Method for operating a vehicle system of a motor vehicle and motor vehicle

Abstract

The invention relates to a method for operating a vehicle system of a motor vehicle, in which the vehicle system provides an autonomous driving function for fully automatically guiding the motor vehicle, in which an action plan is executed in the event of a deactivation event indicating that the autonomous driving function needs to be deactivated, the action plan comprises requesting a driver of the motor vehicle to take over driving within a take-over time limit, and in the event of an unsuccessful take-over of driving, bringing the motor vehicle into a safe state, in particular a stationary state, within a total time limit from the occurrence of a deactivation event, the action plan stipulates the takeover time limit including at least two time periods of a sequence of time periods, each of which is associated with prompt information, at least in the case where an event thereof satisfies a deactivation event of a first event category indicating a critical condition of low safety criticality, the action plan stipulates that takeover time limit includes at least two time periods of the sequence of time periods, each of which is associated with prompt information. The prompt information indicates at least one driving takeover prompt to be output to the driver in the corresponding time period, and the intensity and / or the number of the driving takeover prompts are / is increased along with the sequence of the time periods.

Description

TECHNICAL FIELD

[0001] The invention relates to a method for operating a vehicle system of a motor vehicle, wherein the vehicle system provides an autonomous driving function for fully automated guiding of the motor vehicle, wherein in the event of a deactivation event indicating a need for deactivating the autonomous driving function, an action plan is executed, which comprises requesting a driver of the motor vehicle to take over driving within a takeover time limit, and in the event of an unsuccessful takeover of driving, bringing the motor vehicle into a safe state, in particular a stationary / parked state, within a total time limit from the occurrence of the deactivation event. The invention also relates to a motor vehicle. BACKGROUND

[0002] Vehicle systems allowing for fully automated guiding of a motor vehicle within certain limits, within so-called system boundaries, are already available and are also the subject of research, in particular on roads where motor vehicles are to be fully autonomously operable. According to SAE J3016 of April 30, 2021, autonomous driving is divided into five levels, wherein fully automated guiding is achieved from level 3 onwards. In the case of level 3, all aspects of dynamic driving tasks are executed by the vehicle system in a driving mode-specific manner, under the premise that the driver will respond to an intervention request (driver takeover request). At higher levels, this premise no longer exists.

[0003] In the case of an activated autonomous driving function, events can occur in which the autonomous driving function should be deactivated. Such events are referred to in the following as "deactivation events". Deactivation events can be known in advance, so that a planned deactivation of the autonomous driving function can be referred to when a deactivation event occurs. For example, the type of road and / or the road conditions for which the autonomous driving function is permitted according to the system boundaries of the autonomous driving function can be terminated. However, there are also deactivation events that cannot be planned in advance, such as a fault in the vehicle system, an environmental perception failure, etc. At this point, unplanned deactivation is spoken of.

[0004] For autonomous driving functions of level 3 or higher, the driver can be allowed to engage in auxiliary activities, or the driver can at least temporarily divert his attention from the traffic event. Nevertheless, at least for level 3, the driver is required to be able to respond to a driving takeover request. If the autonomous driving function is to be deactivated, the driver is therefore required to take over vehicle guidance again, i.e. the dynamic driving task, unless the cause indicates that the motor vehicle can no longer be guided even manually. If the vehicle guidance cannot be handed back to the driver and thus the responsibility to the driver, a safe state, in particular a stationary state, of the motor vehicle is established in order to deactivate the autonomous driving function. In the event of a deactivation event, a driving takeover request, usually comprising a driving takeover prompt, and a transition into a safe state are executed in an action plan.

[0005] Here, in particular, there are regulations that specify a target time, more precisely the shortest time, to reach a safe state. These time limits described in the action plan ultimately reflect how long the driver has to take over the guidance of the vehicle himself and avoid a safe state, in particular a stationary state.

