Procedures for controlling a vehicle

Abstract

Method for controlling a vehicle (26) comprising at least one vehicle engine (37), a chassis (28), a vehicle body (27) and at least one or more actuators (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24), wherein - several different actuator control data sets (AS1, AS2, AS3, AS4, AS5, AS6) are specified and - at least one or the actuators are controlled depending on a selected actuator control data set (ASS), - several different driver status data sets (DS1, DS2, DS3, DS4, DS5, DS6) are specified, each of which is or will be assigned one of the actuator control data sets, - at least one or more state properties (1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11) related to a driver of the vehicle are recorded and provided in the form of at least one or more state signals (S1, S2, S3, S4, S5, S6, S7, S8, S9, S10, S11), - based on at least one or more of the status signals, a current driver status data set (DSA) is created, - the current driver state data set (DSA) is compared with the predefined driver state data sets, one of which is selected depending on this comparison, - the selected actuator control data set (ASS) is formed by the actuator control data set assigned to the selected driver state data set (DSS), characterized in that - one of the several predefined driver state data sets (DS3) is assigned the designation "Normal Driver", - one of the several predefined driver state data sets (DS1) is assigned the designation "Aggressive Driver", - at least one or the actuators (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24) are controlled during a journey of the vehicle depending on the selected actuator control data set (ASS) to generate sensory stimuli acting on the driver, - where an actuator control data set (AS1) for the "aggressive driver" suggests a more direct driving behavior in relation to an actuator control data set (AS3) for the "normal driver", while simultaneously increasing driving safety.

Description

[0001] The invention relates to a method for controlling a vehicle which has at least one vehicle engine, a chassis, a vehicle body and at least one or more actuators, wherein several different actuator control data sets are specified and the at least one or the actuators are controlled depending on a selected actuator control data set according to the preamble of claim 1.

[0002] Such a procedure is known from DE 10 2018 130 622 A1.

[0003] It is known from the prior art that the driver can choose from several predefined driving programs, for example, one driving program for comfortable vehicle handling and another for sporty vehicle handling. After selecting the driving program, the vehicle's handling is adjusted accordingly, for example by controlling actuators installed in the chassis.

[0004] Numerous driver assistance systems now exist that monitor the driver's condition. These include driver fatigue detection, cameras that recognize the driver and analyze their emotions based on facial expressions, and the detection and evaluation of various sensors on the steering wheel. Furthermore, the evaluation of data from wearables (e.g., smartphones, smartwatches, fitness trackers, etc.) worn by the driver is also common. This data can be used to alert the driver or, as a further step, to bring the vehicle to a safe stop. Adaptive control systems for transmissions are also known, allowing them to adjust to a certain extent to the driver's general driving style. Additionally, the processing of map data to improve shift strategies is a known feature.

[0005] The known systems attempt to influence the driver or actively intervene in the vehicle's control system (potentially overriding the driver's input). No systems are known that automatically modify the vehicle's driving dynamics based on the driver's habits. The only option is for the driver to manually select a suitable driving program.

[0006] Based on this, the invention aims to automatically adapt the vehicle's behavior to the driver's condition.

[0007] This problem is solved according to the invention by a method according to claim 1. Preferred embodiments of the invention are given in the dependent claims and in the following description.

[0008] A method for controlling a vehicle comprising at least one vehicle engine, a chassis, a vehicle body and at least one or more actuators, wherein - several different actuator control data sets are specified and - the at least one or the actuators, preferably during a journey of the vehicle, are controlled depending on a selected actuator control data set, in particular to generate sensory stimuli acting on the driver, is further developed according to the invention in particular by the fact that - several different driver state data sets are specified, each of which is or will be assigned one of the actuator control data sets, - at least one or more state characteristics related to a driver of the vehicle are recorded, preferably by measurement, and made available in the form of at least one or more, in particular electrical, state signals, - based on and / or by evaluating at least one or more of the status signals, a current driver status data set is created, - the current driver state data set is compared with the predefined driver state data sets, one of which is selected, preferably depending on this comparison and / or the result of this comparison, in particular automatically, and - the selected actuator control data set is formed by the actuator control data set assigned to the selected driver state data set.

