Method and device for automatically changing the position of an accelerator pedal between an operating position and a rest position

Abstract

Method for automatically changing the position of an accelerator pedal between an operating position and a rest position, in which the pedal (33) in the rest position increases the movement space of a driver of the vehicle in the vehicle interior (37), wherein a time of the change is determined as a function of environmental information (15) of the vehicle, in an autonomous driving operation of the vehicle, the time for the automatic change in position of the accelerator pedal (33) is determined in addition to the environmental information (15) for a near and / or distant vehicle environment as a function of information about a vehicle state (13), a driver behavior (21), interior activities (19), navigation data (17) and / or a predictive detection of road traffic, characterized in that as information about the driver's behavior (21), his seat position (23), his foot position (25) and his seat adjustment (27) are evaluated and if the driver's seat setting (27) is changed during the determination of the time of the change in position of the accelerator pedal (33), the change cycle is aborted.

Description

[0001] The invention relates to a method for automatically changing a position of an accelerator pedal between an operating position and a rest position, in which the pedal in the rest position increases a movement space of a driver of the vehicle in the vehicle interior, wherein a time of the change is determined depending on environmental information of the vehicle, and to a device for carrying out the method.

[0002] DE 10 2018 003 594 A1 discloses a method for automatically adjusting the position of a vehicle pedal assembly. A front-end camera is used to capture the vehicle's surroundings, and traffic lights and the light signals emitted by them are recognized in the surrounding images captured by the front-end camera. When a red light signal is detected, the vehicle pedal assembly is moved from an operating position to a rest position. When a red light signal is switched to a green light signal, the vehicle pedal assembly is moved from the rest position to the operating position.

[0003] For vehicles that drive autonomously or semi-autonomously, the driver must be able to fully regain control of the vehicle within a specified time. The vehicle's pedals must be returned to their operating state.

[0004] DE 10 2013 012 750 A1 discloses a method for operating a driver assistance system designed for automatic driving by intervening in the engine control, in a transmission and in a braking system of a motor vehicle, wherein a sleep mode is activated by a driver in which at least one vehicle component is controlled in such a way that it enables the driver to take a comfortable rest or sleep break.

[0005] DE 10 2018 005 421 A1 discloses a device for an at least partially autonomously operable vehicle having at least one environment control unit for a driver, which assumes a driving position in a driver-controlled driving mode and a comfort position in an autonomous driving mode. In the comfort position, the pedal adjustment device comprising an environment control unit increases the driver's range of motion. The device comprises a driver sensing device configured to detect position and / or movement and / or acoustic data of a driver in the comfort mode and to determine a control intention therefrom and to cause the control unit to move the at least one environment control unit into the driving position.

[0006] The object of the invention is to provide a method and a device for automatically changing a position of an accelerator pedal between an operating position and a rest position, which enables a rapid transfer of a vehicle pedal to a desired position while maintaining functional reliability of the vehicle.

[0007] The invention is based on the features of the independent claims. Advantageous developments and refinements are the subject of the dependent claims. Further features, possible applications, and advantages of the invention will become apparent from the following description and the explanation of exemplary embodiments of the invention illustrated in the figures.

[0008] The problem is solved with the method explained above in that, during autonomous driving of the vehicle, the time for the automatic change in the position of the accelerator pedal is determined based on information about the vehicle's near and / or distant surroundings, in addition to environmental information about the vehicle's surroundings, and / or information about the vehicle's state, driver behavior, interior activities, navigation data, and / or predictive detection of road traffic. The driver's seat position, foot position, and seat adjustment are evaluated as information about the driver's behavior. If the driver's seat adjustment changes while the time for the change in the position of the accelerator pedal is being determined, the change cycle is aborted. It is assumed that the driver changes their driving intentions. The change cycle must be readjusted to reflect these driving intentions.

[0009] By automatically determining the switching point, the accelerator pedal can be moved to the operating position more quickly than if the driver had to manually decide to take over the vehicle. By evaluating a wide range of data and information, the functional reliability of the entire system is increased. At the same time, the sensitivity for activation and deactivation is improved, allowing for the possibility of self-learning on-board electronics.

[0010] Advantageously, the accelerator pedal's position is automatically changed after a position change signal manually entered by the driver. The final authorization to fold the accelerator pedal away or return it to the operating position early is always given by the electronics, which take into account the multitude of information described above, thereby increasing road safety.

[0011] In one embodiment, environmental data, navigation data, interior data, and / or vehicle acceleration data, as well as 3D position data, are evaluated as information about the vehicle's condition. This data is recorded using sensors already present in the vehicle, making the method particularly cost-effective to implement.

[0012] It is advantageous to evaluate the use of multimedia services, telecommunications services, and occupant movement behavior as information for interior activities. This information can also be easily collected using the recording units present in the vehicle itself.

[0013] In another embodiment, a route, terrain, traffic jam, and / or obstacle along the route are evaluated as navigation data. This allows for a reliable determination of whether manual driver intervention is necessary in difficult traffic situations.

