Device and method for monitoring the activity of a driver of a vehicle

Abstract

Device for monitoring the activity of a driver of a vehicle (14), comprising a device for monitoring multiple driver activities (16) by means of which different driver activities at the actuator (2, 201, 202) for influencing the vehicle movement are detected, and a driver activity intensity evaluation device (4) is provided by means of which the intensity of the respective driver activity (6) is evaluated with regard to the urgency of the respective vehicle reaction and is output as the strength of the driver intervention (8, 801, 802), wherein, depending on the strength of the driver intervention (8, 801, 802), one of several different system reactions (7, 12, 121, 122) is selected and the selected system reaction is executed, characterized in that the system reaction (7, 12, 121, 122) - an immediate shutdown, - a driver interaction, - a standard shutdown, - or a combination thereof, is, where the immediate shutdown - an immediate shutdown of the current assistance system command (1,101,102) and the control of the respective actuators (11) is transferred to the driver's control (15), or - a system response that triggers a standard shutdown (21) or an immediate shutdown (S21) on the other actuators (11) that are not affected by an immediate shutdown, and wherein the standard shutdown - a delayed shutdown of all assistance system commands (1, 101, 102) and the control of all actuators (11) is transferred to the driver's control (15), and where the driver interaction is a system response in which - the current assistance system command (1,101,102) is issued depending on the driver's control or - the current assistance system command (1,101,102) remains active.

Description

[0001] The present invention relates to a device and a method for monitoring the activity of a driver of a vehicle, which has a device for monitoring a plurality of driver activities, by means of which different driver activities are detected on an actuator for influencing the vehicle movement and a device for evaluating the driver activity intensity is provided, by means of which the intensity of the respective driver activity is evaluated with regard to the urgency of the respective vehicle reaction and is output as the strength of the driver intervention, wherein one of a plurality of different system reactions is selected depending on the strength of the driver intervention and the selected system reaction is carried out. State of the art

[0002] From DE 10 2016 007 187 A1 a method for deactivating an automated driving function of a vehicle, in particular a highly automated or autonomous driving function, is known, wherein the driving function is deactivated when a driver of the vehicle carries out a steering intervention or pedal intervention with a strength exceeding a predefinable deactivation threshold.

[0003] DE 10 2016 203 398 A1 discloses a device for controlling the longitudinal guidance of a vehicle configured for at least partially automated driving. At least one control element is provided for controlling the longitudinal guidance by a driver. The at least one control element can be locked within predetermined position limits depending on a variable representing the degree of automation of the vehicle's travel and on a first condition. The locking of the control element can be released depending on the variable representing the degree of automation of the vehicle's travel and on at least one second condition.

[0004] DE 10 2016 217 772 A1 discloses a device, an operating method, and a corresponding computer program for controlling an at least partially automated vehicle having a driver-operable control element for controlling at least the lateral guidance of the vehicle. The control element is controlled by a wheel angle adjuster, which sets a steering angle on the steerable wheels of the vehicle and / or by an electronic control unit controlling the automated lateral guidance of the vehicle. The degree of coupling between at least a first part of the control element and the wheel angle adjuster of the vehicle and / or between at least a first part of the control element and a fixed position in the coordinate system of the vehicle can be varied depending on the degree of haptic contact of the vehicle driver with said first part of the control element. Disclosure of the invention

[0005] The core of the present invention is to monitor the driver of a vehicle, detect their activities, and execute at least one of several system reactions depending on the urgency of these activities. According to the invention, this is achieved by the features of the independent claims. Advantageous further developments and refinements are set out in the subclaims.

[0006] Advantageously, one or more steering wheel angle sensors are used to measure the steering angle of the steering wheel in order to monitor the activity of a vehicle driver. Alternatively, or in combination with this, one or more capacitive steering wheel sensors or one or more steering wheel torque sensors can also be used in addition to the steering wheel angle sensors. A steering wheel angle sensor detects the driver's activity on the steering wheel, which in non-automated vehicles leads to the determination of the vehicle's direction of movement. In an automated vehicle, this activation is replaced by a driver assistance system.

[0007] In the context of the present invention, the terms “driver assistance system” and “automated vehicle” are to be understood in the same way as the term “system” was described and used in the standard (SAE Levels 1 to 4 of the SAE J3016 standard).

[0008] The driver assistance system can, for example, consist of the components “trajectory planning”, “motion control”, “actuator management” and “driving maneuver function”.

[0009] In the context of the present invention, the term “trajectory planning” is to be understood as meaning the method and device that plan the trajectories of the vehicle in advance.

