Method and device for controlling an automated motor vehicle

Abstract

The invention relates to a method for controlling an automated motor vehicle, said method comprising detecting a predetermined driving situation in which a system to be operated by a driver of the automated motor vehicle lies laterally on a roadway in the surroundings of the motor vehicle; automatically actuating the motor vehicle into a target position in which a window and a system of the motor vehicle beside a driver seat of the motor vehicle are at a height and a lateral distance between the window and the system is below a predetermined limit value when a predetermined driving situation is detected; and lowering the glass of the vehicle window before and / or when the target position is reached.

Description

Technical Field

[0001] The invention relates to a method for controlling an automated motor vehicle and a data processing device configured to at least partially execute the method. Furthermore, an automated motor vehicle having a data processing device is provided. Additionally or alternatively, a computer program is provided, comprising instructions which, when executed by a computer, cause the computer to at least partially execute the method. Additionally or alternatively, a computer-readable medium is provided, comprising instructions which, when executed by a computer, cause the computer to at least partially execute the method. Background Art

[0002] Active and passive maneuvering assistance can be provided to the driver of a motor vehicle for assistance during maneuvers. Such systems include parking assistance for parking in or out, which provides general assistance to the driver or maneuvering assistance in certain maneuvering situations. Passive assistance during maneuvers means that the maneuvering assistance issues steering angle specifications for transverse guidance and / or start and stop commands for longitudinal guidance to the driver. However, maneuvering assistance can also actively carry out maneuvers completely or partially, wherein in fully automated guidance, in addition to the steering angle control, the vehicle's brake and drive systems are also automatically or autonomously controlled by assistance systems.

[0003] DE 10 2014 206 901 A1 relates to a method for assisting a vehicle driver in a maneuvering situation, wherein the vehicle has an environmental sensor system for determining environmental data for situation recognition, including recognizing the situation and position of the vehicle, providing assistance to the driver during maneuvering based on this, creating a priority list of maneuvering options based on probability statistics, outputting a priority list to the vehicle driver, selecting a maneuvering option by the vehicle driver and releasing it by the driver to activate the assistance during maneuvering. Summary of the invention

[0004] Against the background of this prior art, the object of the present invention is to specify a device and a method which are each suitable for at least enriching the above-mentioned prior art.

[0005] This object is achieved by the features of the independent claim. The dependent claims contain preferred developments of the invention.

[0006] The object is then achieved by a method for controlling an automated motor vehicle.

[0007] The method may be a computer-implemented method, ie one, several or all steps of the method may be performed by a data processing device or a computer.

[0008] The method includes detecting a predetermined driving situation in which a system to be operated by a driver of an automated motor vehicle is located laterally next to a roadway in the surroundings of the motor vehicle.

[0009] The system to be operated may also be referred to as a system to be operated by the driver of the motor vehicle. The operation may include user input, such as voice input and / or tactile input of objects, such as tickets, into the system and / or removal of objects, such as tickets, from the system.

[0010] The predetermined driving condition can be detected by means of a sensor device on board the motor vehicle and / or a sensor device external to the motor vehicle. Detecting the predetermined driving condition can include identifying the system by means of an object recognition algorithm, which object recognition algorithm is based on sensor data recorded by means of the on-board sensor device. It is also conceivable that the position of the identified system, in particular relative to the motor vehicle, is based on sensor data recorded by means of the on-board sensor device. The on-board sensor device can in particular include a camera, an ultrasonic sensor, a radar sensor and / or a lidar sensor. Additionally or alternatively, map data can be used to detect the predetermined driving condition, in which map data the presence of the system and its possible position is optionally stored. It is also conceivable, additionally or alternatively, to obtain information about the current predetermined driving condition by means of V2X (English: vehicle-to-X) communication, in which information the presence of the system and its possible position is optionally present.

