Method of transitioning a driving mode of a vehicle, vehicle driving control system, and vehicle

Abstract

The invention relates to a method for transitioning a driving mode of a vehicle from an assisted driving mode to an autonomous driving mode. The method comprises: providing an assisted driving mode configured to support a driver controlling the vehicle with a medium level of support; receiving an activation request for activating an autonomous driving mode configured to autonomously control driving of the vehicle; reducing the level of support to a safety assisted driving mode configured to support the driver with a low level of support, the reduction of the level of support from the assisted driving mode to the safety assisted driving mode comprising a first kinematic feedback; and if the activation request is successful, increasing the level of support from the safety assisted driving mode to the autonomous driving mode, the increase of the level of support from the safety assisted driving mode to the autonomous driving mode comprising a second kinematic feedback to the driver; or if the activation request fails, maintaining the safety assisted driving mode. The invention also relates to a driving control system for a vehicle and a vehicle.

Description

Technical Field

[0001] The present invention relates to a method for switching a driving mode of a vehicle from an assisted driving mode to an automatic driving mode, a driving control system for the vehicle, and the vehicle. Background Art

[0002] Vehicles equipped with automated driving modes are becoming increasingly common. The automated driving mode is typically one of various driving modes that the driver of the vehicle can select and / or selectively switch between. Consequently, various methods are known for notifying the driver of the currently activated driving mode.

[0003] One example of a known method for controlling a driving mode of an autonomous vehicle may include: when a driving mode change signal is generated during driving of the autonomous vehicle in a manual driving mode, comparing a current vehicle speed with a predefined reference vehicle speed. The exemplary method further includes: when a result of the comparison indicates that the current vehicle speed is equal to or lower than the predefined reference vehicle speed, stopping the manual driving mode and executing the autonomous driving mode; and when a result of the comparison indicates that the current vehicle speed exceeds the reference vehicle speed, executing the autonomous driving mode or maintaining the manual driving mode as the current driving mode, depending on a determination of whether an APS signal is generated. Summary of the Invention

[0004] Therefore, it may be desirable to provide an alternative method for transitioning a vehicle's driving mode and driving control system, in particular providing a method and / or system with improved feedback to the driver's perceptual capabilities.

[0005] The objects of the present invention are solved by the subject-matter of the appended independent claims, wherein further embodiments are incorporated in the dependent claims.

[0006] According to a first aspect, a method for transitioning a driving mode of a vehicle from an assisted driving mode to an autonomous driving mode is provided. The method comprises the following steps: providing an assisted driving mode, the assisted driving mode being configured to support a driver in controlling the vehicle at a medium support level; receiving an activation request for activating an autonomous driving mode, the autonomous driving mode being configured to autonomously control the driving of the vehicle; and reducing the support level to a safe assisted driving mode, the safe assisted driving mode being configured to support the driver at a low support level. Reducing the support level from the assisted driving mode to the safe assisted driving mode comprises a first kinematic feedback. If the activation request is successful, the method further comprises the step of increasing the support level from the safe assisted driving mode to the autonomous driving mode. Increasing the support level from the safe assisted driving mode to the autonomous driving mode comprises a second kinematic feedback to the driver. Alternatively, if the activation request fails, the method further comprises the step of maintaining the safe assisted driving mode.

[0007] The activation request is made by the driver of the vehicle and can correspond to a signal that can be triggered by an input of the driver, e.g. the driver pressing a button. The transition from any driving mode to the autonomous driving mode corresponds to a shift of driving responsibility from the driver to the vehicle, in particular to the driving control system of the vehicle. It is therefore of particular importance that successful and unsuccessful mode transitions are clearly perceptible to the driver. The transition from the assisted driving mode to the autonomous driving mode is of particular importance as both modes share most of the driving control features but fundamentally differ in terms of driving responsibility.

