Method for operating a motor vehicle, control device, motor vehicle

Abstract

The invention relates to a method for operating a motor vehicle (1), the motor vehicle (1) having at least one actuating device (2, 3, 4) that can be actuated by a driver in order to specify a braking, acceleration and / or steering desired, wherein at least one first sensor (5) for detecting an actuation of the actuating device (2, 3, 4) is assigned to the actuating device (2, 3, 4), and wherein the actuating device (2, 3, 4) and / or the first sensor (5) is monitored in terms of a malfunction, characterized in that, if a malfunction of the actuating device (2, 3, 4) and / or the first sensor (5) is detected, the first sensor (5) detects the malfunction of the actuating device (2, 3, 4) and / or the first sensor (5). If yes, an at least partially autonomous driving operation of the motor vehicle (1) is activated, and at least one autonomous driving maneuver is carried out as a function of a value of at least one predefined parameter assigned or assignable to the motor vehicle (1).

Description

Field of the Invention

[0001] The present invention relates to a method for operating a motor vehicle, wherein the motor vehicle has at least one actuating device that can be actuated by a driver and is used to preset braking expectations, acceleration expectations, and / or steering expectations. At least one first sensor for detecting the actuation of the actuating device is assigned to the actuating device, and the actuating device and / or the first sensor are monitored for faults.

[0002] Furthermore, the present invention relates to a control device for a motor vehicle and a motor vehicle. Background Art

[0003] It is known from the prior art that the actuation of the actuating device of a motor vehicle is detected by a sensor assigned to the actuating device, and the actuating device can be actuated by a driver. If the driver operates the control device, the driver's intention to brake or accelerate can be recognized according to the device. For example, a braking system with an electromechanical brake booster is known, which forms a redundant "brake-by-wire" system together with a vehicle assistance system (especially an electronic stability program (ESP)), and there is no mechanical connection between the actuating device and the braking system. For example, according to the actuation of the actuating device, a braking request is transmitted to the electromechanical actuator, and the actuating device is designed to build pressure in the braking system.

[0004] Methods for detecting drive device and / or sensor faults are also known. For example, the published patent application DE 102018 113 865 A1 discloses a method for determining the state of a vehicle pedal actuation system, wherein the normal operating state or fault state of the actuated pedal is detected according to two sensor signals. Summary of the Invention

[0005] The method according to the invention having the features of claim 1 is characterized in that, if a fault of the actuating device and / or the first sensor is recognized, at least a partially autonomous driving operation of the motor vehicle is activated and at least one autonomous driving maneuver is carried out according to the value of at least one pre-given parameter assigned to or assignable to the motor vehicle. Thereby, if the actuation of the actuating device can no longer be clearly determined and implemented due to a faulty actuating device and / or a faulty sensor, the further safe operation of the motor vehicle is advantageously ensured. In particular, the autonomous driving operation is automatically activated, that is, the driver cannot influence it. Preferably, the driving operation is continuously activated and the transfer of control to the driver is prevented. Therefore, it is not necessary to set an emergency trajectory, such as a controlled stop of the motor vehicle, in which the motor vehicle enters a stationary state as a safe state as quickly as possible and remains there, but the motor vehicle will continue to operate further in a normal, at least partially autonomous driving operation for at least a while. In particular, the transfer of control of the motor vehicle to the driver is not set, at least as long as the fault has not been recognized as eliminated. In the case of such a fault, the motor vehicle can advantageously only be safely operated in an autonomous driving operation. Particularly preferably, in the case of recognizing a fault, a corresponding report is sent to the driver, for example on a display device assigned to the driver. In particular, the report includes information about the activation of at least a partially autonomous driving operation and / or tips for the driver to check and eliminate the fault, such as a request to visit a workshop.

[0006] According to a preferred expansion scheme of the invention, at least one second sensor for redundantly detecting the actuation of the actuating device is assigned to the actuating device, and the sensor signals of the sensors are monitored for faults, in particular by mutual comparison. The advantages of the redundant detection of the actuation of the actuating device are that even if one of these sensors fails, the corresponding input of the driver is always reliably recognized. Preferably, the actuation of the actuating device is detected by one or two sensors arranged on the actuating device, such as angle sensors, displacement sensors, pressure sensors or force sensors, and in particular, at least a partially autonomous driving operation is only activated when these sensors fail. Therefore, advantageously, the driver only loses control when all sensors fail or are defective.

