Driver control system for a vehicle

Abstract

The present disclosure relates to a driver control system for a vehicle, a vehicle comprising such a driver control system, a driver control method for a vehicle, and a computer program element for such a driver control system. The driver control system comprises a longitudinal control device, a lateral control device, and a control unit. The longitudinal control device and the lateral control device are arrangeable in the vehicle. The control unit is configured to determine at least one of a longitudinal adjustment parameter and a lateral adjustment parameter to propel the vehicle in an automatic mode. The control unit is configured to cause the longitudinal control device to apply the longitudinal adjustment parameter of the vehicle and / or the lateral control device to apply the lateral adjustment parameter in the automatic mode. The control unit is further configured to modify at least one of the longitudinal adjustment parameter and the lateral adjustment parameter to be applied to the vehicle with a predetermined bias rate to cause a reaction of a driver.

Description

Technical Field

[0001] This disclosure relates to a driver control system for a vehicle, a vehicle including such a driver control system, a driver control method for a vehicle, and a computer program element for such a driver control system. Background Technology

[0002] As autonomous driving technology improves, vehicles take over operational decisions from the user, making users increasingly passive in operating the vehicle. Driver-assisted vehicles can provide continuous assistance to the driver, such as speed control and / or steering assistance, while the driver remains actively involved in the driving task. However, when vehicle automation exceeds a certain level, human performance declines rapidly. In other words, the better autonomous driving technology becomes, the worse the driver's ability to react correctly in potentially critical situations becomes.

[0003] Several monitoring devices or methods exist to control driver involvement. Among these, torque- or capacitance-based hand-on-steering-wheel detection is commonly used. However, such monitoring systems are insufficient to distinguish between an active driver and someone simply placing their hands on the steering wheel. Additionally, camera-based driver monitoring devices are used, which assume driver involvement if the driver looks out of the vehicle's windshield.

[0004] However, these monitoring devices monitor the driver passively. Therefore, they may not be able to detect the driver's active involvement while driving the vehicle. Summary of the Invention

[0005] Therefore, it may be necessary to provide an improved driver control system that can monitor the driver's active participation while driving the vehicle.

[0006] It should be noted that various aspects of this disclosure are described in the driver control system for a vehicle, the vehicle including such a driver control system, the driver control method for a vehicle, and the computer program elements for such a driver control system.

[0007] According to this disclosure, a driver control system for a vehicle is proposed. The driver control system includes a longitudinal control unit, a lateral control unit, and a control unit. The longitudinal and lateral control units may be arranged in the vehicle. The control unit is configured to determine at least one of a longitudinal adjustment parameter and a lateral adjustment parameter to propel the vehicle in automatic mode. The control unit is configured to cause the longitudinal control unit to apply the vehicle's longitudinal adjustment parameter and / or cause the lateral control unit to apply the lateral adjustment parameter in automatic mode. The control unit is further configured to modify at least one of the longitudinal and lateral adjustment parameters to be applied to the vehicle at a predetermined deviation rate to elicit a driver response.

[0008] The driver control system according to this disclosure allows for selective alteration of vehicle characteristics or controls to influence driver engagement. Even minute changes, barely perceptible, can have a significant impact on the driver during driving. In particular, by modifying at least one of the longitudinal and lateral adjustment parameters in the vehicle's automatic mode, the driver can perceive deviations from the driving path and take over the physical control of the vehicle.

[0009] As autonomous driving technology advances, drivers typically cease directing the vehicle, resulting in a disconnect between driver awareness and responsiveness in critical situations. Maintaining sufficient driver involvement prevents the degradation of human performance or vehicle control. Therefore, an optimal balance can be achieved between the capabilities of autonomous driving modes and the driver's role as a supervisor.

[0010] A driver control system can be part of a driver assistance system, allowing the vehicle to take over operational decisions during driving. The vehicle can operate in automatic mode, where it provides continuous assistance to the driver, such as speed control and / or steering assistance, while the driver remains actively engaged in a supervisory task. Alternatively, the vehicle can operate in autonomous mode, in which it can take full propulsion control. Driver control systems can be applied to autonomous vehicles at levels 0 to 4.

[0011] The longitudinal control unit and the lateral control unit can apply wheel torque to control the vehicle in the longitudinal and lateral directions, respectively. The longitudinal control unit can be configured to control the vehicle in the longitudinal direction, i.e., parallel to the vehicle's driving direction. The lateral control unit can be configured to control the vehicle in the lateral direction, i.e., perpendicular to the vehicle's driving direction.