[0006] Since the driver is usually engaged in other activities that are not related to driving or at least his attention is not used for driving events, the driving takeover request driving takeover prompt should generally be selected as clear as possible in order to communicate to the driver at all events and to draw the driver's attention to the fact that he should take over the guidance of the vehicle again within a rather short takeover time limit in order to avoid a safe state. Various designs for determining the driver's driving takeover and the readiness of the vehicle guidance have been proposed.

[0007] The strength of the driving takeover prompt can be unpleasant, in particular in the case where the driver was actually already expecting deactivation and was already prepared to take over driving. On the other hand, it is also unpleasant if a safe state is established despite the driver's attempt to take over the guidance of the vehicle again. SUMMARY

[0008] It is therefore an object of the present application to improve the comfort when using an autonomous driving function that can be deactivated in the event of a deactivation event.

[0009] In order to achieve this object, for the computer-implemented method of the type mentioned at the outset, according to the application it is provided that, at least in the case of a deactivation event of a first event class whose event fulfills an acuity condition indicating a low acuity of the safety criticality, the action plan specifies a takeover time limit comprising a sequence of time periods, each of which is associated with a prompt information describing at least one driving takeover prompt to be output to the driver within the respective time period, wherein the strength and / or the number of the driving takeover prompts increases with the sequence of time periods.

[0010] Here, the autonomous driving function is at least a level 3 driving function according to SAE J3016 of April 30, 2021, which means that within the scope of the autonomous driving function, the vehicle system takes over the guidance of the vehicle completely and thus the dynamic driving task completely. It is generally noted that in many cases the total time limit corresponds to the takeover time limit.

[0011] It is proposed here that, in the event of at least an unsafe critical or less safe critical deactivation event, the response is not made immediately with a high intensity and / or a large number of driving takeover prompts, but rather the intensity of the driving takeover request is increased over time, in order to first indicate to the driver in a moderate manner that a driving takeover is to be expected, and then to increase the intensity further as the time passes in which the driver does not take over the vehicle guidance. In other words, it can also be said that different escalation levels corresponding to time periods are used. In this way, comfort is increased, since a driver who is prepared for a driving takeover and takes over at the first time period, more precisely at an earlier time period, is less disturbed by the driving takeover prompts, while on the other hand it is still ensured that even an inattentive driver is prompted over time that a deactivation of the autonomous driving function is to be expected and that a takeover of the vehicle guidance is required. The proposed approach thus provides a cascading handover of the vehicle guidance from the autonomous driving function to the driver.

[0012] In this regard, it is particularly advantageous if, at least for the first event category, the takeover deadline is 20 to 40 seconds, in particular 30 seconds, and / or is longer than the target deadline specified by the regulations. It is particularly advantageous if at most 30 seconds can elapse until the safe state is reached. In other words, the driver can be given more time than usual in order to provide further comfort and, as it were, to "compensate" for the inconsiderate start of the driving takeover request, so that even a less attentive driver who has missed the first driving takeover prompt has enough, in particular customary, time to take over the vehicle guidance.

[0013] Here, it is also noted at this point that the approach presented here relates to a situation in which the driving can still be taken over by the driver, if appropriate even with restrictions on manual operation, for example, a restriction on the maximum speed and / or optional gears. In the case in which the motor vehicle can no longer be guided manually, other action plans are used, for example, a direct entry into a safe state.

[0014] Here, the safe state can be a risk-free state, or at least a state in which the risk is minimized, preferably a stationary state of the motor vehicle in a safe parking area, for example, an emergency lane, a parking lot, etc. Approaches for determining possible safe states and driving interventions to bring about these states are widely known from the prior art and will not be described here again. The same applies to the detection, assessment and / or classification of deactivation events. The series of driving interventions carried out in the action plan phase of the action plan in order to achieve the safe state can also be referred to as minimum risk manoeuvre (MRM).

