Driver assistance system with fault handling unit

Abstract

A driver assistance system for a motor vehicle comprises a vehicle environment sensor device (16) for sensing vehicle environment information, the vehicle environment sensor device comprising a plurality of partial sensor devices (30, 32), wherein in a driving mode for hands-free driving, vehicle guidance is implemented based on the vehicle environment information sensed by the vehicle environment sensor device (16), wherein the vehicle guidance comprises functions for lateral vehicle guidance (36, 38) and for longitudinal vehicle guidance (34), wherein a fault handling unit (14) is configured to, in the driving mode for hands-free driving, maintain vehicle guidance with different restrictions on the functions of the vehicle guidance in different failure scenarios of the partial sensor devices (30, 32) of the vehicle environment sensor device (16) and output a vehicle guidance takeover request to a person guiding the vehicle.

Description

Technical Field

[0001] The present invention relates to a driver assistance system for a motor vehicle, comprising a vehicle surroundings sensor device for sensing vehicle surroundings information, wherein the vehicle surroundings sensor device comprises a plurality of partial sensor devices. Background Art

[0002] Cadillac vehicles are equipped with a The use of driver assistance systems for hands-free driving is limited to certain multi-lane long-distance traffic roads (autobahns).

[0003] In addition, Nissan brand vehicles are equipped with a driver assistance system for partially automated driving in one lane on highways, which is called "ProPilot." Summary of the Invention

[0004] The object of the present invention is to provide a driver assistance system with improved safety.

[0005] This object is achieved by a driver assistance system of the type mentioned at the outset, wherein the driver assistance system is configured to, in a driving mode for hands-free driving, carry out vehicle guidance based on vehicle surroundings information sensed by a vehicle surroundings sensor device, wherein the vehicle guidance includes functions for lateral vehicle guidance and for longitudinal vehicle guidance, wherein the driver assistance system has a fault handling unit which is configured to, in the driving mode for hands-free driving and in different failure scenarios of some sensor devices of the vehicle surroundings sensor device, maintain vehicle guidance by the driver assistance system with different restrictions on the vehicle guidance functions and output a request to take over vehicle guidance to the person guiding the vehicle.

[0006] A vehicle surroundings sensor arrangement having a plurality of partial sensor arrangements may also be referred to as a vehicle surroundings sensor system, and a partial sensor arrangement may be referred to as a partial sensor system.

[0007] Vehicle guidance or vehicle guidance can also be referred to as vehicle driving. In particular, it can be autonomous driving or automatic driving or autonomous guidance / automatic guidance of the vehicle.

[0008] The driving mode for hands-free driving is preferably a driving mode for forward driving rather than a driving mode for reverse driving.

[0009] The driving mode for hands-free driving can be, in particular, a driving mode for hands-free driving on roads with structurally separated lanes in one direction, in particular highways.

[0010] During hands-free driving, driver assistance systems rely on extensive information, particularly information about the vehicle's surroundings. In the event of a failure (and possibly a malfunction), the driver assistance system maintains control of the vehicle, at least to a limited extent. For example, depending on the severity of the failure or malfunction and / or which system component of the driver assistance system is affected, a request to take over vehicle control can be triggered with different warning levels (urgency levels), and system functionality can be restricted if necessary.

[0011] By configuring the fault handling unit to maintain vehicle control by the driver assistance system with varying restrictions on vehicle control functions, a graded response of the fault handling unit to different failure scenarios can be achieved. In particular, vehicle control with limited functions can be maintained for as long as possible, while the person in charge of the vehicle can be requested to take over control via a vehicle control takeover request. In a non-graded response, the driving mode for hands-free driving is deactivated in the event of a partial failure of the vehicle surroundings sensor system. This results in greater vehicle control safety compared to a non-graded response, particularly when vehicle control is transferred from the driver assistance system to the person in charge in the event of a failure or partial failure of the vehicle surroundings sensor system. The person in charge of the vehicle can also be referred to as the driver.

[0012] Preferably, the vehicle guidance function by the driver assistance system is maintained for a limited period of time, with different restrictions on the vehicle guidance function, so that the person guiding the vehicle can take over vehicle guidance during the waiting period. Thus, vehicle guidance by the driver assistance system is maintained for the limited period of time.