[0012] The longitudinal control device can be configured to adjust the vehicle's cruise function, such as the vehicle's cruise speed and / or the inter-vehicle distance. The longitudinal control device can apply at least one longitudinal adjustment parameter to at least one propulsion actuator and / or braking actuator to perform longitudinal control. The longitudinal adjustment parameter may include at least one physical driving parameter of the vehicle to control the vehicle in the longitudinal direction. For example, the longitudinal adjustment parameter may be related to the vehicle's traction torque to adjust the driving of the vehicle in the longitudinal direction.

[0013] Lateral control devices can be configured for path tracking, such as lane following, lane change maneuvering, and collision avoidance. The lateral control device can apply at least one lateral adjustment parameter to at least one steering mechanism of the vehicle. The lateral adjustment parameter can include at least one physical driving parameter of the vehicle to control the vehicle in the lateral direction. For example, the lateral adjustment parameter can be related to the vehicle's steering angle to adjust the driving of the vehicle in the lateral direction.

[0014] The control unit may be the vehicle's Electronic Control Unit (ECU) and is configured to perform drivetrain control, braking control, and / or transmission control. The control unit may be configured to receive environmental data, for example, from at least one environmental sensing device and / or navigation device, and determine longitudinal adjustment parameters for longitudinal control and / or lateral adjustment parameters for lateral control of the vehicle to drive the vehicle at least partially or fully in an autonomous driving mode. Alternatively or additionally, the determined longitudinal adjustment parameters and / or determined lateral adjustment parameters may be based on the driver's driving behavior.

[0015] The determined longitudinal and / or lateral adjustment parameters can be the optimal parameters for reliably and safely driving the vehicle in automatic mode. However, the control unit can slightly modify at least one of the determined longitudinal and lateral adjustment parameters by a predetermined deviation rate. The predetermined deviation rate can be, for example, 0.5%, 1%, 5%, etc. Generally, the vehicle driver can perceive very small changes in longitudinal and / or lateral driving control. Therefore, the deviation rate can be so small that it only attracts the driver's attention. However, it is important that the modified(one or more) adjustment parameters still meet the safety requirements for driving the vehicle in automatic mode.

[0016] Therefore, the driver control system can elicit active responses from the driver, who can attempt to adjust the modified (one or more) adjustment parameters to familiar longitudinal and / or lateral adjustment parameters, which can be the initially determined longitudinal and / or lateral adjustment parameters. Thus, during automated driving mode, active driver participation or supervision can be achieved through physical controls.

[0017] In one example, the deviation rate is inversely proportional to the time and / or distance over which the modified longitudinal and / or lateral adjustment parameters are applied. In other words, if the modified longitudinal and / or lateral adjustment parameters are applied over a short time period and / or short distance, the deviation rate can increase. Conversely, if the modified longitudinal and / or lateral adjustment parameters are applied over a long time period and / or long distance, the deviation rate can decrease. In other words, slow changes in one or more adjustment parameters can be applied over a longer time period or distance, and rapid changes in one or more adjustment parameters can be applied over a shorter time period or distance to elicit a driver's reaction.

[0018] The deviation rate used to modify longitudinal and / or lateral adjustment parameters may also be influenced by individual driving data, such as driving style, reaction to previous adjustments, hand-on-steering detection, gaze direction and pattern, number of hands-off warnings, etc. In other words, the deviation rate can also be based on driver behavior detected during driving.

[0019] In one example, longitudinal adjustment parameters include at least one of the vehicle's relative distance to the vehicle in front, relative speed to the vehicle in front, longitudinal acceleration rate, and longitudinal deceleration rate. Generally, the driver's changes to longitudinal driving control (such as acceleration or deceleration) are as small as ±0.1m. 2 The acceleration is very sensitive. Therefore, using modified longitudinal adjustment parameters may be suitable for evoking a driver's reaction, as such modifications are easily perceived by the driver.

[0020] Longitudinal adjustment parameters can relate to the vehicle's movement parallel to the driving direction. If there is at least one vehicle ahead, the distance between the driver's current vehicle and the vehicle ahead can be increased or decreased by accelerating or decelerating. Similarly, in the presence of a vehicle ahead, the relative speed between the two vehicles can be increased or decreased by accelerating or decelerating.

