeated user inputs, such as by pressing a mode switch, the user can successively scroll through the list and select an automated driving mode.

[0026] Preferably, the display of the two or more different automated driving modes on the at least one display device includes an availability state of each automated driving mode (e.g., "available" or "not available"). In other words, the user can be informed about the availability state of the individual driving modes.

[0027] Due to the longer time period between selecting and attempting to activate unavailable automated driving modes, the user has more time to select another (available) automated driving mode without an attempt to activate the unavailable automated driving mode. This can reduce the occurrence of error messages to the user indicating a failed activation attempt.

[0028] Preferably, the at least one display device is a display of an infotainment system. Typically, the display is installed in or on the dashboard of the vehicle. The display can be, for example, a head unit. In some embodiments, the display is an LCD display, a plasma display, or an OLED display.

[0029] Preferably, the at least one display device is selected from the group comprising, or consisting of, a projection device, a display, an augmented reality (AR) device, a head-up display (HUD), and combinations thereof. For example, the at least one display device can be an AR HUD or a panoramic HUD (i.e., a HUD mirrored onto a windshield). The panoramic HUD is a HUD mirrored onto a windshield or a HUD projected across the entire width of the windshield root.

[0030] Preferably, the user interface comprises an actuating means provided for user input for selecting an automated driving mode and / or switching between two or more different automated driving modes. The actuating means can be a tactile actuating element, such as a switch, a button, or a rotary switch. Alternatively, the actuating means can be provided by a touchscreen of the user interface, in particular of the at least one display device.

[0031] Preferably, the user interface is configured to output a message to the user if the attempt to activate the selected automated driving mode fails after the second time period has elapsed. The message can be output to the driver acoustically and / or visually and / or haptically, for example, by a corresponding display on the at least one display device.

[0032] The driver assistance system is set up for automated driving.

[0033] For the purposes of this document, the term "automated driving" can be understood as driving with automated longitudinal or lateral guidance, or autonomous driving with automated longitudinal and lateral guidance. Automated driving can, for example, involve extended driving on the highway or limited-time driving during parking or maneuvering. The term "automated driving" encompasses automated driving with any degree of automation. Examples of levels of automation include assisted, partially automated, highly automated, or fully automated driving. These levels of automation were defined by the Federal Highway Research Institute (BASt) (see the BASt publication "Research Compact," issue 11 / 2012).

[0034] In assisted driving, the driver continuously performs longitudinal or lateral guidance, while the system takes over the other function within certain limits. In partially automated driving (TAF), the system takes over longitudinal and lateral guidance for a certain period of time and / or in specific situations, whereby the driver must continuously monitor the system, as with assisted driving. In highly automated driving (HAF), the system takes over longitudinal and lateral guidance for a certain period of time without the driver having to continuously monitor the system; however, the driver must be able to take over vehicle control after a certain time. In fully automated driving (VAF), the system can automatically handle driving in all situations for a specific application; for this application, a driver is no longer required.

[0035] The four levels of automation mentioned above correspond to SAE Levels 1 to 4 of the SAE J3016 standard (SAE - Society of Automotive Engineering). For example, highly automated driving (HAF) corresponds to Level 3 of the SAE J3016 standard. Furthermore, SAE J3016 also stipulates SAE Level 5 as the highest level of automation, which is not included in the BASt definition. SAE Level 5 corresponds to driverless driving, in which the system can automatically handle all situations like a human driver throughout the entire journey; a driver is generally no longer required.

[0036] The driver assistance system of the present disclosure is configured to implement two or more different automated driving modes that the user can select and / or switch between.

[0037] In some embodiments, at least two of the different automated driving modes have different levels of automation. For example, at least one of the automated driving modes may operate according to SAE Level 1, and at least one other of the automated driving modes may operate according to SAE Level 2.

[0038] In other embodiments, all of the different automated driving modes have the same level of automation. For example, all of the different automated driving modes can operate according to SAE Level 1 (e.g., cruise control and lane departure warning) or SAE Level 2.

