Method and vehicle system for controlling the assumption of the driving task by a driver

Abstract

Vehicle system (101) for a motor vehicle (100), which is operable in an automated driving mode in which the longitudinal and / or lateral guidance of the vehicle (100) is effected at least partially automatically by the vehicle (100), and which is operable in a manual driving mode in which the longitudinal and / or lateral guidance of the vehicle (100) is effected at least partially manually by a driver of the vehicle (100); wherein the vehicle system (101) is configured to: - determine whether the driver of the vehicle (100) is carrying a token (200) or not; and - enable and / or adapt a transition process from the automated driving mode to the manual driving mode depending on whether it has been determined that the driver of the vehicle (100) is carrying a token (200) or that the driver of the vehicle (100) is not carrying a token (200);wherein- the vehicle system (100) is configured to adapt a set of one or more takeover actions to be performed by the driver of the vehicle (100) during the takeover process depending on whether it has been determined that the driver of the vehicle (100) is carrying a token (200) or that the driver of the vehicle (100) is not carrying a token (200); and- the one or more takeover actions comprise, in particular,- touching, in particular gripping, a steering means (110), in particular a steering wheel, of the vehicle (100) by hand; and / or- actuating an operating element (205), in particular a button, of the vehicle (100); orwherein the set of one or more takeover actions comprises a lower number of takeover actions when it is determined that the driver of the vehicle (100) is carrying a token (200) than when it is determined that the driver of the vehicle (100) is not carrying a token (200);orwherein the vehicle system (101) is configured to effect the transfer process from the automated driving mode to the manual driving mode with a higher complexity, in particular with a higher number of transfer actions, and / or with a longer transfer time duration, if it is determined that the driver of the vehicle (100) is not carrying a token (200) than if it is determined that the driver of the vehicle (100) is carrying a token (200);

Description

[0001] The invention relates to an at least partially automated vehicle. In particular, the invention relates to a vehicle system and a corresponding method for controlling the assumption of driving tasks by the driver of a vehicle.

[0002] A vehicle can be designed to operate in an automated driving mode in which the longitudinal and / or lateral guidance of the vehicle is provided partially or fully automatically by the vehicle. During operation of the automated driving mode, it may be necessary to transfer the driving task at least partially to the driver of the vehicle. Alternatively or additionally, it may happen that the driver of the vehicle intervenes in the longitudinal and / or lateral guidance of the vehicle, thereby (possibly unintentionally) causing a transition from the automated driving mode to the manual driving mode in which the driver is partially or fully responsible for the longitudinal and / or lateral guidance of the vehicle.

[0003] If the vehicle initiates the transfer of the driving task to the driver, it must be ensured that the driving task is actually taken over by the vehicle's driver. In particular, it must be ensured that the driver is intending and willing to take over the driving task. For this purpose, it may be necessary for the driver to perform several different takeover actions or operating actions during the handover before the driving task is transferred to the driver.

[0004] Even when using a takeover process with multiple takeover actions, it may not be possible to guarantee that the takeover actions are not performed by the driver but by another person, such as the passenger. Furthermore, a takeover process with multiple takeover actions may be perceived as uncomfortable by the driver.

[0005] DE 10 2014 205 830 A1 describes a method for preventing unauthorized takeover of driving control. DE 10 2012 205 593 A1 describes a method for operating a transport vehicle. DE 10 2014 208 311 A1 describes a driver assistance system that is adapted to the individual needs of a vehicle driver. DE 10 2016 222 656 A1 describes a method for situation-dependent control of vehicle functions.

[0006] This document deals with the technical task of enabling a particularly safe and / or comfortable transfer of the driving task from an automated driving mode of a vehicle to the driver of the vehicle.

[0007] The problem is solved by each of the independent claims. Advantageous embodiments are described, among other things, in the dependent claims. It should be noted that additional features of a patent claim dependent on an independent patent claim can form a separate invention, independent of the combination of all features of the independent patent claim, without the features of the independent patent claim or only in combination with a subset of the features of the independent patent claim, which invention can be made the subject of an independent claim, a divisional application, or a subsequent application. This applies equally to technical teachings described in the description, which can form an invention independent of the features of the independent patent claims.

