Driving assistance system and driving assistance method for vehicle

Abstract

The invention relates to a driving assistance system (100, 200) for a vehicle, comprising a user interface module (210) configured to receive a user input for deactivating an emergency stop function; a driver monitoring module (220), which is designed to determine a driver state; a control module (230) arranged to reactivate the deactivated emergency stop function when the driver state corresponds to a predetermined state.

Description

Technical Field

[0001] The present disclosure relates to a driving assistance system for a vehicle, a vehicle having such a driving assistance system, a driving assistance method for a vehicle, and a storage medium for executing the driving assistance method. The present disclosure particularly relates to reactivating an emergency stop function of a vehicle, particularly a motor vehicle, which has been deactivated by a driver. Background Art

[0002] With the development of (partially) automated vehicles, driver assistance systems for handling emergency situations during driving are becoming increasingly important. For example, document DE 10 2012 001 312 A1 describes a driver assistance system in which operating commands can be input by means of an input device such as a switch. If such an input is made, a driving maneuver that can be performed autonomously can be triggered. In particular, the driver assistance system can implement an emergency stop that can be triggered by the driver or the co-driver in the event that the driver is unable to drive.

[0003] Such driver assistance systems can usually be deactivated by the driver. If the driver now forgets to reactivate the driver assistance system or if the driver deliberately deactivates it, a dangerous situation could arise, such as a collision with other road users and / or obstacles. Summary of the invention

[0004] The object of the present disclosure is to provide a driving assistance system for a vehicle that can maximize the functional readiness of an emergency stop function, a vehicle having such a driving assistance system, a driving assistance method for a vehicle, and a storage medium for executing the driving assistance method. In particular, the object of the present disclosure is to avoid potentially dangerous situations in road traffic.

[0005] This object is achieved by the subject matter of the independent claim. Advantageous embodiments are given in the dependent claims.

[0006] According to an independent aspect of the present disclosure, a driver assistance system for a vehicle, in particular a motor vehicle, is provided. The driver assistance system comprises a user interface module, which is configured to receive a user input for deactivating an emergency stop function; a driver monitoring module, which is configured to determine a driver state; and a control module, which is configured to reactivate the deactivated emergency stop function when the driver state corresponds to a predetermined state.

[0007] According to the invention, under certain circumstances, the emergency stop function is activated or started in the background, even if the driver has previously deactivated the emergency stop function. For example, if the driver is identified as being very tired, the emergency stop function can be automatically activated or started against the driver input. As a result, the functional readiness of the emergency stop function can be maximized, whereby potentially dangerous situations in road traffic, such as collisions with other road users and / or obstacles, can be avoided.

[0008] In the context of the present disclosure, the term "activate" refers to initiating the emergency stop function. In other words, the term does not refer to triggering the emergency stop. In particular, when the emergency stop function is deactivated, the emergency stop may not be triggered even if a triggering condition such as a medical emergency is met. Conversely, when the emergency stop function is activated, the emergency stop is triggered if a triggering condition such as a medical emergency is met.

[0009] The term "emergency stop" refers to an autonomous driving maneuver of a vehicle in order to stop the vehicle, for example, on a road shoulder or at a curb. To this end, the vehicle can brake autonomously and optionally steer.

[0010] When at least one triggering condition is met, an emergency stop is performed or triggered. The at least one triggering condition may define, among other things, criteria for performing an emergency stop. For example, the at least one triggering condition may include a recognized sleeping state, fainting, a medical emergency, manipulation of a switch by the driver or other occupant, etc. However, the present disclosure is not limited to these examples and additional or other suitable criteria may be defined for which an emergency stop should be performed.

[0011] The user interface module may include at least one output device and at least one input device. The user interface module may be, for example, a central information output and information input device of an infotainment system, such as a host computer. The user interface module is preferably fixedly installed in the vehicle.

[0012] The at least one output device may include at least one display device and / or at least one loudspeaker. The at least one display device may include a display, in particular an LCD display, a plasma display or an OLED display. Additionally or alternatively, the at least one display device may include a projection device configured to present information directly in the driver's field of vision, in particular onto a windshield.