[0007] It is particularly preferably arranged that the steering device, the braking system and / or the drive unit of the motor vehicle are controlled according to the actuation of the actuating device. By virtue of this design of the actuating device, it is advantageously ensured that the steering desire, the acceleration desire and / or the deceleration desire of the motor vehicle driver are reliably recognized. Preferably, the actuating device is part of a steer-by-wire system, a brake-by-wire system and / or a drive-by-wire system, i.e. it has no mechanical connection to the steering device, the braking system and / or the drive unit. In particular, the actuation is detected according to the displacement path and / or the spatial position of the actuating device. In particular, the actuating device is designed as an actuating surface, a pedal, a joystick or a steering handle. Preferably, the actuating surface is designed to output an acceleration desire and / or a deceleration desire to the braking system and / or the drive unit. In particular, for this purpose, the actuating force of the actuating surface is determined. Preferably, the actuating surface is designed to be at least largely position-fixed or pathless here, i.e. immovable or at least only slightly movable. Preferably, the pedal is an accelerator pedal, a brake pedal or a combined driving pedal, which is designed in the same way to output an acceleration desire and a deceleration desire to the braking system and / or the drive unit. In such a case of output and control, the advantages of the method according to the invention are particularly strongly reflected. Particularly preferably, the joystick is designed to output an acceleration desire and a deceleration desire, in particular alternatively or additionally an steering desire. In particular, for this purpose, the displacement path, the movement angle and / or the speed of the actuation of the lever or the pedal are detected. Preferably, in particular, the acceleration desire or the deceleration desire is recognized according to the movement direction of the lever, and the drive unit or the braking system is controlled accordingly. For example, the driver sets a vehicle deceleration desire via the lever. Corresponding to its movement, in particular its movement speed or its movement angle, a signal is transmitted to a component of the motor vehicle braking system, such as a controllable actuator, and the actuator builds up a corresponding braking pressure, as described above.

[0008] According to a preferred embodiment of the present invention, driving operation according to SAE level 3 (automated), 4 (highly automated) or 5 (fully automated) is activated, and the driving operation can be deactivated again or is deactivated only when the fault is recognized as eliminated and / or the driver revokes the control of the faulty actuating device and / or another actuating device. By deactivating or allowing deactivation only when the fault is eliminated, the safe continued operation of the vehicle can be advantageously ensured. By revoking the control of the actuating device, it is advantageously ensured that the driver does not interfere with the control of the motor vehicle in a manner that obstructs autonomous driving and thus may endanger the safe continued operation of the motor vehicle. Instead of revoking the control, at least the sensor signals representing the actuation of the respective actuating device are not considered as the driver's desire. Depending on the type of fault, the driver preferably not only revokes the control of the faulty actuating device, but also the control of other control devices. For example, if a fault in the brake pedal or the sensor assigned to the brake pedal is recognized, the driver in particular not only revokes the control of the brake pedal, but also the control of the accelerator pedal, or at least the signals representing its actuation are no longer considered as the driver's desire. The driver can only steer or predefine the steering desire via the steering wheel, while in semi-autonomous driving operation the vehicle accelerates and decelerates independently. This advantageously prevents the driver from, for example, predefining an excessive speed, even if the possible braking desire of the driver cannot be recognized due to a fault.

[0009] It is particularly preferably provided that the parameter includes the severity and / or type of the fault. The following advantage results therefrom, that the driving operation and the driving maneuver behavior are always adapted to the driving situation resulting from the fault. For example, if there are multiple faults, especially in two actuating devices and / or the sensors assigned to these two actuating devices, a higher degree of automation is selected than in the case of a single fault. For example, if neither the braking desire via the brake pedal nor the acceleration desire via the accelerator pedal can be recognized, a fully autonomous driving operation is in particular selected, in which the driver can no longer interfere with the control of the motor vehicle, in particular can no longer predefine the steering desire. Preferably, depending on the severity and / or type of the fault, for example in the case of only a single fault, such as an accelerator pedal fault, the driver is predefined with selection possibilities including different driving maneuver behaviors and different degrees of interaction, i.e., to what extent the driver can still interfere with the control of the motor vehicle. In the case of multiple faults, a fully autonomous driving operation is automatically predefined for safety reasons as described above, and the driver cannot select or influence this situation here.