[0008] The method further reduces or prevents mode confusion during and / or after attempting to transition from the assisted mode to the autonomous mode and further reduces the risk of the driver over-relying on traditional information devices such as visual, haptic or just audio feedback warnings. Thus, the risk of injury due to the driver not perceiving the warning in all driving situations is reduced or eliminated. The first and second kinematic feedbacks are directly related to the primary driving control and thereby educate the driver to feel the mode change. Thus, the method explicitly informs the driver about a successful mode transition (first feedback followed by the second feedback) or an unsuccessful mode transition (only the first feedback).

[0009] In other words, it can be said that the method relies on the user’s previous regular or manual driving experience to indicate whether the user or the vehicle is currently responsible for ensuring driving safety, rather than employing a dedicated communication means that can be misused and / or ignored by experienced drivers or can not be understood by inexperienced drivers to ensure driving safety. Thus, the method reduces the likelihood of erroneous behavior leading to harmful consequences and provides sufficient safety to meet the stringent safety requirements of the transition. The method can be at least partially implemented by a computer and can be implemented in software and / or hardware. For example, the method can be performed by a control unit comprised in the driving control system or the vehicle control system of the vehicle.

[0010] According to an embodiment, the medium support level can comprise longitudinal and lateral control, preferably provided by an activated lane centering assist and an activated adaptive cruise control.

[0011] The medium support level provided in the assisted driving mode is configured to assist the driver during driving. This means that the driver is still responsible for driving the vehicle, but the assisted driving mode can share or take over control of some of the driving requirements such as keeping the vehicle centered in the lane, maintaining the vehicle speed, keeping a predefined distance to a vehicle in front by adapting the vehicle speed, etc.

[0012] According to an embodiment, the low support level can comprise longitudinal braking assistance and active safety functions, preferably provided by an activated lane keeping assistance and an activated collision avoidance assistance, and / or an activated deceleration function to maintain a distance to a vehicle in front.

[0013] The low support level provided in the safe assisted driving mode is configured to assist the driver only minimally during driving. This means that the driver is responsible for driving the vehicle and the safe assisted driving mode only provides basic assistance in order to prevent collisions. Thus, the low support level only provides assistance when a collision is detected as likely to occur, such as keeping the vehicle within the lane when the vehicle approaches a lane boundary, decelerating the vehicle when a distance to a vehicle in front is detected to decrease, and / or actively braking to prevent a collision with the vehicle and / or an obstacle in front, etc.

[0014] According to an embodiment, the first and second kinematic feedback can be based on a primary driving control. According to an embodiment, the first kinematic feedback can be characterized by a slackening of the primary driving control.

[0015] The slackening of the primary driving control can comprise stopping assistance to maintain a vehicle speed and / or stopping assistance to keep the vehicle centered in the lane. If the activation of the autonomous driving mode fails, the driver can for example recognize that the vehicle is slowing down and thereby perceive that the transition to the autonomous driving mode was not successful. In addition, the driver can recognize a lower resistance to turning the steering wheel and automatically know that the assisted driving mode is deactivated. If the activation of the autonomous driving mode fails, the slackening of the primary driving control can still provide minimal assistance during manual control mainly to prevent collisions and / or to provide traditional active safety functions that are actuated in case of a potential and / or imminent danger.

[0016] According to an embodiment, the second kinematic feedback can be characterized by a sharpening of the primary driving control. The sharpening of the primary driving control can comprise starting assistance to maintain a vehicle speed and / or starting assistance to keep the vehicle centered in the lane. The driver can then for example recognize that the acceleration control of the vehicle is restored, for example by perceiving that the engine brake is stopped and / or that the accelerator pedal is no longer responsive to being depressed. In addition, the driver can recognize that the steering wheel resists manual turning and automatically knows that the request for activating the autonomous driving mode has been successful and that the autonomous driving mode is activated. The sharpening of the primary driving control can comprise a sharpened activation of strict, confident longitudinal and lateral control. If a certain control is available in both the assisted and the autonomous driving mode, the sharpening can comprise a more strict longitudinal and lateral control than the longitudinal and lateral control during the assisted driving mode.

[0017] According to an embodiment, the primary driving control can comprise an accelerator control method, a brake control method, and / or a steering control method.