[0013] Advantageous embodiments and developments of the invention result from the further defined preferred embodiments.

[0014] The vehicle surroundings sensor system preferably comprises a partial sensor system in the form of a front radar and a partial sensor system in the form of an optical system.

[0015] Preferably, the fault handling unit is configured to, in a driving mode for hands-free driving, maintain vehicle guidance by the driver assistance system in a failure scenario in which a failure of the optical system is detected, at least within the scope of longitudinal vehicle guidance. For example, longitudinal vehicle guidance may be maintained based on vehicle surroundings information sensed by a forward radar.

[0016] The vehicle longitudinal guidance maintained can be a vehicle longitudinal guidance without acceleration. Here and in other places, the term "acceleration" means a positive longitudinal acceleration, in particular a longitudinal acceleration when actively increasing the vehicle speed.

[0017] The optical system may comprise, in particular, a front video system and / or a front lidar system.

[0018] The optical system can include, for example, an optical system for detecting objects, in particular objects in the form of vulnerable road users (VRUs), lane boundaries, lanes and / or traffic signs.

[0019] In the event of an optical system failure, the availability of the front radar allows the vehicle's longitudinal guidance to be maintained safely. For a limited period of time, the vehicle's lateral guidance can also be maintained if necessary based on the vehicle's surroundings sensed by the front radar.

[0020] In one or more embodiments, the fault handling unit is configured to, in a driving mode for hands-free driving, in a failure scenario in which a failure of the optical system is detected, maintain vehicle guidance by the driver assistance system at least within the scope of vehicle longitudinal guidance and limited vehicle lateral guidance based on vehicle environment information sensed by a front radar, wherein the limited vehicle lateral guidance is limited to vehicle lateral guidance without lane changes, i.e., without automatic lane changes.

[0021] Transverse vehicle guidance without lane changes is to be understood as meaning transverse vehicle guidance without automatic lane changes, but in this type of transverse vehicle guidance, for example, a lane keeping function may be active. In limited transverse vehicle guidance, which is limited to transverse vehicle guidance without lane changes, lane changes for automated overtaking maneuvers may be excluded, for example.

[0022] In one or more embodiments, the fault handling unit is configured to maintain vehicle guidance by the driver assistance system within the context of non-acceleration vehicle guidance in a failure scenario in which a front radar failure is detected in a driving mode for hands-free driving. Vehicle longitudinal guidance can be maintained, for example, based on vehicle surroundings information sensed by an optical system.

[0023] This may be vehicle guidance with lateral vehicle guidance, in particular without lane changes.

[0024] The vehicle guidance may include vehicle longitudinal guidance without acceleration. Alternatively, the vehicle guidance may be vehicle guidance without vehicle longitudinal guidance.

[0025] In one or more embodiments, the fault handling unit is further configured to, in a driving mode for hands-free driving, in a fault scenario where a functional degradation of the front radar is detected, maintain vehicle guidance by the driver assistance system within the context of vehicle guidance without acceleration, and output a request to take over vehicle guidance to the person guiding the vehicle at a lower warning level than in a fault scenario where a failure of the front radar is detected. For example, the functional degradation of the front radar may be detected as a malfunction of the front radar.

[0026] Therefore, in a failure scenario in which failure of the front radar is detected, a vehicle guidance takeover request is output to the person guiding the vehicle at a relatively high warning level, and in a failure scenario in which degradation of the front radar function is detected, a vehicle guidance takeover request is output at a warning level lower than the higher warning level.

[0027] Preferably, a lower warning level is associated with a longer waiting time for the person guiding the vehicle to take over guidance of the vehicle than a higher warning level.

[0028] In one or more embodiments, the driver assistance system includes a positioning system for providing positioning information, wherein the driver assistance system is configured to implement vehicle guidance in a driving mode for hands-free driving based on vehicle environment information sensed by the vehicle environment sensor device and positioning information provided by the positioning system, wherein the fault handling unit is further configured to, in a failure scenario in which a failure of the positioning system is detected in the driving mode for hands-free driving, maintain vehicle guidance by the driver assistance system based on the vehicle environment information sensed by the vehicle environment sensor device and output a request to take over vehicle guidance to a person guiding the vehicle. The positioning information may in particular include position information about the vehicle. The positioning system may in particular be a satellite positioning system, such as a GPS (Global Positioning System), a map information system for providing map information relating to the location of the vehicle, and / or a location restriction system (geofencing system) for regionally restricting the driving mode for hands-free driving.