[0039] Preferably, the two or more different automated driving modes are selected from the group comprising or consisting of a speed limiter, a cruise control, an adaptive cruise control, a lane departure warning system and combinations thereof.

[0040] The at least one processor unit is a programmable arithmetic unit, i.e. a machine or an electronic circuit that controls other elements according to transmitted commands and thereby drives an algorithm (process).

[0041] According to a further aspect of the present disclosure, a vehicle, in particular a motor vehicle, is specified. The vehicle includes the driver assistance system according to the embodiments of the present disclosure.

[0042] The term "vehicle" includes cars, trucks, buses, mobile homes, motorcycles, etc., used to transport people, goods, etc. In particular, the term includes motor vehicles used to transport people.

[0043] According to a further independent aspect of the present disclosure according to claim 9, a driving assistance method for a vehicle, in particular a motor vehicle, is provided. The driving assistance method comprises receiving a user input for selecting an automated driving mode from two or more different automated driving modes and / or switching from a first (currently active) automated driving mode to a second (currently inactive) automated driving mode; determining whether the selected automated driving mode is available upon selection by the user input; and: if the selected automated driving mode is available when selected by the user input, waiting to activate the selected automated driving mode for a predetermined first period of time, or if the selected automated driving mode is not available when selected by the user input, waiting to attempt to activate the selected automated driving mode for a predetermined second period of time that is longer than the first period of time.

[0044] The driver assistance procedure can implement the aspects of the driver assistance system described in this document.

[0045] According to a further independent aspect of the present disclosure, according to claim 11, a software (SW) program is provided. The SW program is configured to be executed on one or more processors and thereby to carry out the driver assistance method described in this document.

[0046] According to a further independent aspect of the present disclosure, according to claim 10, a storage medium is provided. The storage medium may comprise a software program configured to be executed on one or more processors and thereby to execute the driver assistance method described in this document. Short description of the drawings

[0047] Embodiments of the disclosure are illustrated in the figures and are described in more detail below. They show: Figure 1 schematically shows a vehicle with a driver assistance system for automated driving according to embodiments of the present disclosure, Figures 2A-C a display device of a user interface of a driver assistance system according to embodiments of the present disclosure, and Figure 3 a flowchart of a driver assistance method according to embodiments of the present disclosure. Embodiments of the disclosure

[0048] In the following, unless otherwise stated, the same reference symbols are used for identical and equivalent elements.

[0049] Figure 1 schematically shows a vehicle 10 with a driver assistance system 100 for automated driving according to embodiments of the present disclosure.

[0050] In automated driving, the longitudinal and / or lateral guidance of the vehicle 10 occurs automatically. The driver assistance system 100 thus assumes vehicle guidance. To this end, the driver assistance system 100 controls the drive 20, the transmission 22, the hydraulic service brake 24, and / or the steering 26 via intermediate units (not shown).

[0051] To plan and implement automated driving, driver assistance system 100 receives environmental information from an environmental sensor system that monitors the vehicle's surroundings. The environmental sensor system may, for example, comprise at least one LiDAR system and / or at least one radar system and / or at least one exterior camera and / or at least one ultrasound system and / or at least one laser scanner.

[0052] The driver assistance system 100 comprises at least one user interface 110 configured to receive user inputs for switching between two or more different automated driving modes; and at least one processor unit 130.

[0053] The at least one processor unit 130 is configured to wait a first period of time after a user input for selecting an automated driving mode before activating the selected automated driving mode if the selected automated driving mode is available upon selection by the user input; and to wait a second period of time after a user input for selecting an automated driving mode before attempting to activate the selected automated driving mode if the selected automated driving mode is not available upon selection by the user input.

[0054] The second time period is longer than the first time period.

[0055] The initial time period in the case of availability of the selected automated driving mode can, for example, be 2 seconds or less, in particular 1 second or less. Due to the initial time period, even if the selected automated driving mode is available, a switch to active normal operation does not occur immediately, but only after the specified time has elapsed. This allows the user to successively skip through a list of automated driving modes without each automated driving mode being activated immediately. In other words, the user can skip automated driving modes without them being activated.

