Autonomous vehicle

Abstract

Autonomously driving motor vehicle (1) with a driving module (5) for autonomous driving of the motor vehicle (1) depending on sensor equipment (4) associated with the driving module (5), wherein the driving module (5) can be deactivated by actuating the steering (31) of the motor vehicle (1), the brake (33) of the motor vehicle (1) and / or the speed setting (32) of the motor vehicle (1), wherein the autonomously driving motor vehicle (1) has a driver impairment detection module (62) for generating a driver impairment value (FU) indicating the driver impairment of the motor vehicle (1), wherein the autonomously driving motor vehicle (1) also includes a test module (66) connected to the driver impairment detection module (62) for interactive driver impairment determination depending on the driver's inability to solve tasks set by means of the test module (66), and wherein the motor vehicle (1) has a blocking module (61) for generating a exhibits a blockage condition (BL),which prevents the deactivation of the driving module (5) or, instead of deactivating the driving module (5), causes a partial deactivation of the driving module (5).

Description

[0001] The invention relates to an autonomously driving motor vehicle with a driving module for autonomous driving of the motor vehicle depending on the sensors assigned to the driving module, wherein the driving module can be deactivated by actuating the steering of the motor vehicle, the brake of the motor vehicle and / or the speed setting of the motor vehicle.

[0002] German patent DE 10 2015 122 603 A1 discloses a driver assistance system that includes automatic distance control and lane keeping assist, and comprises a driver status monitor that monitors the driver and detects the presence of an abnormal driving situation. The driver assistance system also includes an activation switch that the driver can operate to activate or deactivate the driver assistance functions, and a driver assistance controller that executes the driver assistance function to control the vehicle based on a target behavior, the target behavior being defined based on the environment surrounding the vehicle.With regard to the adaptive cruise control, the driver assistance controller determines whether to override the adaptive cruise control by comparing the depressurization of an accelerator pedal with a degree threshold. The degree threshold is set higher when the driver status monitor detects an abnormal situation than when it detects its absence. With regard to the lane keeping assist, the driver assistance controller determines whether to override the lane keeping assist by comparing the steering wheel torque with a torque threshold. The torque threshold is set higher when the driver status monitor detects an abnormal situation than when it detects its absence.

[0003] According to DE 10 2011 016 777 A1, a safety device for a vehicle is provided by means of which vehicle condition data, vehicle environment data, and driver activity are recorded. It is also provided that the driver's physical health is recorded and driving fitness is determined based on this recorded health status. A distinction is made between unrestricted driving fitness, slight driving impairment, relative driving impairment, and absolute driving impairment, with the safety device being activated depending on the respective determined basis of driving fitness. If a critical driving situation exists and relative driving impairment has been determined for the driver, the steering and accelerator pedal characteristics are modified towards greater robustness.

[0004] German patent DE 102 20 782 A1 discloses an emergency system for motor vehicles comprising a driver monitoring system for detecting driver incapacity and a control unit for controlled deceleration of the vehicle when incapacity is detected. The emergency system is designed such that, upon detection of incapacity, control is transferred to a driver assistance system, with the emergency program, which controls the controlled deceleration of the vehicle to a standstill, being executed directly by the driver assistance system. It is provided that the functions of the driver assistance system can be controlled by the driver at any time during normal operation. For example, the driver can override the distance control by pressing the accelerator pedal, such as when initiating an overtaking maneuver. Similarly, the driver can override a lateral guidance system of the driver assistance system by counter-steering.During the emergency maneuver, these override options are deactivated to prevent the driver from fully depressing the accelerator pedal or jerking the steering wheel in the event of unconsciousness. However, the driver can abort the emergency maneuver by issuing a command once they have regained their ability to drive.

[0005] German patent DE 10 2017 103 973 A1 relates to a method and a system for controlling a vehicle that can be operated in both autonomous and manual modes. The system assesses the driver's ability to take over vehicle control by monitoring their attention and readiness to react. This includes recording gaze direction, eye movements, and other physiological or behavioral characteristics. Based on this data, a decision is made as to whether a safe transfer of vehicle control from the autonomous system to the driver is possible. If the driver's attention is insufficient, the transfer can be delayed or alternative safety measures can be activated. The aim is to minimize the risks associated with switching between automated and manual driving and to increase road safety.