[0029] In one or more embodiments, the driver assistance system includes a driver monitoring sensor device, wherein the fault handling unit is further configured to maintain vehicle guidance by the driver assistance system in a failure scenario in which a failure of the driver monitoring sensor device or a failure of part of the sensor device of the driver monitoring sensor device is detected in a driving mode for hands-free driving and to output a vehicle guidance takeover request to the person guiding the vehicle.

[0030] The driver monitoring sensor system can include, in particular, a sensor system or parts of a sensor system for detecting the presence, attentiveness and / or drowsiness of a person guiding the vehicle.

[0031] The driver monitoring sensor system can include, in particular, a sensor system or parts of a sensor system for detecting whether the steering wheel is being held by a person.

[0032] In one or more embodiments, the fault handling unit is preferably further configured to escalate the vehicle steering takeover request through multiple warning levels when it is not recognized that the vehicle steering has been taken over by a human. This recognition may be, for example, recognition by a driver monitoring sensor device, in particular, recognition by a sensor device or portion of a sensor device for detecting whether the steering wheel is being held by a human.

[0033] The fault processing unit is configured, for example, to detect that a person has taken over the control of the vehicle by detecting that the steering wheel is held by a person. The partial sensor device of the driver monitoring sensor device provided for this purpose may include, for example, a capacitive steering wheel sensor and / or a steering wheel torque sensor.

[0034] In the event of a failure that immediately affects the longitudinal guidance of the vehicle, such as a failure of the front radar, a request to take over vehicle control with the highest warning level can be triggered immediately. For example, a request to take over vehicle control with the highest warning level can include a flashing or blinking optical signal to the person guiding the vehicle and a (perceptible) brake jerk. This brake jerk is understood to be a sudden change in the braking acceleration, in particular a brief increase and then decrease.

[0035] The multiple warning levels can, for example, include an optical signal to the person guiding the vehicle in different colors depending on the warning level, such as green, yellow, orange, red, or an escalation of at least two or three of these colors, preferably green, yellow, orange, and red. The request to take over vehicle control can also include an acoustic signal or signals to the person guiding the vehicle.

[0036] Preferably, the fault handling unit is further configured to, if a human takeover of vehicle control is not detected within a minimum duration, execute an automated stopping process after expiration of the minimum duration and terminate vehicle control by the driver assistance system. A stopping process is a process for stopping the vehicle. The minimum duration can, for example, begin upon reaching the highest warning level. The aforementioned waiting period can, for example, include the minimum duration.

[0037] Therefore, it is possible to cause the vehicle to stop safely when the waiting duration of the takeover request with the highest warning level (urgency level) expires. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Preferred embodiments of the present invention are explained in detail below with reference to the accompanying drawings.

[0039] The only attached picture Figure 1 A driver assistance system for a motor vehicle is shown. DETAILED DESCRIPTION

[0040] A driver assistance system 10 for a motor vehicle has a driving control unit 12 for a driving mode for hands-free driving and a fault handling unit 14 .

[0041] Driver assistance system 10 also includes a vehicle surroundings sensor system 16, a positioning system 18, a driving state sensor system 20, and an actuator system 22 for controlling acceleration, braking, and steering of the vehicle. Furthermore, driver assistance system 10 includes a driver monitoring sensor system 24 and a vehicle control takeover request unit 26.

[0042] Vehicle surroundings sensor system 16 includes at least one radar sensor, in particular a front radar 30. Furthermore, vehicle surroundings sensor system 16 includes at least one optical system 32, for example in the form of a front camera or a front lidar. During operation of driver assistance system 10, front radar 30 and optical system 32 provide vehicle surroundings information to travel control unit 12. This vehicle surroundings information includes, in particular, information about objects, such as road users, road boundaries, lanes, and traffic signs.

[0043] The positioning system 18 provides positioning information about the vehicle to the driving control unit 12 based on map information and position information about the vehicle, for example.

[0044] The driving state sensor device 20 provides the driving control unit 12 with information about the driving state of the host motor vehicle, in particular about its own speed v, inertial sensor information, etc., in a manner known per se.