[0021] However, if there is no vehicle ahead, the control unit can modify the vehicle's current speed simply by accelerating or decelerating at a predetermined deviation rate. Furthermore, the acceleration or deceleration rate can also be modified when a vehicle ahead cuts in or out. Additionally, longitudinal adjustment parameters may include the vehicle's steering speed, which can also be modified to elicit a driver response.

[0022] In one example, lateral adjustment parameters include at least one of the vehicle's position within the lane, overdrive torque, steering wheel behavior, lane change time, cornering and / or cornering time, lateral acceleration, and lateral deceleration. Lateral adjustment parameters may relate to the vehicle's motion, which is substantially perpendicular to the vehicle's driving direction. Lateral adjustment parameters can be applied to the vehicle's lateral control, such as controlling lateral acceleration, controlling lateral speed, changing lanes, steering, navigating curves, and / or overtaking another road user. Lateral adjustment parameters for the vehicle's autonomous driving mode can also be determined based on driver behavior and / or driving preferences.

[0023] In one example, the control unit is configured to modify the lateral adjustment parameters in automatic mode by shifting the vehicle's position within the lane. If the driver prefers to drive in the center of the lane, the lateral adjustment parameters limiting the vehicle's position within the lane can be set to the center of the lane in automatic mode. However, to elicit a driver response, the control unit can modify the vehicle's position, causing the vehicle to temporarily deviate from the lane center. Conversely, if the driver prefers to drive at a position offset from the lane center, the control unit can temporarily modify the lateral adjustment parameters to keep the vehicle in the lane center, thus eliciting a driver response.

[0024] By applying a temporary offset to a vehicle in the lane, the driver can be prompted to correct lateral control to a familiar driving path. However, when modifying lateral adjustment parameters, it is important that the deviation rate applied to move the vehicle's position does not exceed the limits of off-road driving. In other words, the modified lateral adjustment parameters should still allow the vehicle to stay within the lane where safety requirements are met.

[0025] In one example, the control unit is configured to modify the lateral adjustment parameters of the automatic mode by adjusting the safety control zone within the lane to induce lateral drift of the vehicle and / or steering wheel tension. The lane may include a safety control zone substantially surrounding the center of the lane. The safety control zone may be defined by a bandwidth that forms a safe passage within the lane. The control unit may temporarily adjust the virtual bandwidth narrowly or widely.

[0026] Specifically, if the safety control zone becomes narrower, the vehicle may begin to drift laterally because it may be easier to leave the safety control zone. Additionally, or alternatively, the steering wheel may become tense as the vehicle attempts to remain within the narrow safety control zone. Lateral drift and / or a tense steering wheel may alert the driver and prompt them to actively engage in monitoring and / or supervising the vehicle.

[0027] In one example, the control unit is configured to modify the lateral adjustment parameters of the automatic mode to alter the cornering path by late entry and / or over-turning in a corner. When cornering, the driver may tend to be more sensitive to modifications and / or deviations in the vehicle's lateral control. For example, the control unit could modify lateral control to cause the vehicle to enter a corner earlier or later than usual in automatic mode, and / or exit a corner earlier or later than usual in automatic mode. Such modifications can cause the cornering driving path to deviate from the familiar cornering driving path, which may lead to physical changes in driver control.

[0028] In one example, the driver control system further includes a driver sensor unit configured to monitor the driver, whether the driver is supervising the vehicle in autonomous mode, and to generate driver monitoring data. The driver sensor unit can be configured to monitor whether the driver is paying attention to the road ahead and / or monitor the surrounding environment of the driving path, even in the vehicle's autonomous driving mode. In one example, the driver monitoring data includes at least one of the driver's steering wheel contact data and gaze data.

[0029] The driver sensor unit may include a steering wheel grip detection system, which includes at least one capacitive sensor element and / or a torque sensor element. The steering wheel grip detection system may be configured to detect whether the driver is gripping the steering wheel and generate steering wheel contact data accordingly. Alternatively, the driver sensor unit may include a camera-based driver monitoring system configured to capture at least one of the driver's gaze direction and gaze pattern. Specifically, the camera-based driver monitoring system may monitor whether the driver is observing the surrounding environment through the vehicle's windshield and generate gaze data accordingly.