[0018] The accelerator control method can comprise any component that causes the vehicle to accelerate, such as an accelerator pedal, a joystick, a button, etc. The brake control method can comprise any component that causes the vehicle to decelerate and / or brake, such as a brake pedal, a joystick, a button, etc. The steering control method can comprise any component that causes the vehicle to steer, such as a steering wheel, a joystick, a button, etc.

[0019] According to embodiments, the method can additionally provide an acoustic feedback and / or a visual feedback and / or a haptic feedback configured to indicate the activated driving mode.

[0020] The combination of the first and second kinematic feedbacks with traditional information devices, such as acoustic, visual and / or haptic feedbacks, can train the driver to detect potential erroneous behavior and react quickly.

[0021] According to embodiments, the safe-assisted driving mode can be maintained for a predefined amount of time, or until a driver’s interaction request is received.

[0022] If the predefined amount of time has passed, then the safe-assisted driving mode can be automatically deactivated, and the driving mode can be switched to a manual driving mode that only provides minimal support. The minimal support can only include basic safety functions.

[0023] According to embodiments, the driver’s interaction request can request to resume the assisted driving mode, or can request to transition to a manual driving mode that is configured to not assist the driver but provide basic safety functions.

[0024] According to a second aspect, a driving control system for a vehicle is provided. The driving control system comprises a control unit and a feedback unit. The control unit is configured to provide an assisted driving mode configured to support a driver controlling the vehicle with a medium level of support; receive an activation request for activating an autonomous driving mode configured to autonomously control driving of the vehicle; lower the level of support to a safe-assisted driving mode configured to support the driver with a low level of support; and if the activation request is successful, increase the level of support from the safe-assisted driving mode to the autonomous driving mode, or if the activation request is failed, maintain the safe-assisted driving mode. The feedback unit is configured to provide a first kinematic feedback to the driver when the level of support is lowered from the assisted driving mode to the safe-assisted driving mode, and / or a second kinematic feedback to the driver when the level of support is increased from the assisted driving mode to the autonomous driving mode.

[0025] The first and second kinematic feedbacks are directly related to the primary driving control and thereby educate the driver about the change in the mode of perception. Thus, the driver is explicitly informed about a successful mode transition (second feedback) or an unsuccessful mode transition (first feedback). Thus, the driving control system prevents mode confusion during and / or after the attempt to transition from the assisted mode to the automated mode and further reduces the risk of the driver over-relying on traditional information devices such as visual, haptic or audio feedback or mere warnings. In addition, the risk of malfunctions due to the driver not perceiving the warnings in all driving situations is reduced or eliminated.

[0026] According to embodiments, the control unit can further comprise a manual driving mode configured to not assist the driver but to provide basic safety functions.

[0027] According to embodiments, the driving control system can additionally comprise a human-machine interface configured to provide acoustic feedback and / or visual feedback and / or haptic feedback indicative of the actual / activated driving mode.

[0028] According to embodiments, the first and second kinematic feedbacks can be based on the primary driving control.

[0029] According to a third aspect, there is provided a vehicle comprising a driving control system according to the second aspect and a driving unit configured to control the motion of the vehicle, wherein the driving control system is configured to control the driving unit.

[0030] These and other aspects of the present invention will become apparent from and elucidated with respect to the embodiments described hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0031] Exemplary embodiments of the present invention will be described below with reference to the following drawings.

[0032] Figure 1 A schematic diagram illustrating an exemplary embodiment of a vehicle comprising a driving control system and a driving unit is shown.

[0033] Figure 2 A flow chart illustrating an exemplary embodiment of a method for transitioning a driving mode of a vehicle from an assisted driving mode to an automated driving mode is shown.

[0034] Figure 3 A flow chart illustrating another embodiment of a method for transitioning a driving mode of a vehicle from an assisted driving mode to an automated driving mode is shown.

[0035] Figure 4A diagram schematically illustrates the process of transitioning the vehicle's driving mode from an assisted driving mode to an automated driving mode over time and the corresponding change in support level if an activation request for activating the automated driving mode is successful, taking lateral lane control as an example.

