Method for transferring longitudinal and / or lateral guidance of a vehicle to an at least semi-automated driving function, computing device, computer-readable

Abstract

A method for transferring longitudinal and / or lateral guidance of a vehicle to an at least semi-automatic driving function of the vehicle according to the invention comprises receiving a transfer request signal describing a transfer request to a driver of the vehicle for transferring lateral and / or longitudinal guidance of the vehicle to the at least semi-automatic driving function of the vehicle. Furthermore, the method comprises outputting an indication signal, in accordance with which a transfer request for transferring the longitudinal and / or lateral guidance to the at least semi-automatic driving function can be indicated to the driver. Finally, the method according to the invention comprises taking over longitudinal and / or lateral guidance of the vehicle by means of an at least semi-automatic driving function of the vehicle. In this case, the indication signal is received as a result of a command from a further traffic participant in the surroundings of the vehicle. In addition, the at least semi-automatic driving function can take over longitudinal and / or transverse guidance of the vehicle such that the vehicle executes instructions of further traffic participants in an at least semi-automatic manner.

Description

Technical Field

[0001] The present invention relates to a method for transferring longitudinal and / or lateral guidance of a vehicle to at least a semi-autonomous driving function of the vehicle. Furthermore, the present invention relates to a computing device. Furthermore, the present invention relates to a computer-readable (storage) medium. Finally, the present invention relates to a system for transferring longitudinal and / or lateral guidance of a vehicle to at least a semi-autonomous driving function of the vehicle. Background Art

[0002] Today, vehicle assistance systems can take over various tasks related to longitudinal and / or lateral vehicle guidance. For example, there are assistance systems that (fully) automatically control the vehicle until a preset maximum speed is reached. Furthermore, the situational awareness of vehicles or corresponding computing devices is constantly improving. This results in various possibilities for proactively transferring longitudinal and / or lateral vehicle guidance to the vehicle's assistance systems or at least semi-autonomous driving functions, tailored to the situation and presented to the vehicle driver. For example, in a traffic jam, it is possible to display a suggestion to the driver to transfer the driving task, i.e., longitudinal and / or lateral vehicle guidance, to a corresponding assistance system or at least semi-autonomous driving function. Summary of the Invention

[0003] The object of the present invention is to specify a solution for how the transfer of the longitudinal and / or transverse guidance of a vehicle to an automated driving function of the vehicle can be designed and improved according to the situation.

[0004] According to the invention, this object is achieved by a method, a computing device, a computer-readable (storage) medium, and a system having the features according to the independent claims. Advantageous developments of the invention are specified in the dependent claims.

[0005] The term "at least semi-automatic" driving or maneuvering in this context includes automated driving with any degree of automation. Exemplary degrees of automation are assisted, semi-automatic, highly automated, fully automated, and autonomous driving (each with an increased degree of automation).

[0006] The method according to the present invention for transferring the longitudinal and / or lateral guidance of a vehicle to at least a semi-automatic driving function of the vehicle comprises receiving a transfer request signal, which describes a transfer request to the driver of the vehicle for transferring the lateral and / or longitudinal guidance of the vehicle to at least a semi-automatic driving function of the vehicle. In addition, the method comprises outputting an indication signal, wherein, by means of the indication signal, the transfer request for transferring the longitudinal and / or lateral guidance to the at least semi-automatic driving function can be indicated to the driver. Finally, the method according to the present invention comprises taking over the longitudinal and / or lateral guidance of the vehicle by the at least semi-automatic driving function of the vehicle. In this case, the indication signal is received due to an instruction from another traffic participant in the vehicle's surroundings. In addition, the at least semi-automatic driving function can take over the longitudinal and / or lateral guidance of the vehicle so that the vehicle at least semi-automatically executes the instructions of the other traffic participant.

[0007] The method according to the present invention is therefore used to transfer the longitudinal and / or lateral guidance of a vehicle to an at least partially automated driving function of the vehicle due to a command from another road user. For example, the method according to the present invention can be used to transfer the longitudinal and / or lateral guidance of the vehicle when an emergency vehicle (e.g., a police car) as another road user instructs the driver to pull over to the right. Thus, the at least partially automated driving function can take over the longitudinal and / or lateral guidance of the vehicle until the vehicle complies with the command. Thus, the at least partially automated driving function can take over the longitudinal and / or lateral guidance of the vehicle until the vehicle pulls over to the right, taking into account the corresponding traffic regulations and taking into account possible safety aspects.