[0014] A further aspect of the invention relates to a device for automatically changing the position of a vehicle pedal between an operating position and a rest position, comprising a control unit for automatically determining a time for changing the position of the vehicle pedal depending on signals from environmental sensors connected to the control unit. In a device that enables rapid transfer of a vehicle pedal to a desired position while maintaining functional reliability of the vehicle, at least one vehicle assistance system that evaluates signals from the environmental sensors, driver and interior data, and navigation data, sensors for determining a vehicle state, and sensors for determining driver behavior are coupled to the higher-level control unit for determining a time for the automatic change in position of the accelerator pedal during autonomous driving of the vehicle.

[0015] In one embodiment, an actuating element for manually requesting a change in the accelerator pedal position is connected to the higher-level control unit to trigger an automatic change cycle for the time of the position change. The higher-level control unit thus always retains the decision-making authority as to whether the accelerator pedal should actually be retracted according to the driver's request or should be moved to its operating position.

[0016] In another variant, the actuating element for manually requesting a change in the accelerator pedal position is connected to the higher-level control unit via a driving control unit. This ensures that this operating mode can only be used in a partially autonomous or autonomously driving vehicle.

[0017] Further advantages, features, and details will become apparent from the following description, in which at least one exemplary embodiment is described in detail—possibly with reference to the drawings. Described and / or illustrated features may form the subject matter of the invention alone or in any meaningful combination, possibly independently of the claims, and may, in particular, also be the subject of one or more separate applications. Identical, similar, and / or functionally equivalent parts are provided with the same reference numerals.

[0018] They show: Fig. 1 an embodiment of the device according to the invention, Fig. 2 an embodiment of a vehicle pedal system.

[0019] In Fig. Figure 1 shows an embodiment of the device according to the invention, as used in a semi-autonomous or autonomously driving vehicle. The device 1 comprises a higher-level control unit 3, to which all assistance systems 5 of the vehicle are connected. Sensors 7 supply these assistance systems 5 with data about the near and / or distant vehicle environment. Further sensors 9 transmit driver data, interior data, and environmental data to the assistance systems 5. A navigation unit 11, by means of which a gradient, an incline, and curves of the vehicle's route, as well as a traffic jam or an obstacle in the traffic flow, are sensed, is also coupled to the higher-level control unit 3. Furthermore, sensors 13 supply data about a vehicle status, which is determined based on environmental data 15, navigation data 17, and interior data 19.In addition, additional sensors 45 are provided for determining vehicle acceleration and a 3D vehicle position. Information 21 about the driver's behavior is obtained from the driver's seat position 23, foot position 25, and seat adjustment 27 and output to the higher-level control unit 3. During the seat adjustment 27, it is evaluated whether the seat adjustment 27a is normal in the vehicle's operating state or whether the driver has made a change 27b to the seat adjustment. If this is the case, direct feedback is sent to the higher-level control unit 3.

[0020] An algorithm stored in the higher-level control unit 3 for automatically changing the position of an accelerator pedal between an operating position and a rest position is activated when the vehicle is in autonomous driving mode, which is executed by a driving mode control unit 29. This autonomous driving mode can be manually activated or deactivated. The driving mode control unit 29 is connected to an actuating element 31, which can be designed, for example, as a switch or as an icon on a touch display. Using this actuating element 31, the driver of the vehicle can request a change in the position of the accelerator pedal. This driver request is forwarded via the driving mode control unit 29 to the higher-level control unit 3, which checks whether this request can be executed.

[0021] In Fig. Figure 2 shows an exemplary embodiment of the described pedal system of the vehicle. This pedal system comprises the accelerator pedal 33 and a brake pedal 35, which are arranged in the driver's footwell 37. When the vehicle is controlled by the driver, both pedals 33, 35 are in the position shown in Fig. 2a shown unfolded position. In autonomous driving mode ( Fig. 2b) the accelerator pedal 33 is folded back, while the brake pedal 35 maintains its position.

[0022] The algorithm of the higher-level control unit 3 makes a decision 39 regarding activation of the switching of the position of the accelerator pedal 33 between its operating position when the vehicle is in autonomous driving mode and a rest position, which allows more legroom for the driver to increase driving comfort during autonomous driving of the vehicle. In this case, the accelerator pedal 33 is folded backward or to the side. A decision 41 regarding aborting the change in the pedal position is always made by the higher-level control unit 3 when the seat adjustment 27 reports that a change 27b in the seat position is being made. Furthermore, the higher-level control unit 3 is responsible for status detection 43 of the operating functions and the vehicle head unit.During autonomous driving of the vehicle, the higher-level control unit continuously and automatically monitors whether the position of the accelerator pedal 33 needs to be changed depending on the current driving and environmental situation. This monitoring occurs even if no driver request is issued via the actuating element 31. When using an automatic transmission, with the accelerator pedal 33 folded away (rest position), a seat adjustment with limited seat length or seat backrest tilt adjustment can be performed, which allows the driver a very comfortable seating position with a seat belt attached to the B-pillar without the need for an integral seat belt. If the higher-level control unit 3 then decides that the accelerator pedal 33 should be returned to the operating position, it does not have to be fully extended.A position in which a contact of the sole of the driver's foot is detected is sufficient to carry out a fully functional operation of the accelerator pedal 33.