[0006] The object of the invention is to improve the operation of autonomously driving motor vehicles, in particular to make it safer.

[0007] The aforementioned task is solved by an autonomously driving motor vehicle with a driving module for autonomous driving of the motor vehicle depending on sensors assigned to the driving module, wherein the driving module can be deactivated by actuating the steering of the motor vehicle, the brake of the motor vehicle and / or the speed setting of the motor vehicle, wherein the autonomously driving motor vehicle has a driver impairment detection module for generating a driver impairment value that indicates the driver's impairment, wherein the autonomously driving motor vehicle (1) also includes a test module (66) connected to the driver impairment detection module (62) for interactively determining driver impairment depending on the driver's inability to solve tasks posed to him by means of the test module (66), and wherein the motor vehicle has a blocking module for generating a blocking condition.which prevents the deactivation of the driving module or, instead of deactivating the driving module, causes a partial deactivation of the driving module.

[0008] In a further advantageous embodiment of the invention, the driving impairment value depends on images taken by means of an interior camera.

[0009] In a further advantageous embodiment of the invention, the driving impairment value is not dependent on the steering movement of the driver.

[0010] In a further advantageous embodiment of the invention, the driving impairment value is not dependent on the driver's activation of a brake.

[0011] In a further advantageous embodiment of the invention, the blocking condition requires that the driving unfitness value indicates the driving unfitness of the driver.

[0012] The aforementioned task is also solved – particularly in conjunction with one or more of the aforementioned features – by a method for operating an autonomously driving motor vehicle with a driving module for autonomous driving of the motor vehicle depending on sensors assigned to the driving module, wherein the driving module can be deactivated by actuating the steering of the motor vehicle, the brake of the motor vehicle and / or the speed setting of the motor vehicle, wherein the autonomously driving motor vehicle has a driver impairment detection module for generating a driver impairment value that indicates the driver impairment of the motor vehicle, wherein the autonomously driving motor vehicle (1) also includes a test module (66) connected to the driver impairment detection module (62) for interactive driver impairment determination depending on the driver's inability to solve tasks set by means of the test module (66),and wherein, if a blockage condition is present, deactivation of the drive module is prevented, or instead of deactivation of the drive module, partial deactivation of the drive module takes place.

[0013] In a further advantageous embodiment of the invention, the existence of the blockage condition requires that it is diagnosed, determined, or assumed that the driver of the motor vehicle is unfit to drive.

[0014] In a further advantageous embodiment of the invention, the existence of the blockage condition requires that an (attempted) steering movement by the driver exceeds a steering movement limit value.

[0015] In a further advantageous embodiment of the invention, the existence of the blockage condition requires that a braking pressure exerted by the driver exceeds a braking limit value.

[0016] In a further advantageous embodiment of the invention, the existence of the blocking condition requires that an acceleration command issued by the driver exceeds an acceleration limit.

[0017] Autonomous driving within the meaning of this disclosure refers in particular to Level 5. This specifically means the continuous execution of all aspects of the dynamic driving task by an automated driving system under all driving and environmental conditions that can be handled by a human driver. Automated driving within the meaning of this disclosure may also refer to Level 4, that is, the driving-mode-specific execution of all aspects of the dynamic driving task by an automated driving system, even if the human driver does not respond appropriately to the system's request. Automated driving within the meaning of this disclosure may also refer to Level 3, that is, the driving-mode-specific execution of all aspects of the dynamic driving task by an automated driving system with the expectation that the human driver will respond appropriately to the system's request.A partial deactivation of the driving module for autonomous driving of the motor vehicle may, for example, mean a level shift from 4 to 3, from 5 to 4 or from 5 to 3 within the meaning of this disclosure.

[0018] A motor vehicle within the meaning of the invention is, in particular, a land vehicle that can be used individually in road traffic. Motor vehicles within the meaning of the invention are not limited to land vehicles with internal combustion engines.