[0030] By enabling the driver to physically control the vehicle by modifying longitudinal and / or lateral adjustment parameters, and by enabling the monitoring of driver behavior within the driver control system, it is possible to ensure that the driver actively participates in the form of human-automation interaction.

[0031] In one example, the control unit is configured to change the deviation rate of at least one of the longitudinal and lateral adjustment parameters used to modify the automatic mode based on driver monitoring data. The control unit may be configured to receive driver monitoring data, including at least one of the driver's steering wheel contact data and gaze data generated by the driver sensor unit, and to perform an assessment of whether the driver actively supervises the vehicle, which is being driven at least partially in automatic mode.

[0032] If the control unit determines that the driver is not paying sufficient attention to the surrounding environment, the control unit can increase the deviation rate. Conversely, if the control unit determines that the driver is fully engaged in monitoring the surrounding environment and / or responds appropriately to modified longitudinal and / or lateral adjustment parameters, the control unit can decrease the deviation rate. Accordingly, dynamic monitoring of the driver can be achieved.

[0033] In one example, the driver control system further includes a user interface unit to generate a signal if the driver does not respond to the modified longitudinal adjustment parameters and / or the modified lateral adjustment parameters. If the control unit does not detect a sufficient response from the driver to the modified longitudinal adjustment parameters and / or the modified lateral adjustment parameters, or even no response at all, the control unit may generate a warning signal to the user via the user interface device.

[0034] The warning signal can be a graphic signal, a light signal, and / or an audio signal. The user interface unit may include, for example, a graphical user interface element, which can be integrated into the vehicle, such as a CenterStack Display (CSD) or an Infotainment Head Unit (IHU). Alternatively, the user interface unit can be integrated into the vehicle's infotainment system.

[0035] In one example, the control unit is configured to modify at least one of a longitudinal adjustment parameter and a lateral adjustment parameter before maneuvering is required based on changing road conditions. The control unit may communicate with a navigation system, which may be located in the vehicle and configured to generate navigation data by calculating a route from the current location to the requested destination. Therefore, the control unit can receive information about the upcoming route. If the control unit identifies a need for strategic maneuvering based on the navigation data, such as a sharp turn, a street crossing, a lane change or merge, an on / off ramp entry or exit, etc., the control unit may modify at least one of the longitudinal and lateral adjustment parameters to attract the driver's attention in response to the modified adjustment(s).

[0036] Alternatively, the control unit may also warn the driver in adverse weather conditions by modifying at least one of the longitudinal and lateral adjustment parameters.

[0037] In one example, the control unit can periodically and / or irregularly modify at least one of the longitudinal and lateral adjustment parameters at predetermined time intervals, regardless of any external inputs, such as driver monitoring data.

[0038] According to this disclosure, a vehicle is proposed. The vehicle includes a driver control system as described above. The vehicle may be capable of driving at least partially or fully in an automatic / autonomous driving mode. The vehicle including the driver control system allows the driver to participate in supervising driving by temporarily modifying at least one of the longitudinal adjustment parameters and the lateral adjustment parameters. Therefore, safe driving of the vehicle can be ensured.

[0039] According to this disclosure, a driver control method for a vehicle is proposed. The method includes, but is not necessarily in this order:

[0040] - Determine at least one of the longitudinal and lateral adjustment parameters to propel the vehicle in automatic mode.

[0041] - Apply at least one of the longitudinal adjustment parameter and the lateral adjustment parameter in automatic mode, and

[0042] - Modify at least one of the longitudinal and lateral adjustment parameters to be applied to the vehicle's automatic mode by a predetermined deviation rate to elicit a driver response.

[0043] The longitudinal and lateral control devices can be arranged in the vehicle.

[0044] According to this disclosure, a computer program element is provided. This computer program element is configured for use in the driver control system described above. When executed by a processing element, this program element is adapted to perform the method steps described above.

[0045] It should be noted that the above embodiments can be combined with each other, regardless of the aspects involved. Accordingly, the method can be combined with structural features, and similarly, the system can be combined with the features described above regarding the method.

[0046] These and other aspects of the embodiments of the present invention will become apparent and will be explained from the embodiments described below. Attached Figure Description

[0047] Exemplary embodiments will now be described with reference to the accompanying drawings.

[0048] Figure 1 An embodiment of a vehicle including a driver control system according to the present disclosure is illustrated schematically and exemplary.