[0010] In the context of the present invention, the term “motion control” is to be understood as meaning the method and device that controls the planned trajectories of the vehicle.

[0011] In the context of the present invention, the term “actuator management” is to be understood as meaning the method and the devices that control the respective actuators.

[0012] In the context of the present invention, the term “driving maneuver function” is to be understood as meaning the method and device that selects the most suitable driving maneuver in the respective driving situation.

[0013] According to the invention, different stored threshold values ​​are selected depending on the currently active driver assistance systems. Each stored threshold value is to be understood as a value matrix, which results in a threshold value from the free combination of different driver assistance systems. It is particularly advantageous that different system reactions take place for different active driver assistance systems in order to make the transfer of vehicle control to the driver even safer and more comfortable.

[0014] The invention provides that the detected urgency is assigned to one of preferably three ranges: a first, lowest range, a middle range, or a highest range.

[0015] In the context of the present invention, the term “lowest range” is to be understood as meaning that the lowest range is selected when the urgency level is between zero and a first threshold value and is thus below the middle range and the highest range.

[0016] Furthermore, the term "middle range" in the context of the present invention is to be understood as meaning that the urgency level lies between the first threshold and a higher, second threshold. This means that the "middle range" lies between the "low range" and the "high range."

[0017] Furthermore, the term “highest range” in the context of the present invention is to be understood as meaning that the urgency level lies between the second threshold value and an even greater, third threshold value, so that the “highest range” represents a urgency level that is greater than in the “low range” or the “medium range”.

[0018] According to the invention, a system reaction is triggered if the urgency level is within a range.

[0019] Furthermore, it is provided according to the invention that one or more system reactions are assigned to each area, which are activated when the urgency measure assumes a value within the assigned range.

[0020] Within the scope of the invention, it is provided that the presented system reaction is an immediate shutdown and / or a driver interaction and / or a standard shutdown.

[0021] In the context of the present invention, the system response of "immediate shutdown" is to be understood as meaning that the overall vehicle guidance system exhibits a system response in which the driver is immediately and as quickly as possible given control over the one or more vehicle guidance actuators, and the assistance system(s) for various guidance tasks are deactivated as quickly as possible. Until the immediate shutdown, the vehicle guidance actuators were controlled by one or more driver assistance systems.

[0022] Immediate shutdown deactivates the driver assistance systems. Immediate shutdown can be triggered and executed by the actuator itself, without control from the higher-level driver assistance system. Alternatively, or in combination with this, the actuators of the other control channels can be deactivated with a standard shutdown instead of an immediate shutdown. For example, if the vehicle's deceleration requires immediate shutdown, but the vehicle's lateral guidance does not require immediate shutdown; a standard shutdown is sufficient. Immediate shutdowns may be necessary for safety reasons, for example, but can also be motivated by particularly strong driver interventions.

[0023] The term "standard shutdown" is to be understood in the context of the present invention as a system response capable of delaying the driver's control of one or more actuators during their activities. This delay is defined as a smooth and comfortable shutdown, in which the respective driver assistance system returns control to the driver using a shutdown process, for example, a shutdown ramp. For example, this can occur according to an intervention ramp with a defined increase.

[0024] The system response of "driver interaction" is to be understood in the context of the present invention as meaning that, if the driver intervention is of only a low degree of urgency, the corresponding assistance system is not deactivated; rather, the driver and the assistance system simultaneously influence the movement of the vehicle. They interact with each other via the corresponding actuator. Such driver interaction occurs, for example, in SAE Level 2 lane-guiding assistance systems, where the driver can adjust the vehicle's position in the lane by gently operating the steering wheel without deactivating the system. This allows the driver to intervene in the actuator control in a regulating manner using a low degree of urgency.

[0025] Advantageously, the monitoring of a vehicle driver's activity is carried out using one or more pedal-based devices with which driver activity can be recorded. If the driver wishes to change the vehicle speed or acceleration, this is done in particular using the accelerator and brake pedals in the vehicle. For example, brake pedal force sensors and / or accelerator pedal force sensors and / or brake pedal travel sensors and / or accelerator pedal travel sensors can be used.

[0026] Advantageously, one or more on / off control elements that can be activated by the driver are used to monitor driver activity. Driver activity can also be recorded by the driver switching one or more driver assistance systems on or off.

[0027] Advantageously, the driver's activity can be recorded using one or more interior cameras. Interior cameras record the vehicle passengers inside the vehicle, in particular the driver themselves, and can recognize activity patterns. These recorded driver activities can be compared with stored movement patterns and evaluated. From this comparison, a driver command for a driver assistance system can be recorded and implemented. The driver commands for driver assistance systems can be used, for example, to determine or change the vehicle's direction of movement and / or vehicle acceleration and / or to activate / deactivate one or more driver assistance systems.