[0013] The at least one input device may include a touch-sensitive input device, such as a touch area or a touchpad, and / or a tactile input device, such as a switch (eg a push button switch and / or a rotary knob switch) or other mechanically actuatable key element.

[0014] Preferably, the user interface module comprises or is a touch screen providing at least one output device and at least one input device.

[0015] Preferably, the driver monitoring module comprises at least one sensor, which is arranged to detect the driver and provide detection data. At least one sensor may be an optical sensor, such as a camera, in particular an interior camera. Optionally, the driver monitoring module may comprise at least one light source. In some embodiments, the light source may be an infrared light source, and at least one sensor may be an infrared sensor, such as an infrared camera.

[0016] The driver monitoring module is configured to analyze and evaluate detection data, such as image data, provided by at least one sensor. By analyzing and evaluating the detection data, the state of the driver can be detected or determined. For example, if the driver keeps closing his eyes, a sleeping state can be identified.

[0017] The term "driver state" or "driver's state" may include a wakefulness state (asleep or awake) and / or a fatigue state (fatigued or not fatigued) and / or an emotional state (e.g. quiet or excited) and / or a medical state (e.g. unconscious). In particular, the driver state relates to fatigue (fatigued or not fatigued) and / or a fatigue level (slightly fatigued or strongly fatigued).

[0018] Preferably, the predetermined state is the driver's fatigue state. In other words, when the driver's fatigue is identified, the emergency stop function can be reactivated.

[0019] Preferably, the user interface module is configured to issue a query for reactivating the emergency stop function when the driver's state corresponds to a predetermined state. When a user input for reactivating the emergency stop function is received in response to the query, the emergency stop function is reactivated. For example, when (e.g. slight) fatigue of the driver is detected, an audible and / or visual prompt may be issued, asking the driver to confirm the reactivation of the emergency stop function. If the driver confirms, the emergency stop function may be reactivated. If the driver does not confirm, the emergency stop function cannot be reactivated or remains deactivated.

[0020] Preferably, the control module is configured to automatically reactivate a deactivated emergency stop function when the driver's state corresponds to a predetermined state. In particular, the control module can directly reactivate the emergency stop function without the driver's involvement. For example, it can be detected that the driver is very tired, so that the control module can directly activate the emergency stop function.

[0021] Preferably, the driver monitoring module is arranged to determine a measure of the driver's state, and wherein the control module is arranged to perform reactivation of the emergency stop function based on the measure of the driver's state. The measure may describe the degree or manifestation of certain driver states, such as fatigue. For example, the driver monitoring module may classify or grade the driver's state, such as fatigue, into two or more categories or levels. The two or more categories or levels may, for example, include "mild / low", "strong / severe" and optionally "medium".

[0022] In some embodiments, the control module may be configured to reactivate the emergency stop function later the lower the measure of the driver's state. In other words, the control module may be configured to reactivate the emergency stop function earlier the higher the measure of the driver's state. For example, a longer wait may be made to reactivate the emergency stop function at low fatigue than at high fatigue.

[0023] Preferably, the control module is configured to issue a query for reactivating the emergency stop function when the measure of the driver's state corresponds to a first measure, in particular wherein the first measure is a first fatigue state of the driver. When the measure of the driver's state corresponds to a second measure that is higher than the first measure, the deactivated emergency stop function is automatically or directly reactivated. Typically, the first measure and the second measure are the fatigue and fatigue state of the driver. If only slight fatigue is detected, the driver can first be asked whether the emergency stop function should be activated again. However, if strong fatigue is detected, the emergency stop function can be directly reactivated without asking the driver.

[0024] The driver monitoring module is preferably configured for long-term observation of the driver. The control module can be configured to reactivate the emergency stop function based on long-term observation of the driver. For example, frequent severe fatigue states or frequent fainting can be identified within the scope of long-term observation. In this case, the control module can perform reactivation of the emergency stop function in a manner with a lower threshold, for example automatically at the beginning of driving or when slightly fatigued.

[0025] The control module is preferably arranged to reactivate the emergency stop function for the current driving cycle and to deactivate the emergency stop function again for a driving cycle subsequent to the current driving cycle. In other words, the emergency stop function may be temporarily reactivated for the current driving cycle.