[0010] According to a preferred expansion scheme of the present invention, at least one further component of the motor vehicle is monitored for a fault state, and the parameter includes this fault state. By taking into account the fault states of the further components, particularly advantageous possibilities for selecting one or more suitable autonomous driving maneuvers can be achieved. For example, if it is determined that there is not only a fault in the brake pedal but also a fault in the entire braking system, then in particular an autonomous driving maneuver is performed such that the motor vehicle comes to a safe standstill at a suitable location as quickly as possible. And if, for example, there is only a fault in the accelerator pedal and the other components of the motor vehicle are not in a fault state, then at least partially autonomous driving operation is continuously activated, wherein the driver can in particular predefine the steering desire and the braking desire himself. In particular, depending on the fault state of at least one further component, for example in the case of only a single fault, such as a fault in the accelerator pedal and the other components of the motor vehicle being without fault, selection possibilities including different driving maneuvers and / or different degrees of interaction are predefined for the driver, i.e., to what extent the driver can still intervene in the control of the motor vehicle. In the case of multiple faults, in particular fully autonomous driving is predefined automatically for safety reasons as described above, and the driver cannot select or influence this situation here.

[0011] It is particularly preferably provided that location information of the motor vehicle is detected and the parameter includes the location information. By taking into account the location information, the following advantage is obtained that the current position of the vehicle is taken into account together when determining the driving maneuver. In particular, depending on the location information, it is determined which driving maneuvers are suitable. Preferably, a driving maneuver for bringing the motor vehicle into a safe standstill state is predefined. If the location information is now taken into account, then suitable locations are preferably excluded. For example, it is determined that the motor vehicle should not come to a standstill in a tunnel, at a construction site, and should not come to a standstill on the hard shoulder of the road, and accordingly a driving maneuver is predefined to prevent this. Preferably, a suitable location is determined according to the location information. For example, it is determined that the motor vehicle should come to a standstill at a parking space, in particular the nearest parking space.

[0012] According to another preferred expansion scheme of the present invention, the influence range information and / or the surrounding environment information of the motor vehicle are detected, and the parameter includes the influence range information and / or the surrounding environment information. By considering the influence range information and / or the surrounding environment information, it is advantageously ensured that a particularly suitable driving maneuver is selected. For example, the sensor data of the vehicle assistance system of the motor vehicle is evaluated, especially the positions of other traffic participants around the motor vehicle, to ensure that they are not endangered due to the start of the autonomous driving operation. Particularly preferably, the state of the road on which the motor vehicle travels and / or the weather conditions in the influence range of the motor vehicle are evaluated. For example, if a failure of the brake pedal is recognized, in the case of unfavorable road conditions and / or weather conditions, especially in snowy or icy weather, a more defensive driving maneuver is pre-given, especially at a lower speed, than in the case of favorable road conditions or weather conditions, such as on a dry road.

[0013] Particularly preferably, it is provided that the parameter includes the setting of the vehicle assistance system of the motor vehicle. By considering the setting of the vehicle assistance system, the following advantages are obtained: the driver's expectations are reliably considered. For example, by setting a certain driver preference for at least partially autonomous driving operation, especially a certain driver preference regarding the automation level (level 3 to level 5). This preference is considered when pre-giving a driving maneuver.

[0014] According to a preferred expansion scheme of the present invention, at least one driving target is pre-given or called for the motor vehicle. Especially a plurality of driving targets, and the parameter includes at least one of the driving target or the plurality of driving targets. Thereby, a particularly advantageous possibility for determining a suitable driving maneuver is achieved. Then, the driving maneuver is selected such that the pre-given or called driving target is safely reached. For example, at least one driving target is the driver's home address, a workshop, especially the nearest workshop according to the location information of the motor vehicle, and / or a called or pre-given target address by the driver.