[0045] In the driving mode for hands-free driving, the driving control unit 12 carries out automated vehicle guidance by controlling the host motor vehicle via the actuator system 22 .

[0046] Figure 1 The table schematically illustrates the vehicle control functions, which include, in particular, longitudinal vehicle control 34, which may include vehicle acceleration "+V," and transverse vehicle control 36, which may include automatic lane change 38. In the driving mode for hands-free driving, all of the aforementioned vehicle control functions can be activated.

[0047] Vehicle takeover request unit 26 includes a visual warning device 40 and an acoustic warning device 42. The vehicle takeover request unit is configured to output a vehicle takeover request at a set warning level to the person guiding the vehicle. The first warning level, "1," includes, for example, a green, flashing warning signal from the visual warning device 40 and a warning tone from the acoustic warning device 42. The vehicle takeover request at the next warning level, "2a," includes, for example, a yellow, flashing optical signal and an acoustic signal. The highest warning level, "2b," includes, for example, a red, flashing optical signal, an acoustic warning tone, and, in addition, the application of a braking impact, wherein the vehicle takeover request unit 26 controls the actuator system 22, in particular the braking system of the vehicle, to implement the braking impact.

[0048] like Figure 1 As schematically shown in a flow chart, the fault handling unit 14 is configured to, upon outputting a vehicle control takeover request via the vehicle control takeover request unit 26, escalate the warning level to the highest warning level after a period of time if the driver's control of the vehicle is not recognized. The control of the vehicle can be taken over based on monitoring information from the driver monitoring sensor device 24. For each warning level, a corresponding waiting duration is required before the warning level is raised. If the minimum waiting duration expires at the highest warning level "2b" without the driver's control of the vehicle being recognized, the fault handling unit 14 is configured to control the driving control unit 12 to implement an automated stopping process 44 to bring the vehicle to a safe stop and terminate the vehicle control by the driver assistance system 10.

[0049] In one example, the operating method of the fault processing unit 14 in the driving mode for hands-free driving includes the following steps.

[0050] Failure scenario (I): In the failure scenario where fault handling unit 14 detects a failure of optical system 32, fault handling unit 14 controls driving control unit 12 to maintain vehicle guidance within the scope of longitudinal vehicle guidance without acceleration and limited lateral vehicle guidance without automatic lane change. At the same time, fault handling unit 14 controls vehicle guidance takeover request unit 26 to output a vehicle guidance takeover request of warning level "2a" and escalate the vehicle guidance takeover request in the aforementioned manner. Information about the lateral position of objects from the front radar can be used for vehicle guidance with certain restrictions until a human driver takes over vehicle guidance or an automatic stop is implemented.

[0051] Failure scenario (II): In the failure scenario where fault processing unit 14 detects a failure of front radar 30, fault processing unit 14 is configured to control driving control unit 12 to maintain vehicle guidance within the limits of lateral guidance without automatic lane changes and longitudinal guidance. Simultaneously, a vehicle guidance takeover request of the highest warning level, "2b," is triggered. Because longitudinal guidance is no longer possible based on positioning due to the failure of front radar 30, the vehicle coasts to a stop or brakes gently during the waiting period for this warning level ("2b"), with the goal of automatically stopping the vehicle if the driver does not intervene.

[0052] The working method may further include one or more of the steps mentioned below.

[0053] Fault scenario (III): In the event that fault processing unit 14 detects a functional degradation of front radar 30, such as a malfunction, fault processing unit 14 is configured to control driving control unit 12 to maintain longitudinal vehicle guidance without acceleration or lateral vehicle guidance. At the same time, fault processing unit 14 initiates a vehicle guidance takeover request at warning level "1."

[0054] Failure scenario (IV): In a failure scenario where the fault processing unit 14 detects a failure of the positioning system 18 , for example, the same reaction as in the failure scenario (I) is performed.

[0055] Failure scenario (V): In the event that fault processing unit 14 detects a failure of driver monitoring sensor system 24 or a portion thereof, fault processing unit 14 is configured to control driving control unit 12 to maintain driving control within the full range. Simultaneously, a vehicle control takeover request is issued, starting at warning level "1."