[0049] Figure 2a , Figure 2b , Figure 2c An embodiment of a driver control method by modifying longitudinal adjustment parameters according to the present disclosure is illustrated schematically and exemplary.

[0050] Figure 3a , Figure 3b , Figure 3cAn embodiment of a driver control method by modifying lateral adjustment parameters according to the present disclosure is illustrated schematically and exemplary. Detailed Implementation

[0051] Figure 1 A vehicle 100 including a driver control system 1 is shown. The vehicle 100 can operate in at least partial or full autonomous driving mode. The driver control system 1 is configured to monitor the driver, i.e., whether the driver actively supervises the autonomous driving mode of the vehicle 100. The driver control system 1 may be part of a driver assistance system that allows the vehicle 100 to take over operational decisions during driving. In autonomous mode, the vehicle 100 provides continuous assistance to the driver, such as speed control and / or steering assistance, and the driver remains actively engaged in a supervisory task.

[0052] The driver control system 1 includes a longitudinal control unit 10, a lateral control unit 20, and a control unit 30. The longitudinal control unit 10 and the lateral control unit 20 are arranged in the vehicle 100. The control unit 30 is configured to determine at least one of longitudinal adjustment parameters and lateral adjustment parameters to propel the vehicle 100 in automatic mode. The longitudinal adjustment parameters include at least one of the following: the relative distance of the vehicle 100 to the vehicle in front, the relative speed to the vehicle in front, the longitudinal acceleration rate, and the longitudinal deceleration rate. The lateral adjustment parameters include at least one of the following: the position of the vehicle 100 within the lane 200, overdrive torque, steering wheel behavior, lane change time, cornering entry and / or cornering exit time, lateral acceleration rate, and lateral deceleration rate.

[0053] The longitudinal control device 10 is configured to receive longitudinal adjustment parameters determined by the control unit 30 and apply these parameters in the automatic mode of the vehicle 100. The lateral control device 20 is configured to receive lateral adjustment parameters determined by the control unit 30 and apply these parameters in the automatic mode of the vehicle 100. The longitudinal control device 10 can be configured to adjust the vehicle's cruise control functions, such as the cruise speed of the vehicle 100 and / or the inter-vehicle distance. The lateral control device 20 can be configured for path tracking, such as lane following, lane change maneuvering, collision avoidance, etc.

[0054] The driver control system 1 further includes a driver sensor unit 40, which is configured to monitor the driver, whether the driver is supervising the vehicle 100 operating in automatic mode, and to generate driver monitoring data. The driver monitoring data includes at least one of steering wheel contact data and driver gaze data.

[0055] The driver sensor unit 40 includes a steering wheel grip detection system 41, which includes at least one capacitive sensor element and a torque sensor element. The steering wheel grip detection system 41 is configured to detect whether the driver is gripping the steering wheel and generate steering wheel contact data accordingly. Alternatively, the driver sensor unit 40 includes a camera-based driver monitoring system 42, which is configured to capture at least one of the driver's gaze direction and gaze pattern. Specifically, the camera-based driver monitoring system 42 can monitor whether the driver is observing the surrounding environment through the vehicle's windshield 100 and generate gaze data accordingly.

[0056] Control unit 30 may be an electronic control unit (ECU) of vehicle 100 and is configured to perform transmission control, braking control, and / or gear shift control. Control unit 30 is configured to modify at least one of the longitudinal and lateral adjustment parameters applied in vehicle 100 at a predetermined deviation rate to elicit a driver response. The deviation rate may be so small that it may only elicit the driver's attention. Importantly, the modified(one or more) adjustment parameters should still meet the safety requirements of vehicle 100 operating in automatic mode (see also Figures 2 and 3).

[0057] The deviation rate is inversely proportional to the time and / or distance over which the modified longitudinal and / or lateral adjustment parameters are applied. For example, the deviation rate may increase if the modified longitudinal and / or lateral adjustment parameters are applied over a shorter time period and / or a shorter distance.

[0058] The control unit 30 is further configured to modify at least one of the longitudinal adjustment parameter and the lateral adjustment parameter before the necessary maneuvering is required based on the changing road conditions. Alternatively, the control unit 30 may modify at least one of the longitudinal adjustment parameter and the lateral adjustment parameter periodically and / or irregularly over predetermined time periods, regardless of any external input, such as driver monitoring data.