[0056] The second period of time in case of unavailability of the selected automated driving mode may be 10 seconds or less, in particular 5 seconds or less or 2 seconds or less.

[0057] Due to the longer second time period between the selection and the activation attempt of unavailable automated driving modes, the user has more time to recognize this circumstance and select another (available) automated driving mode without an activation attempt of the unavailable automated driving mode being made. In another case, the selected automated driving mode may only be unavailable for a short time. In this case, due to the longer time period between selection and activation attempt, the activation attempt may not start until the initially unavailable selected automated driving mode becomes available again. As a result, the occurrence of error messages to the user indicating a failed activation attempt can be reduced.

[0058] Figures 2A-Cshow a display device 200 of a user interface of a driver assistance system according to embodiments of the present disclosure.

[0059] The user interface display device 200 may be configured to display two or more different automated driving modes for user selection. In some embodiments, the display device 200 may be a display, such as a touchscreen. Typically, the display device 200 is installed in or on the dashboard of the vehicle. The display device 200 may be, for example, a head unit. In some embodiments, the display device 200 is an LCD display, a plasma display, or an OLED display.

[0060] In some embodiments, the display device 200 may be configured to display a list of the two or more different automated driving modes. In the example of Figures 2A-CThree different automated driving modes 201, 202, and 203 are shown. The two or more different automated driving modes can be, for example, a speed limiter, cruise control, adaptive cruise control, lane keeping assist, or combinations thereof.

[0061] Optionally, the display of the two or more different automated driving modes includes an availability state of each automated driving mode (e.g., "available" or "not available"). In other words, the user can be informed about the availability state of the individual driving modes. In the example of the Figures 2A-C a first automated driving mode 201 has a first availability state 211 ("available"), a second automated driving mode 202 has a second availability state 212 ("not available"), and a third automated driving mode 203 has a third availability state 213 ("available").

[0062] The various automated driving modes can be selected successively. In particular, the user can successively jump through the list and select an automated driving mode through repeated user inputs, such as by pressing a mode switch.

[0063] For this purpose, the user interface may comprise an actuating means provided for user input for selecting the automated driving modes and / or switching between automated driving modes.

[0064] The actuating means may be a tactile actuating element, such as a single switch, a single button, or a rotary switch. Alternatively, the actuating means may be provided by the display device 200, which may be a touchscreen. In this case, for example, a separate display element (not shown) serving as the actuating means may be displayed on the display device 200 and actuated by the user.

[0065] If the user selects an available automated driving mode (in the Figures 2Aand C (represented by the thicker frames at 201 and 203, respectively), the selected automated driving mode is activated after the first time period, for example, after approximately 1 second. Due to the first time period, a switch to active control operation does not occur immediately, but only after the specified time has elapsed. This allows the user to successively jump through the list of automated driving modes without each automated driving mode being activated immediately. In other words, the user can skip automated driving modes without them being activated.

[0066] However, if the user selects an unavailable automated driving mode (in the Figure 2B represented by the stronger frame at 202), the automated driving mode is activated after the second time period, for example after about 2 seconds.

[0067] Due to the longer second time period between the selection and the activation attempt of unavailable automated driving modes, the user has more time to recognize this circumstance and select another automated driving mode without an activation attempt of the unavailable automated driving mode being made. In another case, the selected automated driving mode may only be unavailable for a short time. In this case, due to the longer time period between selection and activation attempt, the activation attempt may not start until the initially unavailable selected automated driving mode becomes available again. As a result, the occurrence of error messages to the user indicating a failed activation attempt can be reduced.

[0068] In some embodiments, the user interface is further configured to output a message to the user if the attempt to activate the selected automated driving mode fails after the second time period has elapsed. The message can be output to the driver acoustically and / or visually and / or haptically, for example, by a corresponding display on the display device 200.

[0069] Figure 3 schematically shows a flowchart of a driver assistance method 300 for a vehicle according to embodiments of the present disclosure. The driver assistance method 300 can be implemented by appropriate software executable by one or more processors (e.g., a CPU).