[0009] This makes it possible, for example, to automatically adapt the vehicle's behavior to the driver's current state, preferably.

[0010] Preferably, different or at least two different driver state data sets are assigned to different or at least two different actuator control data sets. The expression "at least two" also includes the meaning of "two" or "exactly two". The expression "at least one" also includes the meaning of "one" or "exactly one".

[0011] The vehicle and / or chassis preferably has several, in particular two, axles. Preferably, each axle comprises at least one or more, in particular two, wheels. Advantageously, the axles comprise or form a front axle and / or a rear axle. Preferably, each wheel is rotatable about a wheel axis. During travel, the wheels rotate, in particular, about their wheel axes.

[0012] Preferably, the vehicle and / or chassis includes at least one or more roll stabilizers. Preferably, the roll of the vehicle body can be reduced and / or minimized by means of the at least one or more roll stabilizers.

[0013] Preferably, the vehicle and / or the chassis includes at least one or more dampers. Preferably, vibrations of the vehicle wheels and / or the vehicle body are damped and / or reduced by means of the at least one or more dampers.

[0014] Preferably, the vehicle has an accelerator pedal. In particular, the at least one vehicle engine can be controlled by means of the accelerator pedal.

[0015] Preferably, the vehicle has at least one or more vehicle brakes. Preferably, the vehicle has a brake pedal. In particular, the at least one or more vehicle brakes can be actuated by means of the brake pedal. Preferably, the vehicle body includes an interior. Preferably, the interior is designed to accommodate the driver(s). Advantageously, the driver is located in the interior, especially while driving.

[0016] Preferably, the vehicle includes at least one transmission. Preferably, the at least one transmission is selectable into different gears. Advantageously, the different gears are assigned different gear ratios of the at least one transmission.

[0017] Preferably, the vehicle includes a steering wheel. Preferably, the vehicle is steerable by means of the steering wheel. In particular, at least one or more vehicle wheels provided on a front axle of the vehicle, or the at least one or more vehicle wheels provided on the front axle of the vehicle, are steerable by means of the steering wheel. Advantageously, the steering wheel is rotatable about a steering axis. Preferably, the at least one or each vehicle wheel provided on the front axle of the vehicle is pivotable or steerable, preferably by means of the steering wheel, in particular about a steering axis. Each steering axis runs, in particular, transversely or obliquely to the respective wheel axis of rotation.

[0018] The vehicle preferably comprises a control device. Preferably, the control device includes a program for executing the method. Advantageously, the control device runs the program(s) by means of which the method is executed. The control device preferably comprises a digital computer. For example, the control device includes a microcontroller. Preferably, the control device comprises or forms a learning system. In particular, the control device is equipped with artificial intelligence. For example, the control device includes at least one artificial neural network. Advantageously, the control device includes the capability of multi-layered or deep learning.

[0019] Preferably, the vehicle is driven by at least one vehicle engine. Preferably, the vehicle is driven by at least one vehicle engine, particularly while driving. Advantageously, mechanical movements can be generated and / or are generated by the at least one or each actuator(s).

[0020] The at least one or more state characteristics and / or the at least one or more state signals preferably characterize a, preferably current, state of the driver. This state of the driver is or includes, in particular, a state of mind of the driver. Preferably, the state of the driver reflects and / or characterizes, in particular additionally, a character and / or at least one or more habits of the driver. The state or states of the driver are also referred to, in particular, as the driver's state.

[0021] Preferably, each of the predefined driver state data sets characterizes a, preferably predefined and / or potential, state of the driver (driver state). The different predefined driver state data sets and / or the predefined and / or potential states of the driver can be assigned, for example, the following labels: "Aggressive Driver" and / or "Sporty Driver" and / or "Normal Driver" and / or "Comfortable Driver" and / or "Anxious Driver" and / or "Inattentive Driver".

[0022] Preferably, each predefined driver state data record comprises, in particular, predefined driver state data. Advantageously, the current driver state data record comprises, in particular, current driver state data. Preferably, each predefined actuator control data record comprises, in particular, predefined actuator control data. Advantageously, the driver state data of the current driver state data record characterizes the at least one or more, in particular, recorded, state properties. The term "data" includes, in particular, both the meaning of multiple data (plural) and the meaning of a single data point (singular). Instead of the term "data point," the word "data element," for example, can also be used.