[0028] Furthermore, it is advantageous for the provided devices for monitoring a driver's activity to provide one or more signals that are further processed in subsequent evaluation devices and reflect the driver's actuation activity at the respective sensor with appropriate values. For example, when an accelerator pedal travel sensor is actuated, a signal is output that indicates how far the pedal is deflected between 0% and 100%.

[0029] It is particularly advantageous that the urgency of a driver's activity indicates a measure that reflects the force and / or speed and / or deflection of the monitoring device due to the driver's activity. For example, the speed of an accelerator pedal actuation (% per second) is mentioned, which indicates the urgency of the change in the vehicle's acceleration.

[0030] Advantageously, the level of urgency is compared with stored threshold values. It is particularly advantageous that the range between two threshold values ​​is defined as an urgency range, and is referred to as a "range" within the scope of the present invention.

[0031] Of particular importance is the implementation of the method according to the invention in the form of a control element provided for a control unit of a driver assistance system or a highly automated vehicle guidance system of a motor vehicle. A program is stored on the control element that can be executed on a computing device, in particular on a microprocessor or signal processor, and is suitable for carrying out the method according to the invention. In this case, the invention is implemented by a program stored on the control element, so that this control element provided with the program represents the invention in the same way as the method for which the program is suitable. In particular, an electrical storage medium, for example a read-only memory, can be used as the control element.

[0032] Further features, possible applications, and advantages of the invention will become apparent from the following description of exemplary embodiments of the invention, which are illustrated in the figures of the drawing. All described or illustrated features, individually or in any combination, constitute the subject matter of the invention, regardless of their summary in the patent claims or their references, as well as regardless of their wording or representation in the description or in the drawings. Embodiments of the invention

[0033] In the following, exemplary embodiments of the invention are explained with reference to drawings. Fig. 1 an exemplary device of a device according to the invention for monitoring the activity of a driver of a vehicle and Figue 2 shows an exemplary flowchart of the method according to the invention for monitoring the activity of a driver of a vehicle.

[0034] In Fig. Figure 1 shows a schematic representation of an embodiment of a device for monitoring multiple driver activities 16. The device 16 monitors multiple activity channels 2, 201, 202, such as, for example, the lateral control of the vehicle, the acceleration of the vehicle, the deceleration of the vehicle, with each channel controlling an actuator for vehicle control via a driver assistance function. The monitoring by the monitoring device 14 records the activity of the driver of the vehicle 14 with respect to the respective vehicle guidance channel 2, 201, 202. The control of the driver 15 is evaluated by the device for determining the intensity of driver activity 5 with regard to its urgency, and the intensity of the respective driver activity 6 is defined therefrom.The intensity of the respective driver activity 6 is then compared in the device for determining the driver activity intensity 4 with stored values ​​as threshold values ​​H0, H1, H2, H3, H4, whereby the intensity of the respective driver activity 6 is assigned to the appropriate range.

[0035] The ranges can be defined, for example, by the stored values ​​H0, H1, H2, H3, and H4, where H0 < H1 < H2 < H3 < H4. H0 means that no driver activity is present. The stored values ​​are selected depending on the currently active driver assistance system or the combination of currently active driver assistance systems.

[0036] The intensity of the respective driver activity 6 is assigned to the lowest range if its value is between H1 and H2.

[0037] The intensity of the respective driver activity 6 is assigned to the middle range if its value is between H2 and H3.

[0038] The intensity of the respective driver activity 6 is assigned to the highest range if its value is between H3 and H4.

[0039] The threshold values ​​with the assigned ranges are stored in a control unit, so that the control element 13 can decide on the basis of the supplied urgency value with the help of the stored threshold values ​​whether and which system reaction should be triggered 7, 12, 121, 122.

[0040] For example, if we consider a vehicle that is highly automated and drives without driver intervention, no activity signal or urgency value is generated without driver activation. However, if the driver is startled by a dangerous driving situation and, in response, presses the brake pedal with all his might, the pedal sensors generate a driver activity signal, from which an urgency value is also calculated. This is detected by the device for monitoring the activity of a driver of a vehicle 14, and the urgency value is compared with the stored threshold values. Due to the strong driver activation, this intervention is assigned to the highest range with a high degree of urgency. At this urgency, an immediate shutdown is triggered, which triggers an immediate shutdown 7 within the actuated actuator - in the example of the brake pedal activation considered, the actuator is a deceleration actuator.Since the urgency has been assigned to the highest urgency range, an immediate shutdown 121, 122 is also triggered in the other actuators by the control element 13, so that the driver can immediately control the vehicle. If the urgency value is assigned to the middle range, only the affected actuator, i.e., the deceleration actuator, would experience an immediate shutdown. The other actuator channels, such as the steering actuator, would only be shut down with a standard shutdown, since the urgency for an immediate shutdown of the other actuator channels is not present.