[0023] Folding away the accelerator pedal by the higher-level control unit 3 is always possible, - when the driver is sitting in a defined seat adjustment zone with the permitted backrest angle and has fastened the seatbelt. As far as can be determined, the driver is concentrating on driving. - if the higher-level control unit 3 detects that the driving situation, vehicle position and road course are correctly coordinated, - if at the same time it is determined that assistance systems for compliance with traffic regulations such as speed and orders or prohibitions by recognizable signs are observed, - if all on-board electronics for safe vehicle control function flawlessly, - if an airbag control unit evaluates all vehicle data as OK, - if activation is permitted by detectable driving time or sensors for detecting the driver's ability to drive, - if the vehicle is in a road section where autonomous driving is permitted, - if the driver's actions indicate that no other behavior is to be expected.

[0024] A reset of the accelerator pedal by the higher-level control unit 3 is always possible, - if the driver changes his seating position, - when the driver or front passenger unbuckles their seat belt or when a significant change in the length of the seat belt is detected, - if the driving situation is unstable and / or the vehicle position fluctuates and / or the detectable road situation and the road course provide information that cannot be driven through without the accelerator pedal, for example roadworks, traffic jams, bends, - when recognizable traffic rules are disregarded. It is advantageous to consider temporal assessments, - if faults are detected in the on-board electronics or in the sensors used for driving safety, - when the airbag control unit detects borderline situations, - if the roadworthiness of the vehicle is in question, - if it is apparent that the road section permitted for autonomous driving is being left. - if the driver's actions indicate that a change in the driving course is predicted. List of reference symbols 1 device 3 higher-level control unit 5 Assistance system 7 Sensor 9 Sensor 11 Navigation unit 13 Sensor 15 Environmental data 17 Navigation data 19 Interior data 21 Information about driver behavior 23 Driver's seating position 25 Driver's foot position 27 Driver's seat adjustment 29 Driving operation control unit 31 Actuating element 33 Accelerator pedal 35 Brake pedal 37 footwell 39 Decision on activation of the change of the accelerator pedal position 41 Decision to abort the change of the accelerator pedal position 43 Status detection of the operating functions and the vehicle Hul 45 Sensor

Claims

[1] Method for automatically changing the position of an accelerator pedal between an operating position and a rest position, in which the pedal (33) in the rest position increases the movement space of a driver of the vehicle in the vehicle interior (37), wherein a time of the change is determined as a function of environmental information (15) of the vehicle, in an autonomous driving operation of the vehicle, the time for the automatic change in position of the accelerator pedal (33) is determined in addition to the environmental information (15) for a near and / or distant vehicle environment as a function of information about a vehicle state (13), driver behavior (21), interior activities (19), navigation data (17) and / or a predictive detection of road traffic characterized by , that as information about the driver's behavior (21), his seat position (23), his foot position (25) and his seat adjustment (27) are evaluated and if the driver's seat setting (27) is changed during the determination of the time of the change in position of the accelerator pedal (33), the change cycle is aborted. [2] Method according to claim 1, characterized by that the automatic change in position of the accelerator pedal (33) occurs after a position change signal manually entered by the driver. [3] Method according to claim 1 or 2, characterized by that environmental data (15), navigation data (17), interior data (19) and / or vehicle acceleration data and 3D position data of the vehicle are evaluated as information about the vehicle state. [4] Method according to at least one of the preceding claims, characterized bythat the use of multimedia services, the movement behaviour of the occupants and telecommunication services are evaluated as information for interior activities (19). [5] Method according to at least one of the preceding claims, characterized by that a route, a terrain, a traffic jam and / or an obstacle in the route are evaluated as navigation data (17). [6] Device for automatically changing the position of an accelerator pedal between an operating position and a rest position, comprising a control unit (3) for automatically determining the time of change of the position of the accelerator pedal (33) in dependence on signals from environmental sensors (7, 9) connected to the control unit (3), characterized bythat at least one vehicle assistance system (5), which evaluates signals from the environmental sensors (7, 9), driver and interior data (21, 19) and navigation data (17), sensors (7) for determining a vehicle state and sensors (21) for determining driver behavior are coupled to the higher-level control unit (3) for determining a time for the automatic change in position of the accelerator pedal (33) during autonomous driving of the vehicle. [7] Device according to claim 6, characterized by that an actuating element (31) for manually requesting a change in the position of the accelerator pedal (33) is connected to the higher-level control unit (3) for triggering an automatic change cycle of the time of the change in position. [8] Device according to claim 7, characterized bythat the actuating element (31) for manually requesting a change in position of the accelerator pedal (33) is connected to the higher-level control unit (3) via a driving operation control unit (29).

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