[0011] More precisely, the detection of the predetermined driving situation or the situation recognition can be based on, for example, the detection of the environment by means of an environmental sensor device, which includes an ultrasonic sensor, a laser sensor, a radar sensor, an infrared sensor, a capacitive sensor, a lidar sensor and / or video image detection. In particular, the situation recognition can be based on the detection of objects outside the vehicle, wherein prompt generators that indicate specific situations (e.g. street signs) can be relevant. These prompt generators can be, for example, optical markers, objects and / or (road) boundaries. In addition or alternatively, other positioning technologies can be used to improve the accuracy of the situation recognition. Thus, for example, geographical data can be obtained by means of a global positioning system (e.g. dGPS (differential GPS)) and / or a digital map with landmarks in combination with an odometer.

[0012] It is conceivable that in the predetermined driving situation the width of the lane in which the motor vehicle is located is below a predetermined limit value.

[0013] The method also includes: when a predetermined driving situation is detected, the motor vehicle is automatically maneuvered into a target position, in which the windows and systems of the motor vehicle next to the driver's seat of the motor vehicle, in particular the input devices of the system, optionally having a display device and / or a speaker, are at a height and the lateral distance between the windows and the system is below a predetermined limit value.

[0014] That is, the lateral distance between the motor vehicles, in particular between the driver of the motor vehicle and the system, should be below a certain threshold, for example 80 cm. Preferably, the distance is below the arm length of the driver. The distance can be less than 75 cm, 73 cm, 70 cm, 65 cm, 60 cm, 55 cm, 50 cm, 45 cm, 40 cm, 30 cm, 25 cm or 20 cm. Additionally or alternatively, the distance can be set by the driver via a configuration option in the vehicle. The distance can be measured substantially orthogonally to the user input interface of the system and the lateral outer surface of the user input interface and the motor vehicle, for example orthogonally to the window of the motor vehicle located on the side of the driver's seat of the motor vehicle.

[0015] It is conceivable that the automatic control of the motor vehicle includes the automatic takeover of the lateral and / or longitudinal guidance of the motor vehicle. For this purpose, the onboard sensor system of the motor vehicle and / or the sensor system outside the motor vehicle can be used.

[0016] That is, depending on the degree of automation of the vehicle (described in further detail below), the vehicle can take over the speed and / or acceleration of the vehicle via the steering device, brakes, and drive the vehicle fully or partially automatically to the system.

[0017] In other words, passive or active assistance can be provided to the driver during maneuvering. As described at the outset, passive assistance during maneuvering can mean that the maneuvering assistance issues steering angle specifications for transverse guidance and / or start and stop commands for longitudinal guidance to the driver. However, the maneuvering assistance can also actively perform maneuvers completely or partially, wherein in fully automated guidance, in addition to the steering angle control, the vehicle's brake and drive systems can also be automatically or autonomously controlled by assistance systems.

[0018] The method also includes (automatically) lowering the vehicle window glass before and / or when the target position is reached.

[0019] This enables the driver to make user inputs to the system without having to manually actuate the window.

[0020] The method assists the driver with starting and positioning the vehicle precisely, in particular in narrow situations such as when driving past a counter (e.g., at a toll booth, driving past a bank, etc.). The method positions the vehicle at the correct position and stops it there, the position being as close as possible or necessary to the system, such as when driving past a counter or order window at a restaurant. The risk of collisions with surrounding buildings and with exterior or side mirrors or with the side of the vehicle can be minimized.

[0021] Possible embodiments of the method are described in detail below.

[0022] Before reaching the target position and / or when reaching the target position, the method may include folding the exterior mirrors of the motor vehicle, which are arranged on the side of the motor vehicle where the window is arranged. That is, the side mirrors or exterior mirrors on the driver's side can be folded or folded inwards. Additionally or alternatively, the side mirrors on the passenger side can also be folded inwards, so that the following description applies not only to the side mirrors on the driver's side but also to the side mirrors on the passenger side.

[0023] The folding of the exterior rearview mirror can be performed only or only when not folding will cause the exterior rearview mirror to collide with the system. Additionally or alternatively, the folding can be performed only when the exterior rearview mirror will collide with surrounding buildings when not folding.

[0024] The method may include, if a first predetermined condition is satisfied, deploying the exterior rearview mirror after reaching the target position.