[0041] Fig.2. shows a schematic representation of an embodiment of a method for monitoring the activity of a driver of a vehicle. At the beginning, it is checked whether the driver assistance system is switched on S2. If the driver assistance system is not activated, the process returns to the beginning S1. If the driver assistance system 16 is activated, the method continues by reading in the output signals 2 of at least one driver activity detection device in step S3. Preferably, driver activities from several channels are detected and forwarded using different sensors, for example signals 2 from a steering angle sensor, signals 201 from a brake pedal sensor, or signals 202 from an accelerator pedal sensor. In step S3, an urgency value is determined from the driver activity values, which indicates how quickly the driver activity must be implemented by the vehicle systems.For this purpose, the determined urgency value is compared with the stored threshold values ​​H0 to H3 and assigned to one of the areas that provide different system reactions depending on the driver activities.

[0042] In the following step S4, it is checked whether the strength of the driver intervention 8, i.e. the urgency value, can be assigned to the lowest range S4. If the lowest range was selected, the method continues in steps S8, S11, S12 and S13 by triggering the system reaction of the driver interaction S8 for the actuator that received the driver intervention. Since the driver activity is only low and the urgency also only assumes low values, this actuator remains active and the driver activities are passed on to the actuator as control signals so that the driver can intervene in the vehicle guidance system with only minimal activity, for example to adjust the transverse offset of the vehicle in the lane being used. In this case, the motion controller of the respective actuator is adapted to the driver intervention S11, and the driver intervention is fed to the respective actuator S12 and executed by the respective actuator S13.The other actuators of the other channels continue to operate unaffected during the system reaction of the driver interaction.

[0043] If it was detected in step S4 that the driver activity is above the low range, the method continues in step S5, where it is checked whether the strength of the driver intervention 8 is within the medium range. If this query is answered in the affirmative, the system response of the standard shutdown S9 is triggered. The system response of the standard shutdown provides for all actuators 3, 301, 302 to be deactivated by means of a standard shutdown. Accordingly, it is desired that, due to the intensity of the driver intervention, all vehicle guidance systems are deactivated; however, the deactivation does not have to occur so quickly that the control systems are terminated instantly; rather, the respective actuators are deactivated conveniently and safely for the driving process using conventional shutdown processes such as ramp functions.This occurs in steps S9, S14, S15, and S16 by initiating the standard shutdown in step S14, followed by the respective driver intervention being applied to the respective actuator in step S15. In step S16, the actuator shutdown is executed.

[0044] If the driver activity value 8 could not be assigned to the low or medium range, a check is carried out in step S6 to determine whether the driver activity value 8 can be assigned to the highest range. If the check in step S6 determines that the driver activity value 8 lies within the highest range. In this case, that the driver activity value 8 lies between the threshold values ​​H2 and H3, the method continues in steps S10, S17, S18 and S20 or S21 by triggering an immediate shutdown for the actuator that received the intervention in step S10. In the further course of the process, the driver intervention is carried out immediately by the actuator in step S17. All other actuators are deactivated either with a standard shutdown according to step S21 or with an immediate shutdown in step S20.

[0045] The selection of whether the other actuators are deactivated with an immediate shutdown according to step S20 or deactivated with a standard shutdown according to step S21 can either be determined by the system architect in the development stage or can be made dependent on the situation, for example on further environmental parameters that are detected by means of environmental sensors.

[0046] If in step S6 the highest range was not selected either, the method branches according to transition S19 and returns to the beginning.