[0015] A suitable refinement of the application can provide for two to four time periods to be used, and / or the time periods to each have the same time period length, in particular 5 to 20 seconds. In the example of the 30-second takeover deadline described above, it can be provided, for example, in the time period sequence or at least in a time period sequence preset, that three time periods are used, which can each have a length of 10 seconds. In the first time period in time according to the time period sequence or the time period sequence preset, a driving takeover prompt is output for the driving takeover request with a low level of aggressiveness for 10 seconds. Then, in the following 10 seconds, a driving takeover prompt of medium aggressiveness is generated. Finally, in the third 10-second time period in time, the driving takeover prompt is made according to a final escalation level with a high level of aggressiveness. It can thus be said that the motor vehicle increasingly aggressively prompts that a deactivation of the autonomous driving function is to be expected and a driving takeover is required.

[0016] In a preferred refinement of the application, it is provided that the number of time periods and / or the prompt information and / or the time period length of the time periods is selected in accordance with the event information describing the deactivation event. That is to say, different types of deactivation event can be distinguished in order to be indicated, for example, with different levels of distinctness and / or in different takeover deadlines, in accordance with the foreseeability or the subsequent / consequences to be expected. For example, a planned, i.e. temporally pre-known and / or consciously perceived by the driver, deactivation event can be distinguished from an unplanned deactivation event, wherein for an unplanned deactivation event a more aggressive driving takeover request can be initiated, since the driver can not necessarily expect this situation. However, the event information can also describe foreseeable subsequences, in particular in the event of a non-takeover by the driver, for example, a progressive damage. A progressive or additionally occurring damage can make it reasonable to shorten the takeover deadline.

[0017] In this context, it can be provided in a preferred specific refinement that the event information describes whether a planned deactivation event is present or an unplanned deactivation event, wherein, in the case of an unplanned deactivation event, a higher intensity and / or number of driving takeover prompts is initiated than in the case of a planned deactivation event using a time period sequence preset. This can be implemented, for example, simply by skipping the first time period in time of the time period sequence preset for an unplanned deactivation event. One escalation level is thus skipped. The takeover deadline can thereby be shortened, but it is also conceivable to extend the remaining time length accordingly. Thus, in the example of the three ten-second time periods described above, for an unplanned deactivation, for example, the first time period in time can be omitted and the second time period of medium aggressiveness is initiated immediately.

[0018] In particular, it can also be provided that the time interval to the subsequent event is used as event information, wherein the length of the time period is chosen such that the safe state is assumed before the end of the time interval, and / or wherein the intensity and / or the number of the driving takeover prompts of the respective time period is chosen to be higher with the rising urgency of the subsequent event, and / or wherein at least a first time period of the time period sequence is skipped in accordance with the time interval and / or the subsequent urgency information. The subsequent event can be, for example, a damage and / or an event that leads to a damage that occurs while the motor vehicle is being operated by means of the autonomous driving function, for example a malfunction that the cooling device in the motor vehicle will face. If the driver does not take over, it can make sense to establish the safe state more quickly in these cases. The driving takeover itself can then be associated with specific operating restrictions that prevent the subsequent event. In this respect, it can also be advisable to shorten the length of the time period and / or to omit an early time period. A higher intensity of the driving takeover request is thus also achieved earlier. Furthermore, it can also be meaningful to indicate the required driving takeover more intensively with the rising urgency, in general and in the case of such a subsequent event.

[0019] By means of this adjustment made in accordance with the event information, a suitable balance between the comfort and the urgency of the driving takeover can be established, thus improving safety and comfort.

[0020] In an expedient refinement, it can be provided that the driving takeover prompt comprises a manipulation of visual and / or acoustic and / or haptic prompt means. However, it has proven particularly advantageous if the driving takeover prompt comprises at least one driving intervention that the driver can perceive, in particular a jerk and / or a drag torque that is generated by a brief deceleration. Although, in principle, and expediently, also conventional prompt means, such as light, loudspeaker, display and vibration device, can be used, it has proven that the driver can perceive and notice in particular the changes in the vehicle system in the vehicle guidance particularly clearly, in particular those that would also have drawn their attention even if the driving task had been assumed by the driver himself. The driving takeover prompt can therefore be emitted in particular expediently, for example, as at least one jerk, in particular as a prompt jerk and / or as a warning jerk, and / or by means of a drag torque.