[0008] According to one aspect, a vehicle system for a motor vehicle is described. The vehicle can be operated in an automated driving mode in which the longitudinal and / or lateral guidance of the vehicle is effected at least partially automatically by the vehicle. Furthermore, the vehicle can be operated in a manual driving mode in which the longitudinal and / or lateral guidance of the vehicle is effected at least partially manually by the driver of the vehicle. The degree of automation of the vehicle is typically higher in the automated driving mode than in the manual driving mode. Alternatively or additionally, the proportion of the longitudinal and / or lateral guidance of the vehicle that must be effected manually by the driver can be higher in the manual driving mode than in the manual driving mode. Alternatively or additionally, the automated driving mode can have a higher SAE level than the manual driving mode. If necessary.In automated driving mode, the entire longitudinal and / or lateral control of the vehicle can be achieved automatically by the vehicle. The automated driving mode can, for example, have an SAE level 3 or higher. On the other hand, in manual driving mode, the entire longitudinal and / or lateral control of the vehicle can be achieved manually by the driver. The manual driving mode can, for example, have an SAE level 0.

[0009] The vehicle system can be configured to detect (while the vehicle is operating in the automated driving mode) that a transition from the automated driving mode to the manual driving mode is required. This can be detected, in particular, due to a complex driving situation of the vehicle (which cannot be handled by the automated driving mode alone) and / or due to manual intervention by the vehicle driver. A takeover process can then be initiated to transfer the vehicle from the automated driving mode to the manual driving mode. As part of the takeover process, it should be ensured that the vehicle driver is willing to assume the additional portion of the longitudinal and / or lateral guidance of the vehicle (in particular the entire longitudinal and / or lateral guidance of the vehicle).

[0010] The vehicle system can be configured (in particular while the vehicle is operated in automated driving mode) to determine whether or not the driver of the vehicle is carrying an (electronic) token (in particular on or in his body). In particular, the vehicle system can be configured to determine whether or not the driver of the vehicle is carrying a token that identifies and / or authenticates the driver. It can thus be checked whether the driver of the vehicle is carrying a token that displays the identity of the driver and / or that displays or proves that the driver is a specific person (who is, for example, authorized to operate the vehicle in manual driving mode).

[0011] The token can be configured to store token data relating to the driver of the vehicle, which token data can optionally be read by a token sensor of the vehicle or vehicle system. Alternatively or additionally, the token can be configured such that the presence or presence of the token on or in the driver's body can be detected by a token sensor.

[0012] The token can be an object designed such that the driver of the vehicle can be identified and / or authenticated using the token. The identification and / or authentication can, if necessary, be based on the token data determined by the token sensor and / or the token sensor data acquired by the token sensor. The token can comprise, for example, a smart wearable device, in particular a smart watch; a radio-enabled vehicle key; and / or a code and / or chip card.

[0013] Furthermore, the vehicle system can be configured to enable and / or adapt the transfer process from the automated driving mode to the manual driving mode depending on whether it has been determined that the driver of the vehicle carries a token (identifying and / or authenticating the driver) with him (in particular on or in his body) or that the driver of the vehicle does not carry a token (identifying and / or authenticating the driver of the vehicle) with him (in particular not on or in his body).

[0014] It can thus be verified whether the driver is carrying a token that identifies and / or authenticates the driver. The takeover process can then be adjusted depending on whether it has been determined that the driver of the vehicle is carrying a token that identifies and / or authenticates the driver of the vehicle, or whether the driver of the vehicle is not carrying a token that identifies the driver of the vehicle.

[0015] By checking the presence of a token at the driver position of the vehicle (where the token can be designed to uniquely identify the driver), it can be ensured in an efficient and reliable manner that the takeover process is carried out by the driver of the vehicle himself in order to enable a particularly comfortable and safe takeover process.

[0016] The vehicle system can be configured to adapt the set of one or more takeover actions to be performed by the driver of the vehicle during the takeover process depending on whether it has been determined that the driver of the vehicle is carrying a token (identifying and / or authenticating the driver) or that the driver of the vehicle is not carrying a token (identifying and / or authenticating the driver). The one or more takeover actions can include: touching, in particular grasping, a steering means, in particular the steering wheel, of the vehicle by hand (in particular, the takeover action may require the driver to touch or grasp the steering means with one or two hands); and / or actuating an operating element, in particular a key or button, of the vehicle.

[0017] The takeover process can be adapted in such a way that the set of one or more takeover actions comprises a smaller number of takeover actions (and is thus less complex and / or more convenient) when it is determined that the driver of the vehicle is carrying a token (identifying the driver) than when it is determined that the driver of the vehicle is not carrying a token (identifying the driver). This allows the convenience and safety of a takeover process to be increased in a particularly reliable manner.