[0036] Figure 5 A diagram schematically illustrates the process of transitioning the driving mode of a vehicle from an assisted driving mode to an automated driving mode over time and the corresponding change in support level if an activation request for activating the automated driving mode is unsuccessful, taking lateral lane control as an example.

[0037] The drawings are merely schematic representations and serve merely to illustrate embodiments of the invention. Elements which are in principle identical or equivalent are provided with the same reference numerals. DETAILED DESCRIPTION

[0038] Figure 1 A schematic diagram of an exemplary embodiment of a vehicle 100 is shown, which includes a driving control system 200 and a driving unit 300. The driving control system 200 includes a control unit 201 and a feedback unit 202. The control unit 201 is configured to provide different driving modes to the driver 1000, the feedback unit 202 is configured to provide kinematic feedback to the driver 1000, and the driving control system 200 is configured to control the driving unit 300. The driving unit 300 is configured to control the movement of the vehicle 100.

[0039] Figure 2 An exemplary embodiment of a method 400 for transitioning the driving mode of a vehicle 100 from an assisted driving mode to an automated driving mode is shown. Method 400 includes a step S1 of providing an assisted driving mode AS configured to support the driver 1000 in controlling the vehicle 100 with a medium support level. The medium support level corresponds to a support level SL that controls some of the driver's 1000 driving actions, such as longitudinal and lateral control preferably provided by an activated lane centering assist and an activated adaptive cruise control, but the driver 1000 remains responsible for driving the vehicle 100. Assisted driving mode AS may also be referred to as a partially automated driving mode.

[0040] Step S2 includes receiving an activation request for activating the automatic driving mode AD, which is sent by the driver 1000, for example, by pressing a button, when the driver 1000 wants to switch to the automatic driving mode AD. The automatic driving mode AD is configured to autonomously control the driving of the vehicle 100, that is, the vehicle 100, and specifically the driving control system 200, is responsible for driving the vehicle 100. Therefore, the automatic driving mode AD can also be referred to as a fully automatic driving mode, and is therefore configured to provide a high level of support or a full level of support.

[0041] Once the driver has initiated an activation request for activating the autonomous driving mode AD, the support level SL is reduced to the safety assistance driving mode ADAS, and the ADAS is configured to support the driver 1000 at a low support level (step S3). The low support level corresponds to the support level SL that only controls the minimum driving action to ensure a basic safety level of the vehicle 100. The low support level includes longitudinal braking assistance and active safety functions, for example, provided by activated lane keeping assistance and activated collision avoidance assistance, which will only actuate the vehicle 100 in the event of potential or imminent danger. The reduction of the support level SL from the assisted driving mode AS to the safety assistance driving mode ADAS includes a first kinematic feedback characterized by the relaxation of at least one primary driving control. Therefore, the first kinematic feedback can be perceived by the driver 1000, for example, by feeling the reduced stiffness of the steering wheel for steering, and ensures that the driver 1000 is aware of the fact that he is responsible for ensuring driving safety.

[0042] If the activation request is successful ( Figure 2 ), then the support level SL is increased from the safety assisted driving mode ADAS to the automatic driving mode AD (step S4). The increase in the support level SL from the safety assisted driving mode ADAS to the automatic driving mode AD includes a second kinematic feedback to the driver 1000, characterized by a sharpening of at least one primary driving control. Therefore, the driver 1000 can perceive the second kinematic feedback, for example, by feeling an increase in the stiffness of the steering wheel to turn, preferably making the steering wheel difficult to be controlled by the driver 1000. Therefore, the second kinematic feedback is combined with the previous first feedback to signal to the driver 1000 that the vehicle 100 itself is now responsible for controlling the driving of the vehicle 100.

[0043] If the activation request fails ( Figure 2 If "No" in the answer, then the safety assistance driving mode ADAS is maintained (step S5). Since no other feedback is provided to the driver 1000, the driver 1000 still knows that he is responsible for controlling the vehicle 100.