[0019] Further advantages and details will become apparent from the following description of exemplary implementations. These will show: Fig. 1. An exemplary embodiment of an autonomously driving motor vehicle in a schematic representation, Fig. 2 an embodiment of actuators for an autonomously driving motor vehicle according to Fig. 1, Fig. 3 an embodiment of sensor technology for an autonomously driving motor vehicle according to Fig. 1, Fig. 4 an embodiment of a monitoring module for use in a motor vehicle according to Fig. 1 and Fig. 5 an embodiment of a method for operating an autonomous driving module in conjunction with a monitoring module according to Fig. 4.

[0020] Fig. Figure 1 shows a motor vehicle 1 in an exemplary basic configuration, wherein the motor vehicle 1 includes an autonomous driving module 5 as well as - in Fig. 2 shown - actuator 3 for the autonomous driving module 5 and - in Fig. The vehicle is equipped with sensors 4 for the autonomous driving module 5, as shown in Figure 3. A monitoring module 6 is also provided, which, in an optional configuration, can send warnings to a central control unit via a wireless communication link 2. The vehicle also features a steering wheel 7, an accelerator pedal 8, and a brake pedal 9.

[0021] The in Fig. The actuator 3 shown in Figure 2 includes, among other things, the steering 31 of the motor vehicle 1, the brake 33 of the motor vehicle 1, and the speed control 32 of the motor vehicle 1, such as the accelerator pedal. The actuator 3 shown in Figure 2 includes, among other things, the steering 31 of the motor vehicle 1, the brake 33 of the motor vehicle 1, and the speed control 32 of the motor vehicle 1, such as the accelerator pedal. Fig. The sensor system shown in Figure 3 comprises, in an exemplary embodiment, a camera 41, a radar 42, a lidar and further sensor system 44. A suitable radar system is disclosed, for example, in DE 10 2008 034 997 A1.

[0022] Fig. Figure 4 shows a general embodiment of a driver monitoring module 6. The driver monitoring module 6 comprises a driver impairment detection module 62, which monitors, based on various information sources, whether the driver has become unfit to drive (during autonomous driving). If the driver has become unfit to drive or if driver impairment is diagnosed, a corresponding signal FU is output. Suitable sensors for driver impairment detection include, for example, a camera 63, which monitors the driver's condition, in particular their movement pattern and blink rate. Another suitable sensor could be a pulse detection module 64 in the steering wheel of the vehicle. A steering wheel touch module 65 could also be used as a further sensor, which monitors whether the driver is holding the steering wheel. For interactive determination of driver impairment, a test module 66, for example, is used.For example, the driver is given tasks. Depending on whether or not they complete these tasks, such as operating a specific switch when prompted, the driver's performance is evaluated by the unfitness to drive detection module 62 and factored into the assessment of their unfitness to drive.

[0023] The driver monitoring module 6 can also include a blocking module 61, which detects a blocking condition BL that prevents the driver from taking control of the vehicle 1 from autonomous driving mode, or only allows limited takeover by the driver. The blocking module 61 receives the signal FU from the driver impairment detection module 62. The blocking module 61 also receives the steering movement and the acceleration signal generated by the driver. If either the steering signal LK and / or the acceleration signal BE exceeds a certain threshold when the FU signal is present, the blocking condition 61 generates BL or indicates that the blocking condition BL is fulfilled.

[0024] Fig.Figure 5 shows an embodiment of a method for operating the autonomous driving module 5 in conjunction with the monitoring module 6. Reference numeral 101 denotes a step in which autonomous driving takes place. Step 101 is followed by a query 102 to determine whether the driver wishes to take over driving manually. This wish is expressed either by actuating a control element or by actuating one or more of the actuators 30, 32, and 33, for example, by the driver generating a brake signal BR.

[0025] If such a driver request is recognized as such by query 102, query 103 follows, asking whether unfitness to drive has been detected. If no unfitness to drive has been detected, query 103 is followed by step 106, in which the vehicle 1 is released for the driver to take over control.

[0026] If, on the other hand, unfitness to drive is detected, query 103 is followed by query 104 to determine whether the blocking condition BL has been generated. If the blocking condition BL is met, query 104 is followed by query 102. It may also be provided that, if the blocking condition BL is present, query 104 is followed by a step in which the vehicle is brought to a safe stop.

[0027] If no blocking condition BL exists, control over vehicle 1 is partially released (partial deactivation) in step 105. Step 105 is then followed by query 102. However, it may also be possible that partial activation occurs if the blocking condition BL exists.

Images