[0023] The at least one or more state properties are, in particular, physical and / or chemical state properties. Preferably, at least one or more detection devices are provided by means of which the state properties can be detected and / or are detected. The at least one or each detection device or devices preferably comprise at least one or more sensors. Preferably, the at least one or more state signals can be generated and / or made available by means of the at least one or more detection devices.

[0024] Evaluating the at least one or more status signals and / or generating the current driver status data set, preferably based on the at least one or more status signals, is carried out in particular by means of an evaluation unit. Preferably, the control device comprises or forms the evaluation unit.

[0025] In the process step where the current driver state data set is compared with the predefined driver state data sets, one of which is selected based on this comparison, preferably automatically, the predefined driver state data set with the smallest deviation from the current driver state data set is preferably selected. If the driver state data sets each contain different driver state data, this different driver state data can be weighted equally or differently for the comparison. The weighting is preferably predefined and is based, for example, on experience and / or studies.

[0026] The comparison and / or selection of a given driver state data set, depending on the comparison, is performed, in particular, with a comparison unit. Preferably, the control device comprises or forms the comparison unit.

[0027] The at least one or more actuators are preferably controlled by means of an actuator control unit depending on the selected actuator control data set. Preferably, the control device comprises or forms the actuator control unit.

[0028] According to a further development, the method according to the invention is carried out repeatedly, particularly during or while the vehicle is in motion. This allows, for example, one or more changes in the driver's state, particularly during or while driving, to be taken into account. Preferably, the state characteristics are continuously or quasi-continuously recorded and, in particular, provided in the form of at least one or more, especially electrical, state signals.

[0029] The at least one or more state characteristics include, for example, at least one or more, in particular current, vital parameters of the driver. The at least one or more vital parameters include, in particular, the driver's blood pressure and / or body temperature and / or respiratory rate and / or pulse rate and / or heart rate. The "pulse rate" refers in particular to the frequency of the pulse and can, for example, also be called pulse frequency. Preferably, the at least one or more state characteristics include, in particular, the driver's blood pressure and / or, preferably current, body temperature and / or, preferably current, respiratory rate and / or, preferably current, pulse rate and / or, preferably current, heart rate.At least one or more vital parameters are particularly indicative of the driver's, preferably current, condition.

[0030] Preferably, at least one or more vital parameter monitoring devices are provided, by means of which at least one or more, in particular current, vital parameters of the driver can be detected and / or are detected. Advantageously, at least one or more, in particular electrical, vital parameter signals can be provided and / or are provided by means of the at least one or each vital parameter monitoring device, which characterize at least one or more of the vital parameters. Preferably, the at least one or more status signals include the at least one or the vital parameter signals. Preferably, the at least one or more monitoring devices include the at least one or more vital parameter monitoring devices.

[0031] The at least one or more vital parameter recording devices, or at least one or more of the vital parameter recording devices, is or are preferably provided in a mobile device. Preferably, the at least one or the vital parameter(s), or at least one or more of the vital parameter signals, or at least one or more of the vital parameter signals, are transmitted, particularly before the start of the journey, preferably by means of the mobile device, to the vehicle's control unit. Thus, at least one or more state characteristics are already available before and / or at the start of the journey.

[0032] Additionally or alternatively, at least one or more vital parameter recording devices or at least one or more other vital parameter recording devices are provided, e.g., in the vehicle.

[0033] The at least one or more state characteristics include, for example, at least one, preferably current, facial expression of the driver. The driver's facial expression is particularly indicative of the driver's, preferably current, state.

[0034] Preferably, at least one or more facial expression detection devices are provided by means of which the driver's facial expression, or a specific facial expression, particularly current expressions, can be detected and / or is detected. Advantageously, at least one or more facial expression signals, particularly electrical signals, can be provided and / or are provided by means of the at least one or each facial expression detection device, which characterize the driver's facial expression. Preferably, the at least one or more status signals include the at least one or more facial expression signals. Preferably, the at least one or more detection devices include the at least one or more facial expression detection devices. The at least one or each facial expression detection device preferably includes at least one camera, which is particularly a digital camera.