[0021] In a specific refinement of the application, it can be provided, for example, that in the first time period in time of the time period sequence, as driving takeover prompt, a drag torque is generated, in particular a prompt jerk is introduced, and in at least one time period later in time of the time period sequence, at least one warning jerk is emitted, the intensity of the warning jerk being greater than the intensity of the prompt jerk or of said prompt jerks. In such a design, the driver is first gently prompted by the prompt jerk and / or the drag torque that a deactivation of the autonomous driving function is imminent. An escalation is achieved by means of the clearly perceptible warning jerk, which is more conspicuous and also more unpleasant.

[0022] Additionally or alternatively it can be provided that from a time period of the sequence of time periods, as driving takeover prompt, a color change of a display and / or of the interior lighting of the motor vehicle is carried out, and / or the display and / or the interior lighting is caused to start to blink. A color change, a blinking or other dynamic effect of the display and / or of the interior lighting is a particularly conspicuous and intensive prompt which is particularly suitable for a time period which is later. Here too it is possible to carry out various steps in succession, for example, a successive change of color of different colors is carried out first and / or a color change is carried out first and then a blinking.

[0023] In another particularly advantageous example it can be provided that, within the sequence of time periods, a visual driving takeover prompt first occurs, and an audible driving takeover prompt last occurs, with the haptic driving takeover prompt and / or the perceptible driving intervention. Thus, the driving takeover prompt is initially started only with a haptic driving takeover prompt or driving intervention which is still rather moderate, then a visual driving takeover prompt is added, and finally an audible driving takeover prompt is added.

[0024] In general, within the scope of the application, it can be expedient to superimpose the sequence of time periods as a whole on a speed reduction of the motor vehicle. This can already be produced by a drag torque which is increased as appropriate with the time period. However, a braking intervention can also be considered which also serves as a driving takeover prompt. Here too it is possible to increase the deceleration of the motor vehicle from at least one time period to the next time period.

[0025] A suitable refinement of the application can provide that at least the last time period of the sequence of time periods overlaps with a plan phase for establishing a safe state. The time period or time period portion which does not run in parallel with the minimum-risk motor operation can be referred to as a transition phase or a pure handover phase. The introduction of the minimum-risk motor operation at the end of the sequence of time periods serves as a further driving takeover prompt and as a further escalation level, by means of which the driver is prompted even more intensively to take over the dynamic driving task.

[0026] In a preferred embodiment, in the case of a deactivation event of a second event class whose event does not satisfy the criticality condition and / or satisfies an emergency condition which indicates an emergency situation, the transition into the safe state can be started immediately with detection of the deactivation event in parallel with the driving takeover request. This is particularly expedient for deactivation events for which the autonomous driving function cannot achieve a sufficiently safe continuation, even if only temporarily, so that the transition into the safe state is started immediately. Here, the driving takeover request can be particularly intensive, for example, corresponding to the last time period in the deactivation event of the first event class. Thus, it is also possible to respond appropriately to such a situation.

[0027] Furthermore, it can be provided within the scope of the application that, in the case of a readiness of the motor vehicle for manual operation, the request for taking over the driving even after the attainment of the safe state continues for an additional duration. This can be referred to as a request for taking over the driving in the safe state, in particular in the stationary state. Here, the safe state, in particular the stationary state, can already be understood as an explicit indication that the motor vehicle cannot continue to be operated if the driver does not take over the driving, so that the intensity of the driving takeover prompt can be reduced again for the additional duration. But of course the intensity of the request for taking over the driving can also continue, in particular from the intensity of the last time period.

[0028] In addition to the method, the application also relates to a motor vehicle having a vehicle system, wherein the vehicle system provides an autonomous driving function for fully automated guidance of the motor vehicle and has a control device designed to carry out the method according to the application. All embodiments with regard to the method according to the application can be transferred analogously to the motor vehicle according to the application, so that by means of the motor vehicle likewise the advantages already mentioned can be achieved.