[0025] The method may include, if a second predetermined condition is met, raising the vehicle window glass after reaching the target position.

[0026] It may be considered that the second predetermined condition is satisfied when the driver completes the user input and / or continues driving.

[0027] The method may include automatically maneuvering the vehicle away from the target location if a third predetermined condition is satisfied.

[0028] The first, second and / or third predetermined conditions may be the same or different conditions. It is contemplated that the first predetermined condition is satisfied if the distance between the motor vehicle and the system or surrounding buildings is so great that the exterior rearview mirror is no longer likely to collide with the system or surrounding buildings. It is contemplated that the second and / or third predetermined conditions are satisfied when the driver completes the user input. It is contemplated that, additionally or alternatively, the third predetermined condition is satisfied when an obstacle in front of the motor vehicle releases the lane (e.g., the obstacle opens). It is contemplated that the first condition is considered to be satisfied when the motor vehicle has left the target position and is substantially in the middle of the lane. In order to determine whether the first, second and / or third conditions are satisfied, a vehicle-mounted sensor device of the motor vehicle and / or a sensor device external to the motor vehicle may be used.

[0029] The method may include generating and outputting a visualization of the position of the motor vehicle relative to the system by means of a display arranged in the motor vehicle.

[0030] The method described above can be summarized in other words and as follows, which is not described as limiting for the present disclosure, with respect to a more specific embodiment: the (motor) vehicle can recognize the existence of a corresponding situation based on the information outside the vehicle and / or on the vehicle and can take over the positioning of the vehicle instantly. The vehicle may have been automatically driven and / or controlled by the driver in advance. The vehicle can be positioned in the longitudinal direction so that the driver can (conveniently) perform corresponding actions (such as payment, acceptance of food or other products, etc.) from the driver's window and will not collide with possible barriers or other obstacles. In addition, the lateral position can be adjusted so that the driver can perform corresponding activities from the window without unbuckling the seat belt. Collisions with side objects are avoided here. If necessary, the exterior rearview mirrors can be folded automatically. When the target position is reached, the windows can be opened automatically. At the end of the situation, the windows can be automatically raised again, and if necessary, the exterior rearview mirrors can be unfolded again. The system can guide the vehicle back to the center of the lane and, if necessary, hand over control to the driver or a corresponding driver assistance system. During the optional entire method process, a (suitable) visualization of the scene can be presented to the driver via an HMI (English: Human Machine Interface) in the form of an augmented reality view and / or a bird's-eye view and / or in the form of an abstract diagram. For example, the method can be used at toll booths. Here, the vehicle can recognize the "toll booth" situation, adjust the vehicle position, including the possible need to fold the exterior mirrors and automatically lower the driver's window. The driver can thus conveniently make the payment. Subsequently, the vehicle can be guided back to the lane center again, and the driver can continue driving himself, or can directly reactivate the lane center guidance, including the longitudinal guidance.

[0031] In addition, a data processing device, such as a controller, is provided for an automated motor vehicle, wherein the controller is configured to at least partially implement or execute the method described above. The data processing device may be part of a driver assistance system or may constitute such a part. The data processing device may be, for example, an electronic control unit (ECU in English). The electronic controller may have an intelligent processor-controlled unit, which may communicate with other modules, for example, via a central gateway (CGW) and may form an on-board network, for example, via a field bus such as a CAN bus, a LIN bus, a MOST bus and a FlexRay or via automotive Ethernet, for example, together with a telematics controller. It is conceivable that the controller controls functions related to the driving behavior of the motor vehicle, such as engine control, power transmission, a brake system and / or a tire pressure monitoring system. In addition, driver assistance systems, such as parking assistance, adaptive cruise control (ACC), lane keeping assistance, lane change assistance, traffic sign recognition, light signal recognition, start assistance, night vision assistance, emergency brake assistance and / or intersection assistance may be controlled by the controller.

[0032] What was described above with respect to the method also applies analogously to the data processing device and vice versa.

[0033] Furthermore, a motor vehicle may be provided which comprises the data processing device described above.