[0035] The at least one or more facial expression detection devices, or at least one or more of the facial expression detection devices, is or are preferably provided in the mobile device. Preferably, the driver's facial expression(s) and / or the at least one or the facial expression signals are transmitted, particularly before the start of the journey, preferably by means of the mobile device, to the vehicle's control unit. Thus, at least one or more state characteristics are already available before and / or at the start of the journey.

[0036] Additionally or alternatively, at least one or more facial expression detection devices, or at least one or more other facial expression detection devices, are provided, for example, in the vehicle. The at least one camera of the at least one or more facial expression detection devices provided in the vehicle is preferably located in the interior.

[0037] The at least one or more state characteristics include, for example, at least one or more, in particular current, biometric characteristics of the driver. These biometric characteristics include, in particular, the driver's voice and / or the driver's gait dynamics. Preferably, the at least one or more state characteristics include the driver's voice and / or the driver's gait dynamics. The at least one or more biometric characteristics are, in particular, indicative of the driver's, preferably current, state. For example, the voice reveals whether the driver is swearing. Furthermore, the gait dynamics reveal, for example, whether the driver is walking energetically.

[0038] Preferably, at least one or more biometric detection devices are provided, by means of which the at least one or more, in particular current, biometric characteristics of the driver can be detected and / or are detected. Advantageously, at least one or more, in particular electrical, biometric signals can be provided and / or are provided by means of the at least one or each biometric detection device, which characterize at least one or more of the biometric characteristics. Preferably, the at least one or the status signals comprise the at least one or the biometric signals. Preferably, the at least one or more detection devices comprise the at least one or more biometric detection devices.

[0039] The at least one or more biometric detection devices, or at least one or more of the biometric detection devices, is or are preferably provided in the mobile device. Preferably, the at least one or more biometric characteristics, or at least one or more of the biometric characteristics, or the at least one or more biometric signals, or at least one or more of the biometric signals, are transmitted, particularly before the start of the journey, preferably by means of the mobile device, to the vehicle's control unit. Thus, at least one or more state characteristics are already available before and / or at the start of the journey.

[0040] Additionally or alternatively, at least one or more biometric recording devices or at least one or more other biometric recording devices are provided, e.g., in the vehicle.

[0041] The mobile device is, in particular, a mobile and / or portable computer, such as a mobile phone, smartphone, smartwatch, or fitness tracker, etc. Such mobile and / or portable computers are also referred to as wearables. The mobile device is not, in particular, an integral part of the vehicle. Preferably, the mobile device is provided in addition to the vehicle.

[0042] The at least one or more state properties include, for example, a speed of the vehicle, in particular its current speed, which is also referred to as vehicle speed.

[0043] Preferably, a vehicle speed detection device is provided by means of which the vehicle's speed, or a specific speed, particularly its current speed, can be detected and / or is detected. Advantageously, the vehicle speed detection device can provide, or provides, a vehicle speed signal, particularly an electrical signal, which characterizes the vehicle's speed. Preferably, the at least one status signal(s) include the speed signal. Preferably, the at least one or more detection devices include the vehicle speed detection device. The vehicle speed detection device includes, for example, a speed sensor and / or a speedometer. Preferably, the vehicle speed detection device is provided in the vehicle.

[0044] The at least one or more state properties include, for example, - a current, in particular, position of the accelerator pedal and / or - a, in particular current, actuation speed of the accelerator pedal and / or - a, in particular current, acceleration of the accelerator pedal.

[0045] Preferably, an accelerator pedal actuation detection device is provided, by means of which, for example, the actuation position of the accelerator pedal and / or the actuation speed of the accelerator pedal and / or the actuation acceleration of the accelerator pedal can be detected and / or are detected.

[0046] The accelerator pedal actuation detection device forms or comprises, for example, an accelerator pedal actuation position detection unit by means of which the actuation position of the accelerator pedal, or a current actuation position, can be detected and / or is detected.

[0047] The accelerator pedal actuation detection device forms or includes, for example, an accelerator pedal actuation speed detection unit, by means of which the actuation speed of the accelerator pedal, or a current actuation speed, can be detected and / or is detected.