[0044] Figure 3 Another embodiment of a method 400 for transitioning a vehicle's driving mode from an assisted driving mode AS to an automated driving mode AD is shown, including the following steps: Figure 2 The steps S1 to S5 are described above, and additional steps are included in the event that the activation request fails. For the sake of brevity, the description of repeated steps S1 to S5 is omitted. In the event that the activation request fails, the safety assisted driving mode ADAS is maintained until an interaction request from the driver 1000 is received (step S6). The interaction request or request to restore the assisted driving mode ADAS ( Figure 3“deactivation”) or a request to transition to a manual driving mode (see “activation” in Figure 3 In case of resuming the assisted driving mode AS, the method 400 returns to step S1. In case of transitioning to the manual driving mode, the method proceeds to step S7, in which the automatic deactivation of the safety assist driving mode ADAS introduces the manual driving mode, in which the vehicle 100, in particular the driving control system 200, no longer provides any support to the driver 1000, but still provides basic safety functions. Examples of basic safety functions include emergency braking, anti-lock braking system (ABS), electronic stability control (ESC), etc.

[0045] Figure 4 and Figure 5 A diagram schematically illustrating changes in the support level SL for transitioning the driving mode of the vehicle from the assisted driving mode AS to the autonomous driving mode AD over time and the corresponding changes in the support level is shown, exemplarily for the lateral lane control LLC. Figure 4 A case in which the activation request for activating the autonomous driving mode is successful is shown, and Figure 5 A case in which the activation request for activating the autonomous driving mode is not successful is shown.

[0046] In Figure 4 and Figure 5 The vehicle 100 is started in the assisted driving mode AS (time t0). The assisted driving mode AS provides a medium support level to the driver 1000, illustrated by the lateral lane control LLC with first in-lane target region boundaries L1, R1. The assisted driving mode AS is maintained until an activation request for activating the autonomous driving mode AD is received (time t1). From t1 to t2, which interval can preferably be between 300 ms and 3 s, more preferably between 300 ms and 1.5 s or between 300 ms and 700 ms, a transition from the assisted driving mode AS to the safety assist driving mode ADAS is described. The transition includes a relaxation of the lateral lane control LLC by widening the in-lane target region boundaries L1, R1, and a fade-out of the propulsion (longitudinal) control. At time t2, the lateral lane control keeps the vehicle 100 between second in-lane region boundaries L2, R2.

[0047] In Figure 4In the middle, at time t2, the activation request is successful and the autonomous driving mode AD is activated. From time t2 to time t3 a transition from the safe assisted driving mode ADAS to the autonomous driving mode AD is described, also referred to as ramp-up of the autonomous driving mode AD. During this ramp-up the in-lane target region boundaries of the lateral lane control LLC are strictly sharpened and at time t3 the third in-lane target region boundaries L3, R3 are narrower than during the assisted driving mode AS at the beginning and the autonomous driving mode AD is fully activated.

[0048] In Figure 5 In the middle, at time t2, the activation request is successful and the autonomous driving mode AD is activated. From time t2 to time t3 a transition from the safe assisted driving mode ADAS to the autonomous driving mode AD is described, also referred to as ramp-up of the autonomous driving mode AD. During this ramp-up the in-lane target region boundaries of the lateral lane control LLC are strictly sharpened and at time t3 the third in-lane target region boundaries L3, R3 are narrower than during the assisted driving mode AS at the beginning and the autonomous driving mode AD is fully activated.

[0049] Although only kinematic feedback is described, further embodiments can additionally include further feedback, e.g. colored light sources or icons on the driver dashboard and / or steering wheel, sound warnings and / or haptic warnings in the form of vibrations.