[0026] Preferably, the control module is arranged to continuously reactivate the emergency stop function for the driver when the driver state corresponds to a predetermined state. In particular, if the driver is the same, the emergency stop function can be activated for the current driving cycle and remain activated for one or more subsequent driving cycles.

[0027] The term "drive cycle" may be appropriately defined as the period of time between a start point and an end point. For example, the start point may be the start of the engine or driving away from a starting position. Similarly, the end point may be the parking of the vehicle or a route destination.

[0028] According to another independent aspect of the present disclosure, a vehicle, in particular a motor vehicle, is provided. The vehicle includes a driver assistance system according to an embodiment of the present disclosure.

[0029] The term "vehicle" includes passenger cars, trucks, buses, caravans, motorcycles, etc. used to transport people, goods, etc. In particular, the term includes motor vehicles used for passenger transportation.

[0030] The driving assistance system is configured for automated driving. In particular, automated driving includes at least an emergency stop function or the automatic execution of an emergency stop.

[0031] In the context of this document, the term "automatic driving" can be understood as driving with automatic longitudinal or lateral guidance or autonomous driving with automatic longitudinal and lateral guidance. Automatic driving can be, for example, longer driving on highways or limited driving within the scope of parking or maneuvering. The term "automatic driving" includes automatic driving with any degree of automation. Exemplary degrees of automation are assisted, partially automated, highly automated or fully automated driving. These degrees of automation have been defined by the Federal Highway Agency (BASt) (see the BASt publication "Research Collection", issue 11 / 2012).

[0032] In assisted driving, the driver continuously performs longitudinal or lateral guidance, while the system takes over the corresponding other functions within certain limits. In partially automated driving (TAF), the system takes over longitudinal and lateral guidance for certain periods of time and / or under certain conditions, wherein the driver must continuously monitor the system as in assisted driving. In highly automated driving (HAF), the system takes over longitudinal and lateral guidance for certain periods of time, without the driver having to continuously monitor the system; however, the driver must be able to take over the guidance of the vehicle within certain periods of time. In fully automated driving (VAF), the system can automatically handle driving in all situations for a specific application; the driver is no longer required for this application.

[0033] The above four automation levels correspond to SAE levels 1 to 4 of the SAE J3016 standard (SAE-Society of Automotive Engineers). In addition, SAE level 5 is still set in SAE J3016 as the highest automation level that is not included in the BASt definition. SAE level 5 corresponds to unmanned driving, in which the system can automatically handle all situations during the entire driving period like a human driver; usually no driver is required.

[0034] According to another independent aspect of the present invention, a driving assistance method for a vehicle, in particular a motor vehicle, is provided. The driving assistance method comprises receiving a user input for deactivating an emergency stop function; determining a driver state; and reactivating the deactivated emergency stop function when the driver state corresponds to a predetermined state.

[0035] The driving assistance method may implement aspects of the driving assistance system described in this document.

[0036] According to another independent aspect of the present disclosure, a software (SW) program is provided. The SW program can be configured to be executed on one or more processors in order to thereby execute the driving assistance method for a vehicle described in this document.

[0037] According to another independent aspect of the present disclosure, a storage medium is provided. The storage medium may include a SW program, which is configured to be executed on one or more processors so as to thereby execute the driving assistance method for a vehicle described in this document.

[0038] According to another independent aspect of the present disclosure, software having a program code is provided, which executes a driving assistance method for a vehicle when the software is run on one or more software-controlled devices.

[0039] According to another independent aspect of the present disclosure, a system for a vehicle is provided. The system includes one or more processors; and at least one memory, which is coupled to the one or more processors and contains instructions, and the instructions can be executed by the one or more processors to execute the driving assistance method for the vehicle described in this document.

[0040] A processor or a processor module is a programmable computing device, ie a machine or an electronic circuit, which controls other components according to transmitted instructions and thereby drives an algorithm (process). BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Embodiments of the present disclosure are shown in the accompanying drawings and described in more detail below. The accompanying drawings show:

[0042] Figure 1 Schematically illustrating a vehicle having a driving assistance system for autonomous driving according to an embodiment of the present disclosure,

[0043] Figure 2 Schematically illustrating a driving assistance system according to an embodiment of the present disclosure,

[0044] Figure 3 schematically illustrates a vehicle having a driving assistance system according to an embodiment of the present disclosure, and

[0045] Figure 4A flowchart showing a driving assistance method according to an embodiment of the present disclosure is shown.