[0059] The control unit 30 is further configured to change the deviation rate of at least one of the longitudinal and lateral adjustment parameters used to modify the automatic mode based on driver monitoring data. For example, if the control unit 30 determines that the driver is not paying sufficient attention to the surrounding environment, the control unit 30 may increase the deviation rate.

[0060] The driver control system 1 further includes a user interface unit 50 to generate signals in cases where the driver is insufficiently or unresponsive to modified longitudinal adjustment parameters and / or modified lateral adjustment parameters. For example, the user interface unit 50 may include graphical user interface elements, and the user interface unit 50 may be integrated into the vehicle 100, such as a central stack display (CSD) or infotainment master unit (IHU). Alternatively or additionally, the user interface unit 50 may be integrated into the infotainment system of the vehicle 100.

[0061] Figure 2a , Figure 2b and Figure 2c A vehicle 100 is shown traveling with at least one modified longitudinal adjustment parameter. The control unit 30 of the driver control system 1 can temporarily modify the longitudinal adjustment parameter to elicit a driver response. If there is at least one vehicle 100 ahead, the distance between the driver's current vehicle 100 and the vehicle ahead can be increased or decreased by accelerating or decelerating the vehicle 100. Similarly, in the presence of a vehicle 100 ahead, the relative speed between the two vehicles can be increased or decreased by accelerating or decelerating the vehicle 100 (see [link to relevant documentation]). Figure 2a ).

[0062] However, in the absence of a vehicle ahead, the control unit 30 can modify the current speed of the vehicle 100 simply by accelerating or decelerating at a predetermined deviation rate (see [reference]). Figure 2b Furthermore, the acceleration or deceleration rate can also be modified when the preceding vehicle 100 cuts in or out. Additionally, the longitudinal adjustment parameters may include the steering speed of vehicle 100, which can also be modified to elicit a driver response (see [link]). Figure 2c ).

[0063] Figure 3a , Figure 3b and Figure 3c A vehicle 100 is shown traveling with at least one modified lateral adjustment parameter. The control unit 30 of the driver control system 1 can temporarily modify the lateral adjustment parameter to elicit a driver response.

[0064] Specifically, the control unit 30 is configured to modify the lateral adjustment parameters of the automatic mode by offsetting the position of the vehicle 100 within lane 200. If the driver prefers to drive in the center of lane 200, or if the vehicle 100 is driving in the center of lane 200 in automatic mode, the lateral adjustment parameters of the vehicle 100's position can be modified using an offset from the center of lane 200 (see [link to relevant documentation]). Figure 3aHowever, if the driver prefers to drive at a position offset from the center of lane 200, or if vehicle 100 drives at a position offset from the center of lane 200 in autonomous driving mode, the lateral adjustment parameters can be temporarily modified to center vehicle 100 in lane 200 to elicit a driver response (see [link]). Figure 3b ).

[0065] The control unit 30 is further configured to modify the lateral adjustment parameters of the automatic mode by adjusting the safety control zone 210 within lane 200 to induce lateral drift and / or steering wheel tension behavior in the vehicle 100 (see [link to relevant documentation]). Figure 3c The safety control zone 210 may be defined by a bandwidth d that forms a safe passage within lane 200. The control unit 30 may temporarily adjust the virtual bandwidth d, making it narrower or wider. For example, if the safety control zone 210 becomes narrower, the vehicle 100 may begin to drift laterally because it may be easier to leave the safety control zone 210. Additionally or alternatively, steering wheel behavior may become strained as the vehicle 100 may attempt to remain within the narrow safety control zone 210.

[0066] It must be noted that the embodiments of this disclosure are described with reference to different subjects. In particular, some embodiments are described with reference to method type claims, while others are described with reference to device type claims. However, those skilled in the art will understand from the above and below description that, unless otherwise notified, any combination of features relating to different subjects, in addition to any combination of features belonging to one subject, is also considered to be disclosed in this application. However, all features can be combined to provide more synergistic effects than a simple sum of features.

[0067] While this disclosure has been detailed and described in the accompanying drawings and specification, such description and illustration should be considered illustrative or exemplary, not restrictive. This disclosure is not limited to the disclosed embodiments. Through a study of the drawings, the disclosure, and the dependent claims, those skilled in the art can understand and implement other variations to the disclosed embodiments when implementing the claimed disclosure.