[0018] The vehicle system can be configured to adapt one or more parameters of the takeover process depending on whether it has been determined that the driver of the vehicle is carrying a token (identifying and / or authenticating the driver of the vehicle) or that the driver of the vehicle is not carrying a token (identifying and / or authenticating the driver of the vehicle). The one or more parameters of the takeover process can include: the duration of the takeover process; and / or the complexity of the takeover process; and / or the number of takeover actions for the takeover process. By adapting one or more parameters of the takeover process, the convenience and security of a takeover process can be increased in a particularly reliable manner.

[0019] The vehicle system can be configured (e.g., using a token sensor) to determine token data related to the token. The takeover process can then be adapted (also) depending on the token data. The token data can indicate: the identity of the driver; and / or the competence and / or authorization and / or capability of the driver to manually control the vehicle longitudinally and / or laterally. By taking token data into account when adapting the takeover process, the convenience and safety of a takeover process can be further increased.

[0020] As already explained above, the vehicle system can comprise a token sensor that is configured to capture token sensor data relating to the presence of a token in a specific environment of the token sensor (e.g., within a specific radius around the token sensor and / or within a specific distance from the token sensor). The token sensor can, for example, be configured to communicate with the token via a communication connection, in particular via a near-field communication connection (e.g., via Near Field Communication, NFC). In this way, the presence of the token in the environment of the token sensor can be reliably detected and / or token data relating to the token can be reliably determined.

[0021] The vehicle system may be configured to determine (in a reliable manner) on the basis of the token sensor data of the token sensor whether the driver of the vehicle is carrying a token (identifying the driver of the vehicle) (in particular in or on his body) or not.

[0022] The vehicle system can be configured to determine whether a token is arranged at a distance from the steering means, in particular from the steering wheel, of the vehicle that is less than or equal to a predefined distance threshold (e.g., 30 cm or less, or 20 cm or less). It can then be determined (possibly only) that the driver of the vehicle is carrying a token (identifying the driver) if the token is arranged at a distance from the steering means of the vehicle that is less than or equal to the predefined distance threshold. Alternatively or additionally,It can be determined that the driver of the vehicle is not carrying a token (identifying the driver) if the token is located at a distance from the steering means of the vehicle that is greater than the predefined distance threshold and / or if no token (identifying the driver) is located at a distance from the steering means of the vehicle that is less than or equal to the predefined distance threshold.

[0023] By taking into account a distance threshold or a maximum permissible distance to the steering mechanism of the vehicle, it can be determined in a particularly reliable manner whether the driver of the vehicle is carrying a token (identifying and / or authenticating the driver of the vehicle) with him (in particular on or in his body).

[0024] The vehicle system may include one or more touch sensors configured to capture touch sensor data relating to a touch of the steering means, in particular the steering wheel, of the vehicle. A first touch sensor may be arranged, for example, in the left half of the steering wheel rim to detect whether the driver's left hand is touching the steering wheel. Alternatively or additionally, a second touch sensor may be arranged in the right half of the steering wheel rim to detect whether the driver's right hand is touching the steering wheel.

[0025] The vehicle system can be configured to check, based on the touch sensor data, whether the driver of the vehicle is touching the steering mechanism by hand, e.g., with one hand or with both hands. Furthermore, the vehicle system can be configured to check, based on the token sensor data from the token sensor, whether a token (identifying and / or authenticating the driver of the vehicle) is within a predefined distance (e.g., 30 cm or less, or 20 cm or less) from the steering mechanism of the vehicle.

[0026] It can then be determined with particular reliability that the vehicle driver is carrying a token (identifying and / or authenticating the vehicle driver) (e.g., on their wrist) if it is detected that the vehicle driver is touching the steering device by hand and that a token (identifying and / or authenticating the vehicle driver) is within a predefined distance from the vehicle's steering device. This further increases the convenience and safety of the handover process.

[0027] The vehicle system can be configured to initiate a transition from automated driving mode to manual driving mode even if it is determined that the vehicle driver is not carrying a token (identifying and / or authenticating the vehicle driver). In other words, a transition process can generally be executed (regardless of whether the driver is carrying a token (identifying and / or authenticating the driver) or not). On the other hand, the form (e.g., the number or quantity of transition actions, the complexity, and / or the duration of the transition) of the transition process can be adapted depending on whether the driver is carrying a token (identifying and / or authenticating the driver) or not. This can enable particularly safe driving.

[0028] The vehicle system can be configured to effect the transition process from the automated driving mode to the manual driving mode with greater complexity, in particular with a higher number of transition actions, and / or with a longer transition time, if it is determined that the driver of the vehicle is not carrying a token (identifying the driver) than if it is determined that the driver of the vehicle is carrying a token (identifying the driver). This can further increase the convenience and safety of a transition process.