[0046] In the following, the same reference numerals are used for identical and identically acting elements unless otherwise indicated. DETAILED DESCRIPTION

[0047] Figure 1 A vehicle 10 having a driving assistance system 100 for automated driving according to an embodiment of the present disclosure is schematically shown.

[0048] During automated driving, the longitudinal and / or lateral guidance of the vehicle 10 is carried out automatically. Therefore, the driver assistance system 100 takes over the vehicle guidance. For this purpose, the driver assistance system 100 controls the drive 20, the transmission 22, the hydraulic service brake 24 and the steering device 26 via an intermediate unit (not shown).

[0049] In order to plan and execute the automated driving, environmental information from an environmental sensor device that monitors the vehicle's surroundings is received by the driver assistance system 100. In particular, the vehicle may include at least one environmental sensor 12, which is configured to record environmental data describing the vehicle's surroundings. The at least one environmental sensor 12 may, for example, include one or more lidar systems, one or more radar systems, one or more laser scanners, one or more ultrasonic sensors, and / or one or more cameras.

[0050] The driver assistance system 100 is configured to perform an emergency stop. An emergency stop is an autonomous driving maneuver of the vehicle 10 in order to stop the vehicle 10, for example, on a road shoulder or at a curb. Here, an emergency stop is triggered when at least one trigger condition is met. For example, the at least one trigger condition may include a recognized sleep state, syncope, a medical emergency, an operation of a switch by the driver or another occupant, etc.

[0051] Figure 2 A driving assistance system 200 according to an embodiment of the present disclosure is schematically shown. Figure 3 Schematically showing the Figure 2 A driving assistance system 200 for a vehicle 10 .

[0052] The driving assistance system 200 includes a user interface module 210, which is configured to receive user input for deactivating the emergency stop function; a driver monitoring module 220, which is configured to determine the driver's state; and a control module 230, which is configured to reactivate the disabled emergency stop function when the driver's state corresponds to a predetermined state.

[0053] The driver monitoring module 220 and the control module 230 may be implemented as a common software and / or hardware module. Alternatively, the driver monitoring module 220 and the control module 230 may be implemented as separate software and / or hardware modules.

[0054] In some embodiments, the user interface module 210 may be a central information output and information input device of the infotainment system, such as a host. Typically, the user interface module 210 includes a touch screen that can not only output information but also receive user input through touch.

[0055] In some embodiments, the driver monitoring module 220 may include at least one sensor, such as a camera, in particular an interior camera. Optionally, the driver monitoring module 220 may include at least one light source. In some embodiments, the light source may be an infrared light source, and the at least one sensor may be an infrared sensor, such as an infrared camera. The driver monitoring module 220 is configured to analyze and evaluate detection data provided by at least one sensor, such as image data. By analyzing and evaluating the detection data, the state of the driver, such as fatigue, can be recorded or determined.

[0056] If the driver monitoring module 220 recognizes driver fatigue, the emergency stop function that was previously manually deactivated by the driver can be reactivated. In some embodiments, the activation of the emergency stop function can be displayed to the driver visually and / or audibly by means of the user interface module 210. Optionally, the driver can also be given a reminder of the recognized fatigue and, for example, can be advised to take a break.

[0057] In an exemplary embodiment, the reactivation of the emergency stop function can be based on feedback from the driver. For example, the driver can be visually and / or audibly asked by means of the user interface module 210 whether the emergency stop function should be activated again. For example, if only slight fatigue is detected, a query for activation confirmation can be made.

[0058] Alternatively, the reactivation of the emergency stop function can take place automatically without the involvement of the driver. For example, when severe fatigue, fainting or sleep is detected, it can be activated automatically without a query for confirmation of activation.

[0059] The reactivation of the emergency stop function may only be performed for the current driving cycle or, for example, permanently for the driver or driver profile. In some embodiments, the driver may be visually and / or audibly asked by means of the user interface module 210 whether the emergency stop function should be activated only for the current driving cycle or permanently for the driver profile. In other embodiments, the control module 230 may decide whether the emergency stop function should be activated only for the current driving cycle or permanently for the driver profile without the driver's involvement.