[0008] The method can be performed, for example, by a computing device. The computing device can be formed, for example, by at least one electronic control unit of a vehicle. The computing device can include one or more programmable processors. Furthermore, the computing device can include a (storage) medium on which a computer program is stored. To perform the corresponding method steps, the computer program can be executed on the computing device.

[0009] First, a transfer request signal can be received for this purpose. This transfer request signal can be provided, for example, by another road user. This other road user can be, for example, a police car, a police civilian vehicle, a fire truck, an ambulance, a towing service, a military vehicle, a diplomatic vehicle, or the like. The other road user can transmit the transfer request signal to the vehicle, for example, via so-called vehicle-to-vehicle communication. Thus, the other road user can request the vehicle or its driver to transfer longitudinal and / or lateral guidance of the vehicle to at least a semi-automated driving function, thereby causing the at least semi-automated driving function to comply with the instructions of the other road user.

[0010] However, it is also conceivable that the transfer request signal is provided by a sensor of the vehicle itself. For example, the vehicle's camera may provide the transfer request signal when it identifies one of the emergency vehicles in the vehicle's surroundings and issues an instruction to the vehicle driver.

[0011] If such a transfer request signal is received, an indication signal may be output. Based on the indication signal, the vehicle driver may be informed of the transfer request, for example, via a display device. Thus, the indication signal may inform the vehicle driver of a transfer request from another road user to transfer longitudinal and / or lateral guidance to at least a semi-automated driving function.

[0012] The at least semi-automatic driving function of the vehicle can then take over the longitudinal and / or lateral guidance of the vehicle. Thus, the vehicle can at least semi-automatically follow the instructions of other road users within the scope of the at least semi-automatic driving function of the vehicle.

[0013] The method according to the present invention yields numerous advantages. For example, language barriers and / or comprehension problems can be avoided. If, for example, instructions from another road user are given in a language the vehicle driver does not understand, the driver can be informed of the instructions by means of a signal in a language predetermined by the driver. Additionally or alternatively, the method according to the present invention can ensure that the vehicle complies with instructions from an emergency vehicle or another road user. Furthermore, the method according to the present invention allows another road user to execute an emergency stop maneuver, etc., even if the vehicle driver objects.

[0014] In general, various instructions of other road users are possible. As mentioned above, this can be, for example, an instruction to pull over to the right. Instructions for forming a rescue channel or clearing a specific lane are also conceivable.

[0015] In an advantageous embodiment of the method according to the present invention, the transfer request signal is received at least indirectly by another road user in the vehicle's surroundings. As already explained, the other road user can, for example, transmit the transfer request signal to the vehicle via so-called vehicle-to-vehicle communication. Communication via the Internet (and possibly via a backend) is also conceivable.

[0016] For example, a civilian police vehicle, as another traffic participant, can issue instructions to the vehicle driver. For example, it is conceivable that a civilian emergency vehicle is traveling behind the vehicle and requests or instructs the vehicle driver to pull over to the right. If the vehicle driver does not comply with the instruction, the civilian emergency vehicle can transmit a transfer request signal to the vehicle using vehicle-to-vehicle communication. An instruction signal can then be output. The instruction signal can signal the driver to transfer the longitudinal and / or lateral guidance to at least a semi-automatic driving function. Subsequently, with or without the driver's consent, the longitudinal and / or lateral guidance of the vehicle can be transferred to the at least semi-automatic driving function of the vehicle. The vehicle can thus comply with the instruction of the civilian emergency vehicle and pull over to the right.

[0017] It is also advantageous here if a diversion request signal received by another road user in the vehicle's surroundings is subjected to a plausibility check using first sensor data from the vehicle's first surroundings sensor before the instruction signal is output. To prevent possible misuse, the diversion request signal can be subjected to a plausibility check. If, for example, a civilian emergency vehicle outputs a diversion request signal, the vehicle's first surroundings sensor, such as a camera, can be used to check whether a legitimate instruction from the corresponding other road user is present. This prevents any other road user from outputting a diversion request signal.

[0018] Another advantageous embodiment provides that a diversion request signal received by another road user in the vehicle's surroundings is received indirectly via the plausibility check server. In other words, the diversion request signal can be transmitted from the other road user to the plausibility check server, which then forwards the diversion request signal to the vehicle, which can then receive the diversion request signal. Communication via the plausibility check server can, in particular, be encrypted. This prevents the vehicle's longitudinal and / or lateral guidance from potentially misusing at least a semi-automated driving function of the vehicle.