[0048] The accelerator pedal actuation detection device forms or comprises, for example, an accelerator pedal actuation acceleration detection unit, by means of which the actuation acceleration of the accelerator pedal, or a current one, can be detected and / or is detected.

[0049] Advantageously, an accelerator pedal actuation position signal, particularly an electrical one, can be provided by means of the accelerator pedal actuation detection device and / or by means of the accelerator pedal actuation position detection unit, which characterizes the actuation position of the accelerator pedal. Preferably, the at least one or more status signals include the accelerator pedal actuation position signal. Preferably, the at least one or more detection devices include the accelerator pedal actuation detection device.

[0050] The position of the accelerator pedal is usually expressed as a relative percentage. For example, fully depressed accelerator pedal corresponds to 100%, and no depressurization corresponds to 0% or 0.

[0051] Preferably, an accelerator pedal actuation speed signal, in particular an electrical signal, is provided by means of the accelerator pedal actuation detection device and / or by means of the accelerator pedal actuation speed detection unit, which characterizes the actuation speed of the accelerator pedal. Preferably, the at least one or more status signals include the accelerator pedal actuation speed signal.

[0052] Preferably, an accelerator pedal actuation acceleration signal, in particular an electrical signal, is provided by means of the accelerator pedal actuation detection device and / or by means of the accelerator pedal actuation acceleration detection unit, which characterizes the actuation acceleration of the accelerator pedal or a current actuation acceleration of the accelerator pedal. Preferably, the at least one or more status signals include the accelerator pedal actuation acceleration signal.

[0053] The actuation speed of the accelerator pedal corresponds in particular to the time derivative of the actuation position of the accelerator pedal. The actuation acceleration of the accelerator pedal corresponds in particular to the time derivative of the actuation speed of the accelerator pedal. Preferably, the accelerator pedal actuation detection device is provided in the vehicle.

[0054] The at least one or more state properties include, for example, - a, in particular current, actuation position of the brake pedal and / or - a, in particular current, actuation speed of the brake pedal and / or - a, in particular current, acceleration of the brake pedal operation.

[0055] Preferably, a brake pedal actuation detection device is provided, by means of which, for example, the actuation position of the brake pedal, in particular the current position, and / or the actuation speed of the brake pedal, in particular the current actuation acceleration of the brake pedal, can be detected and / or are detected.

[0056] The brake pedal actuation detection device forms or comprises, for example, a brake pedal actuation position detection unit by means of which the actuation position of the brake pedal, or a current actuation position, can be detected and / or is detected.

[0057] The brake pedal actuation detection device forms or includes, for example, a brake pedal actuation speed detection unit by means of which the actuation speed of the brake pedal, or a current actuation speed, can be detected and / or is detected.

[0058] The brake pedal actuation detection device forms or comprises, for example, a brake pedal actuation acceleration detection unit by means of which the actuation acceleration of the brake pedal, or a current one, can be detected and / or is detected.

[0059] Advantageously, a brake pedal actuation position signal, particularly an electrical one, can be provided by means of the brake pedal actuation detection device and / or the brake pedal actuation position detection unit, which characterizes the actuation position of the brake pedal. Preferably, the at least one status signal(s) include the brake pedal actuation position signal. Preferably, the at least one or more detection devices include the brake pedal actuation detection device.

[0060] The actuation position of the brake pedal is usually specified as a relative actuation position in percent. For example, full actuation of the brake pedal corresponds to 100% and no actuation of the brake pedal corresponds to 0% or 0.

[0061] Preferably, a brake pedal actuation speed signal, in particular an electrical signal, is provided by means of the brake pedal actuation detection device and / or by means of the brake pedal actuation speed detection unit, which characterizes the actuation speed of the brake pedal. Preferably, the at least one status signal(s) include the brake pedal actuation speed signal.

[0062] Preferably, a brake pedal actuation acceleration signal, in particular an electrical signal, is provided by means of the brake pedal actuation detection device and / or by means of the brake pedal actuation acceleration detection unit, which characterizes the actuation acceleration of the brake pedal or a current actuation acceleration of the brake pedal. Preferably, the at least one status signal or signals include the brake pedal actuation acceleration signal.