[0029] The control device can have at least one processor and at least one memory. The functional units carrying out the method steps according to the application can be formed by hardware and / or software. For example, the control device can have a determination unit for determining the detection event and a deactivation unit for implementing the action plan in the case of the occurrence of the deactivation event. BRIEF DESCRIPTION OF DRAWINGS

[0030] Further advantages and details of the application result from the embodiments explained below and by means of the drawings.

[0031] wherein:

[0032] Figure 1 a flow chart of an embodiment of the method according to the application is shown,

[0033] Figure 2 a diagrammatic illustration of a first sequence of time periods is shown,

[0034] Figure 3 a diagrammatic illustration of a second sequence of time periods with an additional duration is shown,

[0035] Figure 4 a diagrammatic illustration of a flow chart in the case of a deactivation event fulfilling an emergency condition is shown, and

[0036] Figure 5 a diagrammatic illustration of a motor vehicle according to the application is shown. DETAILED DESCRIPTION

[0037] Figure 1An embodiment of the method according to the application is illustrated in the form of a flow chart. The method is executed when an autonomous driving function that fully takes over the guidance of the motor vehicle is activated. The autonomous driving function allows the driver to engage in an auxiliary activity, but the driver should be responsive to a driving takeover request.

[0038] In step S1 it is determined whether a deactivation event will occur or is present (in the event of which the autonomous driving function must be deactivated). Here, the deactivation event can involve, inter alia, a change in environmental conditions that results in a non-observance of system boundaries, and / or a fault in the vehicle system and / or in the environment detection. The deactivation event is classified. Here, a deactivation event that fulfils a criticality condition, which indicates a low safety criticality, belongs to a first event category, and such a deactivation event that does not fulfil the criticality condition belongs to a second event category. Other classification schemes can also be used.

[0039] With the deactivation event, deactivation information associated with the deactivation event is also determined. The deactivation information can describe, for example, whether the deactivation event in question is a planned deactivation event or an unplanned deactivation event, a planned deactivation event thus being obviously known in advance and, if appropriate, even known to the driver, an unplanned deactivation event being, for example, a sudden discovery. A planned deactivation event can include, for example, a change in road type, weather, road surface, etc. that reaches the system boundaries of the autonomous driving function. Furthermore, the deactivation information describes whether a relevant follow-up event will occur after a certain time interval. Such a follow-up event can cause, for example, a motor vehicle damage or be a motor vehicle damage itself. One example is a cooling system failure. The follow-up event is also assigned a follow-up criticality information. This follow-up criticality information indicates the criticality of the follow-up event, more precisely of its consequences. The follow-up criticality information can be, for example, a criticality value.

[0040] In step S2 it is checked whether a deactivation event has already occurred. If not, then step S1 is returned to (the autonomous driving function continues to run). In the event of a deactivation event, it is checked in step S3 whether the deactivation event in question is a deactivation event of the first event category or a deactivation event of the second event category.

[0041] For a deactivation event of the first event category, in step S4 an action plan is developed with the deactivation information, in which action plan a driving takeover request is issued and, if the driver does not take over the guidance of the vehicle, the motor vehicle is brought into a safe state, in particular a stationary state. Here, for the driving takeover request, a time period sequence preset is preconfigured on the basis of a time period sequence in terms of a sequence of time periods each having a determined length. If a planned deactivation event has occurred, but there is no follow-up event, then this time period sequence preset is directly used to determine the time period sequence.

[0042] Otherwise the time period sequence is adapted from the time period sequence preset, in particular with regard to the number of time periods, the time period durations and / or the driving takeover request to be output within the time periods (the driving takeover request is described by the request information). For example, if there is an unplanned standstill event, in which case the first time period is deleted from the time period sequence preset. This can also be done in the case of a subsequent event in order to ensure that the motor vehicle enters the safe state within the time interval. To achieve this, the time period durations can also be shortened, preferably equally, since here all time periods should have the same duration. It is also conceivable that, depending on the sequence criticality information, stronger driving takeover requests are set as the criticality rises.