[0068] In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite articles "a" or "an" do not exclude multiple. A single processor or other unit can perform the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to exert an advantage. Any reference marks in the claims should not be construed as limiting the scope.

Claims

1. A driver control system (1) for a vehicle (100), comprising: - Longitudinal control device (10). - Lateral control device (20), and - Control unit (30). The longitudinal control device (10) and the lateral control device (20) can be arranged in the vehicle (100). The control unit (30) is configured to determine at least one of a longitudinal adjustment parameter and a lateral adjustment parameter to propel the vehicle (100) in automatic mode. The control unit (30) is configured to cause the longitudinal control device (10) to apply the longitudinal adjustment parameters of the vehicle and / or cause the lateral control device (20) to apply the lateral adjustment parameters in the automatic mode. The control unit (30) is further configured to modify at least one of the longitudinal adjustment parameters and the lateral adjustment parameters applied to the vehicle (100) by a predetermined deviation rate to elicit a response from the driver. The deviation rate used to modify the longitudinal adjustment parameter and / or the lateral adjustment parameter is inversely proportional to the time and / or distance to which it will be applied, and The control unit (30) is configured to modify at least one of the longitudinal adjustment parameters and the lateral adjustment parameters before maneuvering is required based on the changing road conditions.

2. The driver control system (1) according to claim 1, wherein the longitudinal adjustment parameters include at least one of the relative distance of the vehicle (100) to the vehicle in front, the relative speed of the vehicle to the vehicle in front, the longitudinal acceleration rate, and the longitudinal deceleration rate.

3. The driver control system (1) according to claim 1, wherein the lateral adjustment parameters include at least one of the vehicle (100) position in the lane (200), overdrive torque, steering wheel behavior, lane change time, cornering time, cornering time, lateral acceleration rate and lateral deceleration rate.

4. The driver control system (1) according to claim 3, wherein the control unit (30) is configured to modify the lateral adjustment parameters of the automatic mode by offsetting the position of the vehicle (100) within the lane (200).

5. The driver control system (1) according to claim 3, wherein the control unit (30) is configured to modify the lateral adjustment parameters of the automatic mode by adjusting the safety control zone (210) within the lane (200) to induce lateral drift of the vehicle (100) and / or tension behavior of the steering wheel.

6. The driver control system (1) according to claim 3, wherein the control unit (30) is configured to change the curve path by modifying the lateral adjustment parameters of the automatic mode in a late turn-in and / or over-turn-out in a curve.

7. The driver control system (1) according to claim 1, further comprising a driver sensor unit (40) configured to monitor the driver, whether the driver supervises the vehicle (100) driving in the automatic mode, and generate driver monitoring data.

8. The driver control system (1) according to claim 7, wherein the control unit (30) is configured to change the deviation rate of at least one of the longitudinal adjustment parameter and the lateral adjustment parameter used to modify the automatic mode based on the driver monitoring data.

9. The driver control system (1) according to claim 7, wherein the driver monitoring data includes at least one of the driver's steering wheel contact data and gaze data.

10. The driver control system (1) according to claim 1, further comprising a user interface unit (50) for generating a signal if the driver does not respond to the modified longitudinal adjustment parameters and / or the modified lateral adjustment parameters.

11. A vehicle (100) comprising a driver control system (1) according to any one of claims 1 to 10.

12. A driver control method for a vehicle (100), comprising: - Determine at least one of the longitudinal adjustment parameters and the lateral adjustment parameters to propel the vehicle (100) in automatic mode. - In the automatic mode, apply at least one of the longitudinal adjustment parameter and the lateral adjustment parameter, and - Modify at least one of the longitudinal adjustment parameters and the lateral adjustment parameters applied to the automatic mode of the vehicle by a predetermined deviation rate to elicit a response from the driver. The longitudinal control device (10) and the lateral control device (20) can be arranged in the vehicle (100). The deviation rate used to modify the longitudinal adjustment parameters and / or the lateral adjustment parameters is inversely proportional to the time and / or distance to which the adjustment will be applied. in Modification of at least one of the longitudinal adjustment parameters and the lateral adjustment parameters is performed before the necessary maneuvers are made based on the changing road conditions.

13. A computer program element for use in a driver control system (1) according to any one of claims 1 to 10, wherein the computer program element, when executed by a processed element, is adapted to perform the steps of the method according to claim 12.

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