[0015] It is particularly preferably provided that a suitable driving target is selected from a plurality of driving targets according to the severity and / or type of a fault, the fault status, location information, scope-of-influence information, ambient information, and / or settings of vehicle assistance systems, and a plurality of autonomous driving maneuvers are executed to reach the selected driving target. By selecting a suitable driving target in this way, a particularly advantageous possibility for the continued operation of a motor vehicle is achieved. Preferably, by taking into account the location information, the driving target with the smallest distance from the current location of the motor vehicle is selected from the driver's home address, a workshop, and a target address. In particular, as described above, setting and driving towards a driving target depend on the severity and / or type of a fault. For example, during autonomous driving operation, the vehicle automatically drives towards the nearest workshop by means of suitable driving maneuvers. Further preferably, according to at least one of the mentioned parameters, the driver is pre-given the option of selecting from at least two, in particular a plurality of, possibly suitable driving targets. Alternatively, as described above, for safety reasons, a suitable driving target is pre-given and driven towards, and the driver cannot select or influence this situation.

[0016] The control device for a motor vehicle according to the invention having the features of claim 12 is characterized in that the control device is specifically designed to execute the method according to the invention. The above-mentioned advantages are thereby obtained.

[0017] The motor vehicle according to the invention having the features of claim 13 has at least one actuating device operable by a driver and at least one first sensor, and is characterized in that it has a control device according to the invention. The above-mentioned advantages are thereby obtained. Description of the Drawings

[0018] Further preferred features and feature combinations result from the above description and the claims. The invention will be explained in more detail below with reference to the drawings. For this purpose, there are shown:

[0019] Figure 1 A motor vehicle, and

[0020] Figure 2 A method for operating a motor vehicle is shown. Detailed Description of the Invention

[0021] Figure 1 A motor vehicle 1 is shown, currently having a first actuating device 2 designed, for example, as a brake pedal, a second actuating device 3 designed, for example, as an accelerator pedal or throttle pedal, and a third actuating device 4 designed, for example, as a steering handle. The actuating devices 2, 3, 4 are each designed to be actuated by the driver of the motor vehicle 1.

[0022] To this end, each actuating device 2, 3, 4 is currently assigned a first sensor 5 and a second sensor 6 for redundantly detecting the actuation of the actuating devices 2, 3, 4, as indicated by the respective double arrows. For the sake of clarity, Figure 1 only one of the sensors 5, 6 is shown in Figure 1 . Depending on the detected actuation of the actuating devices 2, 3, 4, the braking system 7, the drive unit 8 and the steering device 9 of the motor vehicle 1 are controlled.

[0023] The motor vehicle 1 further comprises at least one control device, in particular a plurality of control devices 10, and one, in particular a plurality of, components 11. The components 11 are in particular assigned to the braking system 7, the drive unit 8 or the steering device 9, as indicated by the dashed arrows.

[0024] The control device 10 is in particular designed to monitor the actuating devices 2, 3, 4, the sensors 5, 6 and / or the components 11 for faults and to control the braking system 7, the drive unit 8 and the steering device 9 according to the actuation of the actuating devices 2, 3, 4 (as indicated by the arrows).

[0025] The following refers to Figure 2 a preferred method for operating the motor vehicle 1. To this end, Figure 2 a flow chart is used to illustrate the process. In particular, by means of this method it is ensured that when the actuation of the actuating devices 2, 3, 4 can no longer be clearly determined and implemented due to faulty actuating devices 2, 3, 4 and / or faulty sensors 5, 6, the safe continued operation of the motor vehicle 1 can be advantageously ensured.

[0026] In step S1, the method starts to monitor the actuating devices 2, 3, 4 and the sensors 5, 6 for faults. If a fault is now identified, the method continues with step S2.

[0027] In step S2, at least one parameter assigned to or assignable to the motor vehicle 1 is determined. This parameter in particular comprises the severity and / or type of the fault, the fault status of at least one further component 11, the location information of the motor vehicle 1, the impact range information of the motor vehicle 1, the ambient information of the motor vehicle 1, the setting of the vehicle assistance systems of the motor vehicle 1, and / or at least one driving target of the motor vehicle 1.