[0029] According to a further aspect, a (road) motor vehicle (in particular a passenger car or a truck or a bus) is described which comprises the control unit and / or the vehicle system described in this document.

[0030] According to a further aspect, a method is described for controlling a transfer process from an automated driving mode of a motor vehicle, in which the longitudinal and / or lateral guidance of the vehicle is effected at least partially automatically by the vehicle, to a manual driving mode in which the longitudinal and / or lateral guidance of the vehicle is effected at least partially manually by a driver of the vehicle.

[0031] The method comprises determining whether the driver of the vehicle carries a token (identifying and / or authenticating the driver of the vehicle) (in particular, carries it on or in their body). Furthermore, the method comprises enabling and / or adapting the transition process from the automated driving mode to the manual driving mode, depending on whether it has been determined that the driver of the vehicle carries a token (identifying and / or authenticating the driver of the vehicle) or that the driver of the vehicle does not carry a token (identifying and / or authenticating the driver of the vehicle).

[0032] According to another aspect, a software (SW) program is described. The SW program can be configured to be executed on a processor (e.g., on a vehicle control unit) and thereby to carry out the method described in this document.

[0033] According to a further aspect, a storage medium is described. The storage medium can comprise a software program configured to be executed on a processor and thereby to carry out the method described in this document.

[0034] For the purposes of this document, the term "automated driving" (within an automated driving mode) can be understood as driving with automated longitudinal or lateral guidance, or autonomous driving with automated longitudinal and lateral guidance. Automated driving can, for example, involve extended driving on a highway or country road, or temporary driving for parking or maneuvering. The term "automated driving" encompasses automated driving with any degree of automation. Examples of levels of automation include assisted, partially automated, highly automated, or fully automated driving. These levels of automation were defined by the Federal Highway Research Institute (BASt) (see the BASt publication "Research Compact," issue 11 / 2012).In assisted driving, the driver continuously performs longitudinal or lateral guidance, while the system takes over the other function within certain limits. In partially automated driving (TAF), the system takes over longitudinal and lateral guidance for a certain period of time and / or in specific situations, whereby the driver must continuously monitor the system, as with assisted driving. In highly automated driving (HAF), the system takes over longitudinal and lateral guidance for a certain period of time without the driver having to continuously monitor the system; however, the driver must be able to take over vehicle control after a certain time. In fully automated driving (VAF), the system can automatically handle driving in all situations for a specific application; for this application, a driver is no longer required.The four levels of automation mentioned above correspond to SAE Levels 1 to 4 of the SAE J3016 standard (SAE - Society of Automotive Engineering). For example, highly automated driving (HAF) corresponds to Level 3 of the SAE J3016 standard. Furthermore, SAE J3016 also stipulates SAE Level 5 as the highest level of automation, which is not included in the BASt definition. SAE Level 5 corresponds to driverless driving, in which the system can automatically handle all situations like a human driver throughout the entire journey; a driver is generally no longer required.

[0035] It should be noted that the methods, devices, and systems described in this document can be used both alone and in combination with other methods, devices, and systems described in this document. Furthermore, any aspects of the methods, devices, and systems described in this document can be combined in a variety of ways. In particular, the features of the claims can be combined in a variety of ways.

[0036] The invention will be described in more detail below using exemplary embodiments. Fig. 1a an exemplary vehicle with an automated driving mode; Fig. 1b an exemplary steering wheel of a vehicle; Fig. 2a and Fig. 2b exemplary takeover processes; and Fig. 3 a flowchart of an exemplary method for controlling the transfer of the driving task to a driver of a vehicle.

[0037] As stated at the beginning, this document is concerned with enabling a particularly safe and / or comfortable transfer of the driving task to a driver of a vehicle. In this context, Fig. 1 shows an exemplary vehicle 100 with one or more environmental sensors 102, each of which is configured to capture environmental data (in particular sensor data) relating to the environment of the vehicle 100. Exemplary environmental sensors 102 are a camera, a radar sensor, a lidar sensor, an ultrasonic sensor, etc. A control unit or control device or a vehicle system 101 of the vehicle 100 can be configured to create a model of the environment of the vehicle 100 based on the environmental data, wherein the model displays, for example, one or more lanes, one or more objects, one or more obstacles, one or more other road users, etc. in the environment of the vehicle 100.