[0019] In this case, it may be advantageous if the other traffic participant transmits at least one plausibility check parameter to the plausibility check server, and the transfer request signal also describes the result of the plausibility check. Thus, to ensure that the correct vehicle is instructed by the other traffic participant, for example, to pull over to the right, it can be provided that the other traffic participant transmits at least one plausibility check parameter to the plausibility check server. The vehicle model, the vehicle license plate, and / or the other traffic participant's own position, for example, can be used as at least one plausibility check parameter. The plausibility check can be used to check, for example, whether the license plate matches the reported vehicle model. Additionally or alternatively, it can be checked whether the other traffic participant's own position is completely within the vehicle's surroundings. In other words, the position comparison can ensure that the remote command cannot be executed. This can reduce or prevent misuse and human error.

[0020] According to another advantageous embodiment of the method of the present invention, a further traffic participant is identified in the second sensor data of the second surroundings sensor of the vehicle, and the further traffic participant is characterized as an emergency vehicle (which issues instructions to the driver of the vehicle), and a transfer request signal is received thereby. In other words, the further traffic participant can be identified with the aid of a camera as the second surroundings sensor. The further traffic participant can here be characterized as an emergency vehicle with the aid of a camera or a corresponding machine vision method, which, for example, instructs the driver of the vehicle to follow. The transfer request signal can then be provided by the second surroundings sensor, i.e. the camera. Thus, the transfer request signal can be received. This results in the advantage that no additional communication devices or the like are required. Alternatively, the sensor device of the vehicle can be used. Thus, overall, a higher functional availability can be ensured, even in remote areas and emerging countries.

[0021] Furthermore, it may be advantageous to limit the takeover of the longitudinal and / or lateral steering of the vehicle by the at least partially automated driving function of the vehicle until a standstill is reached. This can be particularly advantageous on highways when another road user instructs the vehicle driver to, for example, pull over to the right. However, in certain situations, it may be disadvantageous to limit the takeover of the longitudinal and / or lateral steering of the vehicle by the at least partially automated driving function of the vehicle until a standstill is reached. This can occur, for example, at traffic lights or in heavy stop-and-go traffic, when another road user actually instructs the vehicle driver to follow.

[0022] In other words, under predetermined circumstances and / or within predetermined instructions, it may be advantageous to limit the takeover of longitudinal and / or lateral steering of the vehicle by the at least semi-autonomous driving function until a stationary point in time is reached. A stationary point in time may refer to a point in time when the vehicle is effectively stationary. However, a stationary point in time may also refer to a point in time when the vehicle falls below a minimum speed. In general, a stationary point in time may refer to a point in time when the vehicle has reached or has reached a predetermined state.

[0023] Another advantageous embodiment of the method according to the present invention provides that taking over the longitudinal and / or lateral guidance of the vehicle by the at least semi-automated driving function of the vehicle is alternatively or additionally limited to a predetermined duration and / or a predetermined driving route. In other words, it can be ensured that the longitudinal and / or lateral guidance is not permanently transferred to the at least semi-automated driving function. This ensures that only instructions from other road users are actually followed.

[0024] It may be advantageous to predetermine a predetermined duration and / or a predetermined driving route within the context of the transfer request of the other road user. This is particularly advantageous if the vehicle is to follow the other road user for a longer duration and / or a longer driving route. However, it is also conceivable that the predetermined duration and / or the predetermined driving route are limited to corresponding maximum values.

[0025] Another design embodiment provides that taking over the longitudinal and / or lateral guidance of the vehicle by the at least semi-automatic driving function of the vehicle is achieved based on a driver input, which is detected due to an indicator signal and describes the driver's consent to taking over the longitudinal and / or lateral guidance by the at least semi-automatic driving function of the vehicle.

[0026] The computing device according to the present invention for a vehicle is designed to execute the method according to the present invention and its advantageous embodiments. The computing device can be designed, for example, as an electronic control unit including one or more programmable processors.

[0027] The computer-readable (storage) medium according to the invention comprises commands which, when executed by a computing device, cause the computing device to carry out the method according to the invention and its advantageous embodiments.

[0028] The system according to the present invention for transferring longitudinal and / or lateral guidance of a vehicle to at least a semi-automated driving function of the vehicle comprises a computing device according to the present invention and a display device, the display device being configured to indicate to the vehicle driver a request to transfer longitudinal and / or lateral guidance to at least a semi-automated driving function of the vehicle by means of an indication signal output by the computing device. The display device can be configured as a visual, tactile, and / or acoustic display device.