[0043] It can be provided in the action plan that the minimum-risk motor action for bringing the motor vehicle into the safe state, in particular the stationary state, at least overlaps the last time period or is executed in particular completely in this last time period.

[0044] The action plan determined in step S4 is then executed in step S5.

[0045] For a standstill event of the second event category, there is only the specified action plan which provides for the immediate start of the minimum-risk motor action and at the same time the emission of a strong / intense driving takeover request, which is executed in step S6.

[0046] In the case of a corresponding takeover of the vehicle guidance by the driver, the action plan is aborted and the driver guides the motor vehicle. In particular in the case of a subsequent event, the guidance of the motor vehicle by the driver can be limited, for example, in terms of the maximum speed.

[0047] If the motor vehicle is brought into the safe state, the driving takeover request is continued for an additional duration by the emission of the driving takeover request in step S7. The driving takeover request is then ended.

[0048] Figure 2 The time period sequence according to the time period sequence preset is shown exemplarily, which can thus be used for a planned standstill event. Here, the total takeover time limit of the driving takeover request until the safe state is 30 seconds, which is divided into three time periods 1, 2, 3, each having a time period duration of 10 seconds. Here, in the last time period 3, which corresponds to the action plan phase 4 for bringing the motor vehicle into the safe state, the minimum-risk motor action is also executed. The period before, in which only the driving takeover request is emitted, can be referred to as a transition phase 5 or a pure handover phase.

[0049] In the first time period 1, the prompt information indicates that the strength of the request for taking over the driving should be low, so the driving takeover prompt should be issued with low intensity. This is achieved here by generating a drag torque, which also slightly reduces the speed of the motor vehicle. In addition, at least one prompt jerk can be issued. If visual and / or acoustic and / or haptic prompt means are used, this is at most moderate, for example by lighting a deactivation light on the dashboard, etc. The driver, who is prepared to take over the driving and knows the planned deactivation moment to be faced, can then take over comfortably without being disturbed.

[0050] In the second time period 2, the strength of the request for taking over the driving is increased, for example by increasing the drag torque, adding a warning jerk and additionally manipulating the visual and / or haptic prompt means, if necessary also the acoustic prompt means. For example, the color of the display of the motor vehicle and / or the color of the interior lighting can be changed. The driving takeover prompt now has a medium intensity.

[0051] If the driver is still not taking over the guidance of the vehicle, in the third time period 3 the strength of the request for taking over the driving is further increased, while at the same time the lowest-risk maneuver is also performed to switch into the safe state. The display and / or the interior lighting can flash, a loud acoustic prompt can be issued, and the strength of the warning jerk can be further increased.

[0052] However, alternatively, for the sake of clarity, Figure 2 It is not shown in that the request for taking over the driving can also continue for an additional duration in the case of switching into the safe state.

[0053] As can be seen from the course 6 shown in Figure 2 It can be seen that the speed of the motor vehicle is continuously reduced from time period 1, 2, 3.

[0054] Figure 3 A time period sequence based on Figure 2 is shown, in which, due to the unplanned deactivation event, the first time period 1 is skipped and the second time period 2 is started directly, i.e. already with a stronger prompt. Here, the time period length of 10 seconds is maintained, so that the safe state is achieved more quickly. In Figure 3 An additional duration 7 is also shown in which the request for taking over the driving continues.

[0055] Finally, Figure 4 An action plan in the case of a deactivation event of the second event category is set out, see step S6. Here, no time period sequence is used, but only the time period 3 with the strongest driving takeover prompt, and the lowest-risk maneuver is started immediately (action plan phase 4) in order to switch the motor vehicle into the safe state. But the request for taking over the driving can still continue for an additional duration 7.