[0038] Furthermore, the control unit 101 (or the vehicle system) can be configured to control one or more actuators 103 (e.g. a drive unit, a braking unit and / or a steering unit) of the vehicle 100 depending on the environmental data, in particular depending on the determined environmental model, in order to operate the vehicle 100 in an automated driving mode in which the longitudinal and / or lateral guidance of the vehicle 100 is effected at least partially automatically by the vehicle 100 (in particular according to SAE Level 1, according to SAE Level 2, according to SAE Level 3 or higher).

[0039] During operation of the automated driving mode, it may happen that the driving task for the longitudinal and / or lateral guidance of the vehicle 100 must or should be transferred from the vehicle 100 to the driver of the vehicle 100, e.g. because the vehicle 100 is approaching a section of road in which the vehicle 100 cannot be operated in the automated driving mode, and / or because the driver has manually intervened in the longitudinal and / or lateral guidance of the vehicle.

[0040] To initiate the handover to the driver or the takeover by the driver, a takeover request can be issued to the driver of the vehicle 100 via a user interface 104 of the vehicle 100, e.g., via a loudspeaker and / or by means of a visual display. Furthermore, it can be checked whether the driver is carrying out or has carried out one or more takeover actions by which the driver of the vehicle 100 indicates that he or she is ready to take over the driving task. The control unit or the vehicle system 101 can be configured to check whether the one or more takeover actions have been carried out by the driver of the vehicle 100. If this is the case, the driving task can be handed over to the driver and the automated driving mode can be ended. A transition from the automated driving mode to a manual driving mode can thus be brought about.

[0041] Fig. Figure 1b shows exemplary components of a vehicle 100 at the driver position of the vehicle 100. In particular, Fig. 1b shows a steering wheel 110 as an exemplary manual control means that allows the driver of the vehicle 100 to steer the vehicle 100 manually. One or more touch sensors 111, 112 can be arranged on the steering wheel 110, in particular on the steering wheel rim 115, which are configured to detect whether the driver of the vehicle 100 is touching the steering wheel 110 with one hand or with both hands, in particular with the left hand and / or with the right hand. The control unit 101 can be configured to determine, based on the sensor data of the one or more touch sensors 111, 112 of the steering wheel 110, whether the driver of the vehicle 100 is touching the steering wheel 110 with at least one hand, touching it with two hands, or not touching it. Furthermore, FIG. Fig. 1b shows a screen 116 and a speaker 117 as exemplary components of the user interface 104.

[0042] Fig. Figure 2a illustrates an exemplary takeover process with one or more takeover actions. To take over the driving task, it may be necessary for the driver of the vehicle to touch the steering wheel rim 115 of the steering wheel 110 with both hands 201, 202. Based on the sensor data from the left-side touch sensor 111, it can be checked whether the driver is touching the steering wheel rim 115 with the left hand 201. Furthermore, based on the sensor data from the right-side touch sensor 112, it can be checked whether the driver is touching the steering wheel rim 115 with the right hand 202.

[0043] Furthermore, to take over the driving task, it may be necessary, as a further takeover action, for the driver of the vehicle 100 to actuate an operating element 205, e.g., a dedicated takeover button or key, of the user interface 104 of the vehicle 100. If it is detected that the takeover actions have been performed, the automated driving mode can be terminated and the driving task with respect to the longitudinal and / or lateral guidance of the vehicle 100 can be transferred (at least partially) to the driver of the vehicle 100. A transition from the automated driving mode to the manual driving mode can thus be effected.

[0044] When verifying the execution of a takeover action, it is typically not possible to ensure with absolute certainty that the takeover action was actually performed by the driver of vehicle 100. A takeover action could also have been performed by a passenger or another occupant of vehicle 100. To prevent such misuse, one or more relatively complex takeover actions could be provided for a takeover process that cannot be performed, or can only be performed with difficulty, by another occupant of vehicle 100. However, providing relatively complex takeover actions results in reduced comfort for the driver of vehicle 100.

[0045] Fig. Figure 2b illustrates an alternative handover process using a token 200 that the driver of the vehicle 100 carries with them, e.g., on their body or in their body. A token 200 can be configured to (uniquely) identify the driver of the vehicle 100. The token can, for example, comprise a so-called smart wearable (e.g., a smart watch).