[0029] In addition, the system according to the present invention can have a driver input device that is designed to detect a driver input. The driver input can, via an indicator signal, indicate the driver's consent or refusal to take over the longitudinal and / or lateral guidance of the vehicle by means of an at least semi-automated driving function.

[0030] It may be advantageous if the system according to the invention has a receiving device designed to receive the diversion request signal. The receiving device may be particularly advantageous if the diversion request signal is received at least indirectly by another road user in the surroundings of the vehicle.

[0031] Another aspect of the present invention relates to a computer program comprising commands which, when executed by a computing device, cause the computing device to carry out the method according to the present invention and its advantageous embodiments. Furthermore, the present invention relates to a vehicle comprising the system according to the present invention. The vehicle can be designed, in particular, as a passenger car or a truck.

[0032] The preferred embodiments and advantages presented with respect to the method according to the invention apply accordingly to the computing device according to the invention, the computer-readable (storage) medium according to the invention, and the system according to the invention. Furthermore, the preferred embodiments and advantages presented with respect to the method according to the invention also apply to the computer program according to the invention and the vehicle according to the invention.

[0033] Further features of the invention are apparent from the claims, the drawings, and the accompanying description. Features and feature combinations mentioned previously in the description and those mentioned later in the description of the drawings and / or shown only in the drawings can be used not only in the combination respectively specified but also in other combinations or alone without departing from the scope of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present invention will now be explained in detail with the aid of preferred exemplary embodiments and with reference to the accompanying drawings.

[0035] Figure 1 shows a schematic diagram of a vehicle comprising a computing device for executing a method for transferring longitudinal and / or transverse guidance of a vehicle,

[0036] Figure 2 A flow chart is shown which comprises the method steps of the method according to the invention for transferring the longitudinal and / or transverse guidance of a vehicle, and

[0037] Figure 3 A traffic situation is shown in which the driver of a vehicle is instructed by a police car to follow.

[0038] In the figures, identical or functionally identical elements are provided with the same reference symbols. DETAILED DESCRIPTION

[0039] Figure 1 A schematic diagram shows a vehicle 1 comprising a computing device 2, a display device 3, a receiving device 4 and a central control unit 5. The vehicle 1 can be designed as a passenger car, such as Figure 1 As shown, the transfer request signal 6 can be received by the receiving device 4. Therefore, the computing device 2 can receive the transfer request signal 6 from the receiving device 4.

[0040] exist Figure 1 In the exemplary embodiment of FIG, the transfer request signal 6 is received by radio. However, it is also conceivable that the transfer request signal 6 is received, for example, by a sensor of the vehicle 1 due to object recognition.

[0041] An indication signal can be output to the driver 13 of the vehicle 1 via the display device 3. The indication signal can indicate a transfer request to the driver 13 of the vehicle 1, which can be described by the transfer request signal 6. The longitudinal and / or transverse guidance of the vehicle 1 can then be transmitted to the central control unit 5, which is designed to regulate the transverse and / or longitudinal guidance of the vehicle 1.

[0042] Figure 2 A flow chart of a method according to the invention for transferring longitudinal and / or lateral guidance of a vehicle 1 to an at least semi-automated driving function of the vehicle 1 is shown, wherein the at least semi-automated driving function of the vehicle 1 can be performed, for example, by a central control unit 5 .

[0043] In step S1, another road user 7, such as an emergency vehicle, requests the driver of vehicle 1 to follow the other road user 7. This request can be made, for example, via a character on a display device 8 of the other road user 7. On the one hand, it is now possible for the other road user to provide a transfer request signal 6, at least indirectly, in step S21, for example, via vehicle-to-vehicle communication. On the other hand, it is also conceivable for the transfer request signal 6 to be provided in step S22 via a camera 9 or a second surroundings sensor 9, which can be installed, for example, in a mounting 10 of a rearview mirror 11 of vehicle 1 behind the windshield.

[0044] In step S3, a transfer request signal 6 may now be received. Subsequently, in step S4, an indication signal may be output to the driver 13 of the vehicle 1. In an optional step S45, a driver input from the driver 13 of the vehicle 1 may be detected. For example, such a driver input may be consent to transfer the longitudinal and / or lateral guidance of the vehicle 1 to at least a semi-automated driving function of the vehicle 1. For example, such consent may be given by pressing a button on the steering wheel of the vehicle 1, by voice input, or the like.

[0045] In step S5, the longitudinal and / or lateral guidance of vehicle 1 can now be transferred to the at least semi-automated driving function of vehicle 1. Finally, in step S6, after complying with the request of another road user 7, the longitudinal and / or lateral guidance of vehicle 1 can be transferred back to the driver of vehicle 1.