[0070] The driver assistance method 300 includes, in block 310, receiving a user input for selecting an automated driving mode from two or more different automated driving modes and / or switching from a first (currently active) automated driving mode to a second (currently inactive) automated driving mode. The driver assistance method 300 further includes, in block 320, determining whether the selected automated driving mode is available upon selection by the user input.

[0071] If the selected automated driving mode is available when selected by user input, the method 300 waits to activate the selected automated driving mode for a first period of time (block 330).

[0072] If the selected automated driving mode is not available when selected by user input, the method waits for a second period of time that is longer than the first period of time before attempting to activate the selected automated driving mode.

[0073] According to the invention, different time periods are provided for the activation of an automated driving mode selected by a user, depending on whether the selected automated driving mode is available at the time of selection or not. If the selected automated driving mode is available at the time of selection, the time period until activation is shorter than if the selected automated driving mode is not available. For example, the selected automated driving mode may only be unavailable for a short time. In this case, due to the longer time period between selection and activation attempt, the activation attempt may not start until the initially unavailable selected automated driving mode is available again. This can reduce the occurrence of error messages to the user indicating a failed activation attempt.

Claims

1. Driving assistance system (100) for a vehicle (10), comprising: at least one user interface (110) that is configured to receive a user input for the purpose of selecting an automated driving mode from two or more different automated driving modes; and at least one processor unit (120) that is configured: following a user input for the purpose of selecting an automated driving mode, to hold off activating the selected automated driving mode for a predetermined first time interval if the selected automated driving mode is available when selected by the user input; characterized in that the processor unit (120) is additionally configured: following a user input for the purpose of selecting an automated driving mode, to hold off attempting to activate the selected automated driving mode for a predetermined second time interval if the selected automated driving mode is unavailable when selected by the user input, wherein the second time interval is longer than the first time interval.

2. Driving assistance system (100) according to Claim 1, wherein the two or more different automated driving modes are able to be selected successively using the user interface (110).

3. Driving assistance system (100) according to Claim 1 or 2, wherein the user interface (110) comprises at least one display device (200) that is configured to display the two or more different automated driving modes for selection by the user.

4. Driving assistance system (100) according to one of Claims 1 to 3, wherein the user interface (110) is configured to output a message to the user when the attempt to activate the selected automated driving mode after the second time interval has elapsed fails.

5. Driving assistance system (100) according to one of Claims 1 to 4, wherein the first time interval is 2 seconds or less, in particular 1 second or less; and / or wherein the second time interval is 10 seconds or less, in particular 5 seconds or less or 2 seconds or less.

6. Driving assistance system (100) according to one of Claims 1 to 5, wherein the two or more different automated driving modes have different degrees of automation or the same degree of automation, in particular wherein the two or more different automated driving modes have a degree of automation according to SAE Level 1 or SAE Level 2.

7. Driving assistance system (100) according to one of Claims 1 to 6, wherein the two or more different automated driving modes are selected from the group consisting of a speed limiter, a cruise control system, an automatic distance control system, a lane keep assistant and combinations thereof.

8. Vehicle (10), in particular motor vehicle, comprising the driving assistance system (100) according to one of Claims 1 to 7.

9. Driving assistance method (300) for a vehicle (10), comprising: receiving (310) a user input for the purpose of selecting an automated driving mode from two or more different automated driving modes; determining (320) whether the selected automated driving mode is available when selected by the user input; and if the selected automated driving mode is available when selected by the user input, holding off (330) activating the selected automated driving mode for a predetermined first time interval, characterized by: if the selected automated driving mode is unavailable when selected by the user input, holding off (340) attempting to activate the selected automated driving mode for a predetermined second time interval that is longer than the first time interval.

10. Storage medium, comprising a software program that is configured to be executed on one or more processors in order thereby to carry out the driving assistance method (300) according to Claim 9.

11. Software program that is configured to be executed on one or more processors in order thereby to carry out the driving assistance method (300) according to Claim 9.