[0046] The control unit 101 of the vehicle 100 can be configured to check whether or not the driver of the vehicle 100 is carrying a token 200 (identifying and / or authenticating the driver of the vehicle). Furthermore, the control unit 101 of the vehicle 100 can be configured to determine the transfer process (from the automated driving mode to the manual driving mode) depending on whether or not the driver is carrying a token 200 (identifying and / or authenticating the driver of the vehicle). In particular, the complexity of the transfer process can be adjusted depending on whether or not the driver is carrying a token 200 (identifying and / or authenticating the driver of the vehicle). The complexity of the transfer process can typically be reduced if it is detected that the driver is carrying a token 200 (identifying and / or authenticating the driver of the vehicle).

[0047] For example, it may be sufficient for a takeover process for the driver to touch the steering wheel 110 with both hands if it is detected that the driver is carrying a token 200 (identifying and / or authenticating the driver of the vehicle). On the other hand, it may be necessary, as an additional takeover action, for the driver to actuate a control element 205 if it is detected that the driver is not carrying a token 200 (identifying and / or authenticating the driver of the vehicle).

[0048] The vehicle 100 may include a token sensor 105 configured to capture sensor data relating to the presence of a token 200 at the driver position, in particular in the immediate vicinity of the steering wheel 110. The token sensor 105 may, for example, be configured to communicate with the token 200 via a short-range communication method, such as NFC (Near Field Communication), in order to exchange data, in particular to receive token data from the token 200 at the token sensor 105. Based on the received token data, it may, for example, be determined • whether a token 200 (identifying and / or authenticating the driver of the vehicle) is located at the driver position, in particular on the steering wheel rim 115 of the steering wheel 110, or not; and / or • the identity of the person carrying the Token 200.

[0049] This describes a takeover process in which, in assisted or automated driving, a takeover may only be permitted if the person taking over carries a certain - possibly individualized - token 200 (e.g. a wearable, a vehicle key, a code card, etc.) on or in his body.

[0050] The use of a token 200 can be particularly advantageous for a vehicle 100 with potentially different drivers (e.g., in car sharing). The use of a token 200 (identifying the driver) can ensure that the driver of the vehicle 100 has the driving skills required for the respective driving mode and / or has the driving authorization required for the respective driving mode. Furthermore, even with exclusive use of a vehicle 100, e.g., through a personal profile of the driver that indicates (driving) experience, knowledge, and / or skills, etc., it can be determined when, how, and whether the driver can or may take over manual vehicle control from an assisted / automated system.

[0051] In particular, an individual adjustment of one or more parameters of the takeover process, such as the takeover duration, etc., can be carried out depending on token data from the token 200. Alternatively or additionally, a simplified operation (e.g., a one-stage instead of a two-stage takeover process) can be enabled if the driver carries the token 200 and if the token 200 is recognized by the vehicle 100, in particular by the control unit or the vehicle system 101. The vehicle 100 can be designed such that a classic, possibly more complicated, takeover is still possible, even if the driver does not carry a token 200 (identifying and / or authenticating the driver of the vehicle).

[0052] Fig.3 shows a flowchart of an exemplary (possibly computer-implemented) method 300 for controlling a transfer process from an automated driving mode of a motor vehicle 100, in which the longitudinal and / or lateral guidance of the vehicle 100 is effected at least partially automatically by the vehicle 100, to a manual driving mode in which the longitudinal and / or lateral guidance of the vehicle 100 is effected at least partially manually by a driver of the vehicle 100. The automated driving mode can be designed, for example, according to SAE level 1, 2, 3 or higher. The manual driving mode can be designed with a lower degree of automation than the automated driving mode, for example with an SAE level that is at least one stage or at least one level lower than the SAE level of the automated driving mode. The manual driving mode can thus be a driving mode that is "more manual" than the automated driving mode.

[0053] The method 300 includes determining 301 whether the driver of the vehicle 100 is carrying a token 200 (identifying and / or authenticating the driver of the vehicle) (in particular, on their wrist) or not. This can be determined, for example, based on the token sensor data of a token sensor 105 of the vehicle 100.

[0054] Furthermore, the method 300 comprises enabling and / or adapting 302 the takeover process, in particular adapting the complexity, the number of takeover actions and / or the takeover time duration of the takeover process, from the automated driving mode to the manual driving mode (in which one or more driver assistance systems may further be provided) depending on whether it is or has been determined that the driver of the vehicle 100 is carrying a token 200 (identifying and / or authenticating the driver of the vehicle) or whether it is or has been determined that the driver of the vehicle 100 is not carrying a token 200 (identifying and / or authenticating the driver of the vehicle).The takeover process may have a higher complexity, a higher number of takeover actions and / or a higher takeover time if it is determined that the driver of the vehicle 100 is not carrying a token 200 (identifying and / or authenticating the driver of the vehicle) than if it is determined that the driver of the vehicle 100 is carrying a token 200 (identifying and / or authenticating the driver of the vehicle).