[0034] The motor vehicle may be a passenger vehicle, in particular a car. The motor vehicle may be configured to at least partially and / or at least temporarily take over the longitudinal guidance and / or the transverse guidance during automatic driving of the motor vehicle. The automatic driving may be performed in such a way that the forward movement of the motor vehicle is (largely) autonomous. The automatic driving may be controlled at least partially and / or temporarily by the data processing device.

[0035] The motor vehicle may be a motor vehicle of level 0 autonomy, ie the driver takes over the task of dynamic driving, even if assisting systems (eg ABS or ESP) are present.

[0036] The motor vehicle may be a Level 1 autonomy motor vehicle, ie having certain driver assistance systems that assist the driver in operating the vehicle, such as an adaptive cruise control (ACC).

[0037] The motor vehicle may be a motor vehicle with a Level 2 autonomy level, ie may be partially automated, such that functions such as automatic parking, lane keeping or lateral guidance, general longitudinal guidance, acceleration and / or deceleration are taken over by a driver assistance system.

[0038] The motor vehicle may be a motor vehicle with a Level 3 autonomy level, i.e., may be conditionally automated so that the driver does not have to constantly monitor the vehicle systems. The motor vehicle autonomously performs functions such as triggering a turn signal, lane change and / or lane keeping. The driver may turn to other things, but if necessary, the system requests to take over the guidance within the warning period.

[0039] The motor vehicle may be a motor vehicle with a level 4 autonomy, ie may be highly automated, so that the control of the vehicle is continuously taken over by the vehicle system. If the system no longer has control over the driving task, the driver may be asked to take over the control.

[0040] The motor vehicle may be a motor vehicle with a Level 5 autonomy level, ie may be fully automated, so that no driver is required to perform the driving task. No human intervention is required except for determining the target and turning on the system.

[0041] What has been described above with respect to the method and the data processing device also applies analogously to the motor vehicle and vice versa.

[0042] Furthermore, a computer program is provided, which comprises instructions which, when the program is executed by a computer, cause the computer to at least partially carry out the described method.

[0043] The program code of the computer program may be present as any desired code, in particular a code suitable for motor vehicle control.

[0044] What was described above with respect to the method, the data processing device and the motor vehicle also applies analogously to the computer program and vice versa.

[0045] Furthermore, a computer-readable medium, in particular a computer-readable storage medium, is provided. The computer-readable medium comprises instructions which, when a program is executed by a computer, cause the computer to at least partially perform the method described above.

[0046] That is, a computer-readable medium including the computer program defined above can be provided. The computer-readable medium can be any digital data storage, such as a USB flash drive, a hard drive, a CD-ROM, an SD card or an SSD card. The computer program does not necessarily have to be stored on such a computer-readable storage medium in order to be available to the motor vehicle, but can also be obtained from the outside via the Internet or other means.

[0047] What was described above with respect to the method, the data processing device, the computer program and the automated vehicle also applies analogously to the computer-readable medium and vice versa. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Refer to the following Figure 1 and Figure 2 An embodiment is described.

[0049] Figure 1 A driving situation is schematically shown in which a system to be operated by a driver of an automated motor vehicle is located laterally next to a roadway in the surroundings of the motor vehicle, and

[0050] Figure 2 A flow chart of a method for controlling an automated motor vehicle is schematically shown. DETAILED DESCRIPTION

[0051] exist Figure 1 , a driving situation is schematically shown in a bird's eye view, in which a motor vehicle 1, shown in solid lines, is located on a roadway 3, wherein a system 2 to be operated by the driver of the automated motor vehicle 1 is located in front of the motor vehicle 1 laterally beside the roadway 3 in the surroundings of the motor vehicle 1, i.e., currently at a distance from the motor vehicle 1 below a predetermined threshold. The motor vehicle 1 executes a method for controlling the automated motor vehicle 1, the sequence of which is described in Figure 2 Shown in.

[0052] In a first step S1 of the method, the driving situation described above is detected by means of a sensor system inside and / or outside the vehicle. A predetermined driving situation is detected in which a system 2 to be operated by a driver of an automated motor vehicle 1 is located laterally next to a roadway 3 in the surroundings of the motor vehicle 1 .