Claims

1. A driver assistance system for a motor vehicle, the driver assistance system having a vehicle environment sensor device (16) for sensing vehicle environment information, wherein: The vehicle environment sensor device (16) includes a plurality of partial sensor devices (30, 32), wherein the driver assistance system (10) is configured to perform vehicle guidance based on vehicle environment information sensed by the vehicle environment sensor device (16) in a driving mode for hands-free driving, wherein the vehicle guidance includes functions for vehicle transverse guidance (36, 38) and for vehicle longitudinal guidance (34), wherein the driver assistance system (10) has a fault handling unit (14) configured to maintain the vehicle guidance by the driver assistance system (10) with different restrictions on the vehicle guidance functions in different failure scenarios of the partial sensor devices (30, 32) of the vehicle environment sensor device (16) in the driving mode for hands-free driving, and outputting a vehicle guidance takeover request to a person guiding the vehicle, wherein the vehicle environment sensor device (16) includes a partial sensor device in the form of a front radar (30) and a partial sensor device in the form of an optical system (32), wherein, in a failure scenario in which the fault processing unit (14) detects that the front radar (30) has failed, the fault processing unit (14) is configured to control the driving control unit (12) so as to maintain vehicle guidance within a range in which the vehicle is guided in a lateral direction without automatic lane change and without longitudinal guidance, and in a failure scenario in which the fault processing unit (14) detects that the function of the front radar (30) has degraded, the fault processing unit (14) is configured to control the driving control unit (12) so as to maintain vehicle longitudinal guidance without acceleration and without lateral guidance.

2. The driver assistance system according to claim 1, wherein: The fault handling unit (14) is configured to, in the driving mode for hands-free driving, maintain the vehicle guidance by the driver assistance system (10) at least within the scope of the vehicle longitudinal guidance (34) in a failure scenario in which a failure of the optical system (32) is detected.

3. The driver assistance system according to claim 2, wherein: The fault handling unit (14) is configured to, in the driving mode for hands-free driving, in a failure scenario in which a failure of the optical system (32) is detected, maintain the vehicle guidance by the driver assistance system (10) within the scope of vehicle longitudinal guidance and limited vehicle lateral guidance (36) based at least on vehicle environment information sensed by the front radar (30), wherein the limited vehicle lateral guidance is limited to vehicle lateral guidance (36) without lane change.

4. The driver assistance system according to claim 1, wherein: The fault processing unit (14) is further configured to, in the driving mode for hands-free driving, in a fault scenario in which degradation of the function of the front radar (30) is detected, output a vehicle guidance takeover request to a person guiding the vehicle at a lower warning level than in a failure scenario in which failure of the front radar (30) is detected.

5. The driver assistance system according to any one of claims 1 to 4, wherein: The driver assistance system includes a positioning system (18) for providing positioning information, wherein the driver assistance system (10) is configured to, in the driving mode for hands-free driving, implement the vehicle guidance based on the vehicle environment information sensed by the vehicle environment sensor device (16) and the positioning information provided by the positioning system (18), wherein the fault handling unit (14) is further configured to, in the driving mode for hands-free driving, in a failure scenario in which a failure of the positioning system (18) is detected, maintain the vehicle guidance performed by the driver assistance system (10) based on the vehicle environment information sensed by the vehicle environment sensor device (16) and output a vehicle guidance takeover request to a person guiding the vehicle.

6. The driver assistance system according to any one of claims 1 to 4, wherein: The driver assistance system (10) includes a driver monitoring sensor device (24), wherein the fault handling unit (14) is further configured to, in the driving mode for hands-free driving, in a failure scenario in which a failure of the driver monitoring sensor device (24) or a failure of a part of the sensor devices of the driver monitoring sensor device (24) is detected, keep the vehicle guided by the driver assistance system (10) and output a vehicle guidance takeover request to the person guiding the vehicle.

7. The driver assistance system according to any one of claims 1 to 4, wherein: The fault processing unit (14) is further configured to upgrade the vehicle guidance takeover request via multiple warning levels if it is not recognized that the vehicle guidance has been taken over by a person.

8. The driver assistance system according to any one of claims 1 to 4, wherein: The fault handling unit (14) is further configured to carry out an automated stopping process after expiration of a minimum duration and to terminate the vehicle guidance by the driver assistance system (10) if a human takeover of the vehicle guidance is not detected during the minimum duration.

Images