[0028] In step S3, at least partial autonomous driving operation of the motor vehicle 1 is activated and at least one autonomous driving maneuver is performed according to the value of the parameter determined in step S2. In particular, at least two, in particular all, of the above parameters, or their values, are taken into account and at least one or more suitable driving maneuvers are pre-given accordingly, as described above.

[0029] For example, a suitable driving target is selected from a plurality of driving targets according to at least one parameter, and a plurality of autonomous driving maneuvers are performed to reach the selected driving target. Preferably, the driver revokes the control of the faulty control device, in particular the control of all actuators 2, 3, 4.

[0030] In step S4, it is checked whether the fault has been eliminated. If the fault is recognized as not eliminated, the method returns to step S3 and, if necessary, further autonomous driving maneuvers are performed. However, if it is recognized in step S4 that the fault has been eliminated, the autonomous driving operation can be deactivated, for example at the request of the driver. Now, either wait for the driver to request deactivation of the autonomous driving or automatically deactivate the autonomous driving operation.

[0031] Then the method ends with step S5, in which the autonomous driving operation is deactivated and the control of the motor vehicle 1 is again fully returned to the driver.

Claims

1. A method for operating a motor vehicle (1), wherein the motor vehicle (1) has at least one actuating device (2, 3, 4) that can be actuated by a driver, the at least one actuating device being used to pre-give a braking expectation, an acceleration expectation, and / or a steering expectation, wherein at least one first sensor (5) for detecting the actuation of the actuating device (2, 3, 4) is assigned to the actuating device (2, 3, 4), and wherein the actuating device (2, 3, 4) and / or the first sensor (5) are monitored for faults, characterized in that If a fault of the actuating device (2, 3, 4) and / or the first sensor (5) is recognized, at least partially autonomous driving operation of the motor vehicle (1) is activated and at least one autonomous driving maneuver is performed as a function of the value of at least one pre-given parameter assigned to or assignable to the motor vehicle (1).

2. The method according to claim 1, characterized in that, At least one second sensor (6) for redundantly detecting the actuation is assigned to the actuating device (2, 3, 4), and the sensor signals of the sensors (5, 6) are monitored with respect to faults, in particular by mutual comparison.

3. The method according to any one of the preceding claims, characterized in that The steering device (9), the braking system (7) and / or the drive unit (8) of the motor vehicle (1) are actuated as a function of the actuation of the actuating device (2, 3, 4).

4. The method according to any one of the preceding claims, characterized in that Driving operation according to SAE level 3 (automated), 4 (highly automated) or 5 (fully automated) is activated and the driving operation can be deactivated again or is deactivated only when the fault is recognized as eliminated and / or the driver withdraws control of the faulty and / or additional actuating device (2, 3, 4).

5. The method according to any one of the preceding claims, characterized in that, The parameter includes the severity and / or type of the fault.

6. The method according to any one of the preceding claims, characterized in that, The fault state of at least one further component (11) of the motor vehicle (1) is monitored and the parameter includes the fault state.

7. The method according to any one of the preceding claims, characterized in that, The location information of the motor vehicle (1) is detected and the parameter includes the location information.

8. The method according to any one of the preceding claims, characterized in that, The impact range information and / or the ambient information of the motor vehicle (1) is detected and the parameter includes the impact range information and / or the ambient information.

9. The method according to any one of the preceding claims, characterized in that, The parameter includes the setting of the vehicle assistance system of the motor vehicle (1).

10. The method according to any one of the preceding claims, characterized in that, At least one driving target, in particular a plurality of driving targets, is pre-given or called for the motor vehicle (1), and the parameter includes the driving target or at least one driving target of the plurality of driving targets.

11. The method according to any one of claims 5 to 10, characterized in that, Depending on the severity and / or type of the fault, the fault state, the location information, the impact range information, the ambient information and / or the setting of the vehicle assistance system, a suitable driving target is selected from a plurality of driving targets and a plurality of autonomous driving maneuvers are performed to reach the selected driving target.

12. A control device (10) for a motor vehicle (1), characterized in that, The control device (10) is specifically designed to perform the method according to any one of claims 1 to 11.

13. A motor vehicle (1), having at least one actuating device (2, 3, 4) that can be actuated by a driver and at least one first sensor (5), characterized in that, The motor vehicle has a control device (10) according to claim 12.

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