[0055] The measures described in this document enable a comfortable, safer, individually adaptable and flexible assumption of the driving task by the driver of a vehicle 100.

[0056] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and figures are intended only to illustrate the principle of the proposed methods, devices, and systems by way of example.

Claims

[1] Vehicle system (101) for a motor vehicle (100), which is operable in an automated driving mode in which the longitudinal and / or transverse guidance of the vehicle (100) is effected at least partially automatically by the vehicle (100), and which is operable in a manual driving mode in which the longitudinal and / or transverse guidance of the vehicle (100) is effected at least partially manually by a driver of the vehicle (100); wherein the vehicle system (101) is configured, - to determine whether the driver of the vehicle (100) is carrying a token (200) or not; and - to enable and / or adapt a transfer process from the automated driving mode to the manual driving mode depending on whether it has been determined that the driver of the vehicle (100) is carrying a token (200) or that the driver of the vehicle (100) is not carrying a token (200); where - the vehicle system (100) is configured to adapt a set of one or more takeover actions to be carried out by the driver of the vehicle (100) during the takeover process depending on whether it has been determined that the driver of the vehicle (100) is carrying a token (200) or that the driver of the vehicle (100) is not carrying a token (200); and - which include one or more takeover transactions, - touching, in particular gripping, a steering means (110), in particular a steering wheel, of the vehicle (100) by hand; and / or - actuating an operating element (205), in particular a button, of the vehicle (100); or wherein the set of one or more takeover actions comprises a lower number of takeover actions when it is determined that the driver of the vehicle (100) is carrying a token (200) than when it is determined that the driver of the vehicle (100) is not carrying a token (200); or wherein the vehicle system (101) is configured to effect the transfer process from the automated driving mode to the manual driving mode with a higher complexity, in particular with a higher number of transfer actions, and / or with a longer transfer time duration, if it is determined that the driver of the vehicle (100) is not carrying a token (200) than if it is determined that the driver of the vehicle (100) is carrying a token (200). [2] Vehicle system (101) according to claim 1, wherein - the vehicle system (100) is configured to determine token data relating to the token (200) and to adapt the transfer process depending on the token data; and - display the token data, - an identity of the driver; and / or - a competence and / or authorisation and / or capability of the driver to manually control the vehicle longitudinally and / or laterally (100). [3] Vehicle system (101) according to one of the preceding claims, wherein - the vehicle system (101) comprises a token sensor (105) configured to acquire token sensor data relating to the presence of a token (200) in an environment of the token sensor (105); and - the vehicle system (101) is configured to determine, based on the token sensor data of the token sensor (105), whether the driver of the vehicle (100) is carrying a token (200) or not. [4] Vehicle system (101) according to claim 3, wherein the token sensor (105) is designed to communicate with the token (200) via a communication connection, in particular via a near-field communication connection, in particular to detect the presence of the token (200) in the environment of the token sensor (105) and / or to determine token data relating to the token (200). [5] Vehicle system (101) according to one of the preceding claims, wherein the token (200) comprises - a smart wearable device, in particular a smart watch; - a radio-enabled vehicle key; and / or - a code and / or chip card. [6] Vehicle system (101) according to one of the preceding claims, wherein the vehicle system (101) is arranged - to determine whether a token (200) is arranged at a distance from a steering means (110), in particular from a steering wheel, of the vehicle (100) that is less than or equal to a predefined distance threshold value; and - to determine that the driver of the vehicle (100) is carrying a token (200) if the token (200) is located at a distance from the steering means (110) of the vehicle (100) that is less than or equal to the predefined distance threshold; and / or - to determine that the driver of the vehicle (100) is not carrying a token (200) if the token (200) is arranged at a distance from the steering means (110) of the vehicle (100) that is greater than the predefined distance threshold and / or if no token (200) is arranged at a distance from the steering means (110) of the vehicle (100) that is less than or equal to the predefined distance threshold. [7] Vehicle system (101) according to one of the preceding claims, wherein - the vehicle system (101) comprises one or more touch sensors (111, 112) configured to detect touch sensor data relating to a touch of a steering means (110), in particular a steering wheel, of the vehicle (100); - the vehicle system (101) comprises a token sensor (105) configured to acquire token sensor data relating to the presence of a token (200) in an environment of the token sensor (105); and - the vehicle system (101) is set up, - to check, on the basis of the touch sensor data, whether the driver of the vehicle (100) touches the steering