[0056] Finally, Figure 5 A schematic representation of a motor vehicle 8 according to the application is shown. The motor vehicle comprises a vehicle system 9 having a control device 10 for carrying out the method set out with reference to Figure 1 A prompting means 11 is also shown, which can take various suitable forms as a visual and / or audible and / or tactile prompting means 11.

Claims

1. A method for operating a vehicle system (9) of a motor vehicle (8), wherein, The vehicle system (9) provides an autonomous driving function for fully automated guidance of the motor vehicle (8), wherein, in the event of a deactivation event indicating the need to deactivate the autonomous driving function, an action plan is executed, the action plan including requesting the driver of the motor vehicle (8) to take over driving within a takeover time limit, and, if the takeover is unsuccessful, bringing the motor vehicle (8) to a safe state, particularly a stationary state, within a total time limit from the occurrence of the deactivation event, characterized in that, at least in the case of a deactivation event of a first event category indicating a low safety hazard, the action plan specifies that the takeover time limit includes at least two time periods (1, 2, 3) of a time period sequence, each of the at least two time periods being associated with a prompt message describing at least one driving takeover prompt to be output to the driver within the corresponding time period (1, 2, 3), wherein the intensity and / or number of driving takeover prompts increase with the time period sequence.

2. The method according to claim 1, characterized in that, Use two to four time periods (1, 2, 3), and / or the time periods (1, 2, 3) all have the same time period length, especially 5 to 20 seconds.

3. The method according to claim 1 or 2, characterized in that, Select the number of time periods (1, 2, 3) and / or the prompt information and / or the length of the time periods (1, 2, 3) based on the event information describing the deactivation event.

4. The method according to claim 3, characterized in that, The time interval to the subsequent event is used as event information, wherein the time interval length is selected such that a safe state is reached before the end of the time interval, and / or wherein the intensity and / or number of driving takeover prompts for the corresponding time intervals (1, 2, 3) are selected to be higher as the urgency increases, based on the subsequent urgency information assigned to the subsequent event, and / or wherein at least a first time interval (1) of the time interval sequence is skipped based on the time interval and / or the subsequent urgency information.

5. The method according to any one of the preceding claims, characterized in that, The driving takeover cues include the manipulation of visual and / or auditory and / or tactile cues (11), and / or include at least one driving intervention that is perceptible to the driver, particularly by briefly decelerating the motor vehicle (8) to jerk and / or generate a drag torque.

6. The method according to claim 5, characterized in that, In the first time period (1) of the time period sequence, a drag torque is generated as a driving takeover prompt, particularly introducing a prompting jerk, and in at least one time period (2, 3) of the time period sequence, at least one warning jerk is issued, the intensity of which is greater than the intensity of the prompting jerk or the prompting jerk, and / or from one time period (1, 2, 3) of the time period sequence, as a driving takeover prompt, a color change of the display and / or interior lighting of the motor vehicle (8) and / or the start of flashing of the display and / or interior lighting is performed, and / or within the time period sequence, with tactile driving takeover prompts and / or perceptible driving interventions, a visual driving takeover prompt appears first, and an auditory driving takeover prompt appears last.

7. The method according to any one of the preceding claims, characterized in that, The last time period (3) of the time period sequence overlaps with the action plan phase (4) used to establish the security status.

8. The method according to any one of the preceding claims, characterized in that, In the event that the event does not meet the critical condition and / or meets the emergency condition of the second event category indicating an emergency situation, the transition to a safe state begins immediately upon detection of the deactivation event, in parallel with the driver takeover request.

9. The method according to any one of the preceding claims, characterized in that, Even after the safe state is reached, the driver takeover request continues for an additional duration (7) when the driver is ready to manually operate the motor vehicle (8).

10. A motor vehicle (8) having a vehicle system (9), wherein, The vehicle system (9) provides autonomous driving functionality for fully automated guidance of the motor vehicle (8) and has a control device (10) designed to perform the method according to any one of the preceding claims.

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