Claims

[1] Device for monitoring the activity of a driver of a vehicle (14), which has a device for monitoring a plurality of driver activities (16), by means of which different driver activities are detected on the actuator (2, 201, 202) for influencing the vehicle movement, and a driver activity intensity evaluation device (4) is provided, by means of which the intensity of the respective driver activity (6) is evaluated with regard to the urgency of the respective vehicle reaction and is output as the strength of the driver intervention (8, 801, 802), wherein, depending on the strength of the driver intervention (8, 801, 802), one of several different system reactions (7, 12, 121, 122) is selected and the selected system reaction is carried out, characterized by that the system reaction (7, 12, 121,122) - an immediate shutdown, - a driver interaction, - a standard shutdown, - or a combination of these, is, where the immediate shutdown - an immediate deactivation of the current assistance system command (1, 101, 102) and the control of the respective actuators (11) is transferred to the control of the driver (15), or - is a system reaction which triggers a standard shutdown (21) or an immediate shutdown (S21) on the other actuators (11) which are not affected by an immediate shutdown, and wherein the standard shutdown - a delayed shutdown of all assistance system commands (1,101,102) and the control of all actuators (11) is transferred to the control of the driver (15), and wherein the driver interaction is a system reaction in which - the current assistance system command (1,101,102) is carried out depending on the driver's control or - the current assistance system command (1,101,102) remains active. [2] Device according to claim 1, characterized bythat the device for monitoring the activity of a driver (14) - a steering wheel angle sensor, - a brake pedal force sensor, - a brake pedal travel sensor - an accelerator pedal force sensor, - an accelerator pedal travel sensor, - an occupant activity camera, - an on / off switch, - a capacitive steering wheel sensor, - a steering wheel torque sensor, - or a combination thereof, is. [3] Device according to claim 1, characterized by that the strength of the driver intervention (8) depends on the - driver actuation amplitude, - Driver operation speed, - Driver actuation torque, - Driver actuation acceleration, - Operation of a driver control element, - or a combination thereof. [4] Method for monitoring the activity of a driver of a vehicle (S3) in which the driver activity (2) is recorded and the intensity of the driver activity (2) is evaluated with regard to the urgency of the vehicle reaction (5, S4, S5, S6), wherein, depending on the strength of the driver intervention (8), one of several different system reactions (S8, S9, S10) is selected and the selected system reaction (S8, S9, S10) is carried out, characterized by that the system reaction (7, 12, 121,122) - an immediate shutdown, - a standard shutdown, - a driver interaction, - or a combination of these, is, where the immediate shutdown - an immediate deactivation of the current assistance system command (1, 101, 102) and the control of the respective actuators (11) is transferred to the control of the driver (15), or - is a system reaction which triggers a standard shutdown (21) or an immediate shutdown (S21) on the other actuators (11) which are not affected by an immediate shutdown, and wherein the standard shutdown - a delayed shutdown of all assistance system commands (1,101,102) and the control of all actuators (11) is transferred to the control of the driver (15), and wherein the driver interaction is a system reaction in which - the current assistance system command (1,101,102) is carried out depending on the driver's control or - the current assistance system command (1,101,102) remains active. [5] Method according to claim 4, characterized by that the signal for monitoring the activity of a driver (14) - a signal from an occupant activity camera, - an on / off signal, - a steering wheel angle signal, - a brake pedal force signal, - a brake pedal travel signal - an accelerator pedal force signal, - an accelerator pedal travel signal, - a capacitive steering wheel sensor, - a steering wheel torque sensor, - or a combination thereof. [6] Method according to claim 4 or 5, characterized by that the respective system reaction (S8, S9, S10) is triggered by a comparison of the strength of the driver intervention with stored threshold values. [7] Method according to one of claims 4 to 6, characterized by that if the strength of the driver intervention (8) is within the lowest range, the driver interaction is triggered (S8), wherein a motion controller of the respective actuator is adapted to the driver intervention (S11), and the driver intervention is supplied to the respective actuator (11) (S12), and is executed by the respective actuator (11) (S13). [8] Method according to one of claims 4 to 7, characterized bythat if the strength of the driver intervention (8) is within a medium range (S5), the respective standard shutdown is triggered for all actuators (S9, S14), and the driver intervention is supplied to the respective actuator (11) (S15), and is executed by the respective actuator (11) (S16). [9] Method according to one of claims 4 to 8, characterized by that, if the strength of the driver intervention (8) is within the highest range (S6), the immediate shutdown is triggered (S10), and the driver intervention is supplied to the respective actuator (11) (S17), and is immediately executed by the respective actuator (11) (S18), and the other actuators are switched off with the respective standard shutdown (S21) or with the respective immediate shutdown (S20). [10] Method according to one of claims 4 to 9, characterized bythat if the strength of the driver intervention (8) is above the highest range (S6) or below the lowest range (S4), the procedure is run through again from the beginning without triggering a system reaction (S19). [11] Computer program product which is designed to execute, implement and / or control the method according to one of claims 4 to 10. [12] A machine-readable storage medium on which the computer program product according to claim 11 is stored.

Images