means (110) by hand (201, 202); - to check, based on the token sensor data, whether a token (200) is within a predefined distance from the steering means (110) of the vehicle (100); and - to determine that the driver of the vehicle (100) is carrying a token (200) when it is determined that the driver of the vehicle (100) is touching the steering means (110) by hand (201, 202) and that a token (200) is within the predefined distance from the steering means (110) of the vehicle (100). [8] Vehicle system (101) according to one of the preceding claims, wherein the vehicle system (101) is configured to effect the transfer process from the automated driving mode to the manual driving mode with a higher complexity, in particular with a higher number of transfer actions, and / or with a higher transfer time duration, if it is determined that the driver of the vehicle (100) is not carrying a token (200) than if it is determined that the driver of the vehicle (100) is carrying a token (200). [9] Vehicle system (101) according to one of the preceding claims, wherein the vehicle system (100) is arranged - to detect that a transition from the automated driving mode to the manual driving mode is to be effected, in particular due to a complex driving situation and / or due to manual intervention by the driver; and - in response thereto, to determine for the takeover process whether the driver of the vehicle (100) is carrying a token (200) or not. [10] Vehicle system (101) for a motor vehicle (100), which is operable in an automated driving mode in which the longitudinal and / or transverse guidance of the vehicle (100) is effected at least partially automatically by the vehicle (100), and which is operable in a manual driving mode in which the longitudinal and / or transverse guidance of the vehicle (100) is effected at least partially manually by a driver of the vehicle (100); wherein the vehicle system (101) is configured, - to determine whether the driver of the vehicle (100) is carrying a token (200) or not; and - adapting a transfer process from the automated driving mode to the manual driving mode depending on whether it has been determined that the driver of the vehicle (100) is carrying a token (200) or that the driver of the vehicle (100) is not carrying a token (200); wherein the transfer process from the automated driving mode to the manual driving mode is also effected if it is determined that the driver of the vehicle (100) is not carrying a token (200). [11] Method (300) for controlling a transfer process from an automated driving mode of a motor vehicle (100), in which the longitudinal and / or transverse guidance of the vehicle (100) is effected at least partially automatically by the vehicle (100), to a manual driving mode, in which the longitudinal and / or transverse guidance of the vehicle (100) is effected at least partially manually by a driver of the vehicle (100); wherein the method (300) comprises, - determining (301) whether the driver of the vehicle (100) carries a token (200) or not; and - enabling and / or adapting (302) the transfer process from the automated driving mode to the manual driving mode, depending on whether it has been determined that the driver of the vehicle (100) is carrying a token (200) or that the driver of the vehicle (100) is not carrying a token (200); where - a set of one or more takeover actions to be carried out by the driver of the vehicle (100) during the takeover process is adapted depending on whether it has been determined that the driver of the vehicle (100) is carrying a token (200) or that the driver of the vehicle (100) is not carrying a token (200); and - which include one or more takeover transactions, - touching, in particular gripping, a steering means (110), in particular a steering wheel, of the vehicle (100) by hand; and / or - actuating an operating element (205), in particular a button, of the vehicle (100); or wherein the set of one or more takeover actions comprises a lower number of takeover actions when it is determined that the driver of the vehicle (100) is carrying a token (200) than when it is determined that the driver of the vehicle (100) is not carrying a token (200); or wherein the transfer process from the automated driving mode to the manual driving mode is effected with a higher complexity, in particular with a higher number of transfer actions, and / or with a longer transfer time duration, if it is determined that the driver of the vehicle (100) is not carrying a token (200) than if it is determined that the driver of the vehicle (100) is carrying a token (200). [12] Method (300) for controlling a transfer process from an automated driving mode of a motor vehicle (100), in which the longitudinal and / or transverse guidance of the vehicle (100) is effected at least partially automatically by the vehicle (100), to a manual driving mode, in which the longitudinal and / or transverse guidance of the vehicle (100) is effected at least partially manually by a driver of the vehicle (100); wherein the method (300) comprises, - determining (301) whether the driver of the vehicle (100) carries a token (200) or not; and - adapting (302) the transition process from the automated driving mode to the manual driving mode depending on whether it has been determined that the driver of the vehicle (100) is carrying a token (200) or that the driver of the vehicle (100) is not carrying a token (200); wherein the transition process from the automated driving mode to the manual driving mode is also effected if it is determined that the driver of the vehicle (100) is not carrying a token (200).

Images