[0046] Figure 3 The traffic situation shown is one in which the driver of vehicle 1 is instructed to follow by another road user 7 (here shown as a police car). Instructions 14 are implemented via display device 8 of other road user 7. Thus, instructions 12 can be output to driver 13 of vehicle 1 via display device 3 (here shown in the instrument panel of vehicle 1).

[0047] The second surroundings sensor 9, shown here as a camera 9, which can be installed behind the windshield in a mounting 10 of a rearview mirror 11 of the vehicle 1, can be used to identify and characterize other road users 7 in the second sensor data. In other embodiments, the camera 9 can also be used as a first surroundings sensor in order to perform a plausibility check on a maneuver request signal 6 provided at least indirectly by the other road user 7.

Claims

1. A method for transferring the longitudinal and / or lateral guidance of a vehicle (1) to at least a semi-automatic driving function of the vehicle (1), the method comprising the following steps: - receiving a transfer request signal (6), which describes a transfer request to a driver (13) of the vehicle (1) for transferring the lateral and / or longitudinal guidance of the vehicle (1) to the at least semi-automatic driving function of the vehicle (1), - outputting an indication signal, wherein the request for transferring the longitudinal and / or lateral guidance to the at least semi-automatic driving function can be indicated to the driver (13) by means of the indication signal, - taking over the longitudinal and / or lateral guidance of the vehicle (1) by means of the at least semi-automatic driving function of the vehicle (1), It is characterized in that the instruction signal is received as a result of an instruction (14) from another traffic participant (7) in the surroundings of the vehicle (1), and The at least semi-automatic driving function takes over the longitudinal and / or transverse guidance of the vehicle (1), so that the vehicle (1) at least semi-automatically carries out the instructions of the other road user (7).

2. The method according to claim 1, characterized in that The transfer request signal (6) provided by the other road user (7) is received at least indirectly by the other road user (7).

3. The method according to claim 2, characterized in that The transfer request signal (6) received from the other road user (7) in the surroundings of the vehicle (1) is subjected to a plausibility check using first sensor data of a first surroundings sensor of the vehicle (1) before the instruction signal is output.

4. The method according to claim 2, characterized in that: The transfer request signal (6) received by the other road user (7) in the surroundings of the vehicle (1) is received indirectly via a plausibility check server.

5. The method according to claim 4, characterized in that The further road user (7) transmits at least one plausibility check variable to the plausibility check server, and the transfer request signal (6) additionally describes the result of the plausibility check.

6. The method according to claim 1, characterized in that The other road user (7) is identified in second sensor data of a second surroundings sensor of the vehicle (1), and the other road user (7) is characterized as an emergency vehicle and the transfer request signal (6) is received accordingly, the emergency vehicle issuing the instruction (14) to the driver (13) of the vehicle (1).

7. The method according to any one of the preceding claims, characterized in that Taking over the longitudinal and / or lateral guidance of the vehicle (1) by the at least semi-automatic driving function of the vehicle (1) is restricted until a stationary point in time is reached.

8. The method according to any one of the preceding claims, characterized in that Taking over the longitudinal and / or lateral guidance of the vehicle (1) by the at least semi-automatic driving function of the vehicle (1) is alternatively or additionally limited to a predetermined duration and / or a predetermined driving route.

9. The method according to claim 8, characterized in that The predetermined time period and / or the predetermined driving route are predefined within the scope of the transfer request of the other road user (7).

10. The method according to any one of the preceding claims, characterized in that Taking over the longitudinal and / or lateral guidance of the vehicle (1) by the at least semi-automatic driving function of the vehicle (1) is achieved based on driver input, which is detected due to an indication signal and describes the driver (13)'s consent to taking over the longitudinal and / or lateral guidance by the at least semi-automatic driving function of the vehicle (1).

11. A computing device (2) for a vehicle (1), the computing device being designed to carry out the method according to any one of the preceding claims.

12. A computer-readable (storage) medium comprising instructions which, when executed by a computing device (2), cause the computing device to perform a method according to any one of claims 1 to 10.

13. A system for transferring longitudinal and / or lateral guidance of a vehicle (1) to at least a semi-automatic driving function of the vehicle (1), comprising: - a computing device (2) according to claim 11, and - a display device (3) designed to indicate to the driver of the vehicle (1) a request for transfer of the longitudinal and / or transverse guidance to at least a semi-automatic driving function of the vehicle (1) by means of an indication signal output by the computing device (2).

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