[0060] Figure 4 The flowchart of the driving assistance method 400 according to the embodiment of the present disclosure is schematically shown. The driving assistance method 400 can be implemented by corresponding software that can be executed by one or more processors (such as CPU).

[0061] The driving assistance method 400 includes: in box 410, receiving user input for deactivating the emergency stop function; in box 420, determining the driver state; and in box 430, if the driver state corresponds to a predetermined state, reactivating the deactivated emergency stop function.

[0062] The emergency stop function is therefore activated or started in the background in certain circumstances, even if the driver has previously deactivated the emergency stop function. For example, if the driver is identified as being very fatigued, the emergency stop function can be automatically activated or started against the driver input. As a result, the functional readiness of the emergency stop function can be maximized, whereby potentially dangerous situations in road traffic, such as collisions with other road users and / or obstacles, can be avoided.

[0063] Although the present invention has been illustrated and described in detail by preferred embodiments, the present invention is not limited to the disclosed examples, and those skilled in the art may derive other variations therefrom without departing from the scope of protection of the present invention. It is therefore clear that there are a large number of possible variations. It is also clear that the embodiments mentioned exemplarily only constitute examples, which should not be interpreted as limiting, for example, the scope of protection, application possibilities or configuration of the present invention in any way. Rather, the foregoing description and the accompanying drawings enable those skilled in the art to specifically implement the exemplary embodiments, wherein those skilled in the art may make various changes, for example with respect to the functions or arrangements of the various elements mentioned in the exemplary embodiments, without departing from the scope of protection defined by the claims and their legal equivalents, such as further elaborations in the specification.

Claims

1. A driving assistance system (100, 200) for a vehicle, comprising: a user interface module (210) configured to receive user input for deactivating an emergency stop function; a driver monitoring module (220), the driver monitoring module being configured to determine a driver state; A control module (230) is configured to reactivate the deactivated emergency stop function when the driver status corresponds to a predetermined status.

2. The driving assistance system (100, 200) according to claim 1, wherein the user interface module (210) is configured to: issuing a query for reactivating the emergency stop function when the driver state corresponds to the predetermined state; and When a user input for reactivating the emergency stop function is received in response to the query, the emergency stop function is reactivated.

3. The driving assistance system (100, 200) according to claim 1, wherein the control module (230) is configured to automatically reactivate the deactivated emergency stop function when the driver state corresponds to the predetermined state.

4. A driving assistance system (100, 200) according to any one of claims 1 to 3, wherein the driver monitoring module (220) is configured to determine a measure of the driver's state, and wherein the control module (230) is configured to perform the reactivation of the emergency stop function based on the measure of the driver's state.

5. The driving assistance system (100, 200) according to claim 4, wherein the control module (230) is configured to: outputting a query for reactivating the emergency stop function when the measure of the driver's state corresponds to a first measure, in particular when the first measure is a first fatigue state of the driver; and The deactivated emergency stop function is automatically reactivated when the measure of the driver's state corresponds to a second measure that is higher than the first measure, in particular when the second measure is a second fatigue state of the driver.

6. The driving assistance system (100, 200) according to any one of claims 1 to 5, wherein: The driver monitoring module (220) is configured to monitor the driver over a long period of time; and The control module (230) is configured to perform the reactivation of the emergency stop function based on the long-term observation of the driver.

7. The driving assistance system (100, 200) according to any one of claims 1 to 6, wherein the control module (230) is configured to: reactivating the emergency stop function for a current driving cycle and deactivating the emergency stop function again for a driving cycle following the current driving cycle; or The emergency stop function is permanently reactivated for the driver.

8. A vehicle (10), in particular a motor vehicle, comprising a driver assistance system (100, 200) according to any one of claims 1 to 7.

9. A driving assistance method (400) for a vehicle, comprising: receiving (410) user input for deactivating an emergency stop function; determining (420) a driver state; and When the driver status corresponds to a predetermined status, the deactivated emergency stop function is reactivated (430).

10. A storage medium comprising a software program, wherein the software program is configured to be executed on one or more processors and thereby execute the driving assistance method (400) according to claim 9.

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