[0053] In a second step S2 of the method, the motor vehicle 1 is automatically maneuvered into the target position (in the case of a predetermined driving situation) if or as soon as the predetermined driving situation is detected in the first step S1. Figure 1 In the target position, the window 11 of the motor vehicle 1 and the system 2 are at a height next to the driver's seat (not shown) of the motor vehicle 1 and the lateral distance d between the window 11 and the system 2 is below a predetermined limit value.

[0054] In a third step S3 of the method, the glass 12 of the window 11 is lowered, i.e. the window 11 is opened, which third step can occur at least partially simultaneously with the second step S2 or after the second step S2, i.e. before and / or when the target position is reached. Likewise, in the third step S3 it is determined that the exterior rearview mirror 13 of the motor vehicle 1 will collide with the system 2 in the target position, so that the exterior rearview mirror is automatically folded before the target position is reached.

[0055] In a fourth step S4 of the method, it is determined that the driver of motor vehicle 1 wants to leave the target location (for example, by a user input via an HMI of motor vehicle 1 ).

[0056] Therefore, the predetermined condition is met, so that in the fifth step S5 of the method, the target position is left, that is, the motor vehicle 1 is automatically moved away from the target position by the system 2. Here, if the second predetermined condition is met, the exterior mirror 13 is also unfolded and the glass 12 of the window 11 is automatically raised after reaching the target position.

[0057] The method further comprises a sixth step S6 which is carried out simultaneously with the above-described steps S1 - S5 and in which a visualization of the position of the motor vehicle 1 relative to the system 2 is generated and output by means of a display (not shown) arranged in the motor vehicle 1 .

[0058] Reference numerals list

[0059] 1 Motor Vehicle

[0060] 11. Car Window

[0061] 12 Glass

[0062] 13 Exterior mirrors

[0063] 2 Systems, such as control cabinets

[0064] 3 lanes

[0065] S1-S6 Method Steps

Claims

1. A method for controlling an automated motor vehicle (1), the method comprising: - detecting a predetermined driving situation in which a system (2) to be operated by the driver of the automated motor vehicle (1) is located laterally next to a roadway in the surroundings of the motor vehicle (1), - when the predetermined driving situation is detected, the motor vehicle (1) is automatically maneuvered into a target position in which a window (11) of the motor vehicle (1) next to a driver's seat of the motor vehicle (1) and the system (2) are at a height and a lateral distance (d) between the window (11) and the system (2) is below a predetermined limit value, and - lowering the glass (12) of the vehicle window (11) before and / or when the target position is reached.

2. The method according to claim 1, wherein before and / or when reaching the target position, the method includes folding an exterior rearview mirror (13) of the motor vehicle (1), wherein the exterior rearview mirror is arranged on a side of the motor vehicle (1) on which the window (11) is arranged.

3. The method according to claim 2, wherein the exterior mirror (13) is folded only if failure of the folding would result in a collision of the exterior mirror (13) with the system (2).

4. The method according to claim 2 or 3, wherein the method comprises: If a first predetermined condition is met, the exterior rearview mirror (13) is deployed after reaching the target position.

5. The method according to any one of claims 1 to 4, wherein the method comprises: If a second predetermined condition is met, the glass (12) of the vehicle window (11) is raised after reaching the target position.

6. The method according to any one of claims 1 to 5, wherein the method comprises: If a third predetermined condition is met, the motor vehicle (1) is automatically maneuvered away from the target position and away from the system (2).

7. The method according to any one of claims 1 to 6, wherein the method comprises generating and outputting a visualization of the position of the motor vehicle (1) relative to the system (2) by means of a display arranged in the motor vehicle (1).

8. A data processing device for an automated motor vehicle (1), wherein the data processing device is configured to carry out the method according to any one of claims 1 to 7.

9. An automated motor vehicle (1) comprising a data processing device according to claim 8.

10. A computer program and / or a computer readable medium comprising instructions which, when executed by a computer, cause the computer to perform the method according to any one of claims 1 to 7.

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