[0050] List of reference signs

[0051] 100 vehicle

[0052] 200 driving control system

[0053] 201 control unit

[0054] 202 feedback unit

[0055] 300 driving unit

[0056] 400 method

[0057] 1000 driver

[0058] AD autonomous driving mode

[0059] ADAS safe assisted driving mode

[0060] AS assisted driving mode

[0061] LLC lateral lane control

[0062] L, R in-lane target region boundaries

[0063] SL support level

[0064] t time

Claims

1. A method (400) for changing a driving mode of a vehicle (100) from an assisted driving mode (AS) to an automated driving mode (AD), comprising: - providing an assisted driving mode (AS) configured to support the driver (1000) in controlling the vehicle (100) at a medium support level; - receiving an activation request for activating an autonomous driving mode (AD), the autonomous driving mode (AD) being configured to autonomously control driving of the vehicle (100); - reducing the support level (SL) to a safety assisted driving mode (ADAS), the safety assisted driving mode (ADAS) being configured to support the driver (1000) at a low support level, the reducing the support level (SL) from the assisted driving mode (AS) to the safety assisted driving mode (ADAS) comprising a first kinematic feedback; as well as If the activation request is successful, raising the support level (SL) from a safety assisted driving mode (ADAS) to an automatic driving mode (AD), raising the support level (SL) from a safety assisted driving mode (ADAS) to an automatic driving mode (AD) including providing a second kinematic feedback to the driver (1000); or If the activation request fails, the safety assisted driving mode (ADAS) is maintained.

2. The method (400) of claim 1, wherein the intermediate support level includes longitudinal control and lateral control.

3. The method (400) according to claim 1 or 2, the low support level comprising longitudinal brake assistance and active safety functions.

4. The method (400) according to claim 1 or 2, wherein the first kinematic feedback and the second kinematic feedback are based on primary driving control.

5. The method (400) of claim 4, wherein the first kinematic feedback is characterized by a relaxation of the primary steering control.

6. The method (400) of claim 4, wherein the second kinematic feedback is characterized by a sharpening of the primary steering control.

7. The method (400) of claim 4, wherein the primary driving controls include an accelerator pedal, a brake pedal, and / or a steering wheel.

8. The method (400) according to claim 1 or 2, additionally providing acoustic feedback and / or visual feedback and / or tactile feedback configured to indicate the activated driving mode.

9. The method (400) according to claim 1 or 2, wherein the safety assisted driving mode (ADAS) is maintained for a predefined amount of time, or is maintained until an interaction request from a driver (1000) is received.

10. The method (400) according to claim 9, wherein the interaction request of the driver (1000) requests restoration of an assisted driving mode (AS) or requests transition to a manual driving mode, wherein the manual driving mode is configured not to support the driver (1000) but to provide basic safety functions.

11. A driving control system (200) for a vehicle (100), comprising a control unit (201), the control unit (201) being configured to: - provide an assisted driving mode (AS), the assisted driving mode (AS) being configured to support a driver (1000) in controlling the vehicle (100) at a medium support level; - receiving an activation request for activating an autonomous driving mode (AD), the autonomous driving mode (AD) being configured to autonomously control driving of the vehicle (100); - reducing the support level (SL) to a safety assistance driving mode (ADAS) configured to support the driver at a low support level (1000); and If the activation request is successful, raising the support level (SL) from safety assistance driving mode (ADAS) to autonomous driving mode (AD), or If the activation request fails, maintaining the safety assistance driving mode (ADAS), and The invention also includes a feedback unit (202) configured to provide a first kinematic feedback to the driver (1000) when the support level (SL) is reduced from the assisted driving mode (AS) to the safe assisted driving mode (ADAS), and / or to provide a second kinematic feedback to the driver (1000) when the support level (SL) is increased from the safe assisted driving mode (ADAS) to the automatic driving mode (AD).

12. The driving control system (200) according to claim 11, the control unit (201) further comprising a manual driving mode, the manual driving mode being configured not to assist the driver (1000) but to provide basic safety functions.

13. The driving control system (200) according to claim 11 or 12, additionally comprising a human-machine interface configured to provide acoustic feedback and / or visual feedback and / or tactile feedback indicating the activated driving mode.

14. The driving control system (200) according to claim 11 or 12, wherein the first kinematic feedback and the second kinematic feedback are based on a primary driving control.

15. A vehicle (100) comprising a driving control system (200) according to any one of claims 11 to 14 and a driving unit (300) configured to control movement of the vehicle (100), wherein the driving control system (200) is configured to control the driving unit (300).

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