[0063] The actuation speed of the brake pedal corresponds in particular to the time derivative of the actuation position of the brake pedal. The actuation acceleration of the brake pedal corresponds in particular to the time derivative of the actuation speed of the brake pedal. Preferably, the brake pedal actuation detection device is provided in the vehicle.

[0064] The at least one or more state characteristics include, for example, at least one or more, in particular current, accelerations of the vehicle and / or the vehicle body. The at least one or more accelerations include, in particular, a, preferably current, lateral acceleration of the vehicle and / or the vehicle body and / or a, preferably current, longitudinal acceleration of the vehicle and / or the vehicle body. Preferably, the at least one or more state characteristics include the lateral acceleration of the vehicle and / or the vehicle body and / or the longitudinal acceleration of the vehicle and / or the vehicle body.

[0065] Preferably, at least one or more acceleration detection devices are provided, by means of which the at least one or more, in particular current, accelerations of the vehicle and / or the vehicle body can be detected and / or are detected. Advantageously, at least one or more, in particular electrical, acceleration signals can be provided and / or are provided by means of the at least one or each acceleration detection device, which characterize at least one or more of the accelerations. Preferably, the at least one or the status signals include the at least one or the acceleration signals. Preferably, the at least one or more detection devices include the at least one or more acceleration detection devices.Preferably, at least one or more acceleration detection devices are provided in the vehicle.

[0066] Preferably, the at least one or more acceleration detection devices comprise at least one or more acceleration sensors. Advantageously, the at least one or more acceleration sensors form or comprise at least one lateral acceleration sensor and / or at least one longitudinal acceleration sensor. Preferably, the at least one or more acceleration signals form or comprise at least one lateral acceleration signal that characterizes the lateral acceleration of the vehicle and / or the vehicle body. Preferably, the at least one or more acceleration signals form or comprise at least one longitudinal acceleration signal that characterizes the longitudinal acceleration of the vehicle and / or the vehicle body.

[0067] The at least one or more state characteristics include, for example, at least one or more, in particular current, rotational speeds of the vehicle and / or the vehicle body. The at least one or more rotational speeds include, in particular, a, preferably current, roll speed of the vehicle and / or the vehicle body, and / or a, preferably current, pitch speed of the vehicle and / or the vehicle body, and / or a, preferably current, yaw speed of the vehicle and / or the vehicle body. Advantageously, the at least one or more state characteristics include the roll speed of the vehicle and / or the vehicle body, and / or the pitch speed of the vehicle and / or the vehicle body, and / or the yaw speed of the vehicle and / or the vehicle body, and in particular the current.At least one or all of the rotational speeds are, in particular, angular speeds. For example, roll speed and / or pitch speed and / or yaw speed are, preferably each, angular speeds. Yaw speed is also referred to as yaw rate.

[0068] Preferably, at least one or more rotational speed detection devices are provided, by means of which the at least one or more, in particular current, rotational speeds of the vehicle and / or the vehicle body can be detected and / or are detected. Advantageously, at least one or more, in particular electrical, rotational speed signals can be provided and / or are provided by means of the at least one or each rotational speed detection device, which characterize at least one or more of the rotational speeds. Preferably, the at least one or the status signals include the at least one or the rotational speed signals. Preferably, the at least one or more detection devices include the at least one or more rotational speed detection devices.Preferably, at least one or more rotational speed detection devices are provided in the vehicle.

[0069] Preferably, the at least one or more rotational speed detection devices comprise at least one or more yaw rate sensors and / or acceleration sensors. Advantageously, the at least one or more yaw rate sensors and / or acceleration sensors form or comprise a roll rate sensor and / or a pitch rate sensor and / or a yaw rate sensor. Preferably, the at least one or more rotational speed signals form or comprise a roll rate signal that characterizes the roll rate of the vehicle and / or the vehicle body. Preferably, the at least one or more rotational speed signals form or comprise a pitch rate signal that characterizes the pitch rate of the vehicle and / or the vehicle body.Advantageously, at least one or more rotational speed signals form or include a yaw rate signal, which characterizes the yaw rate of the vehicle and / or the vehicle body.

[0070] The at least one or more state characteristics include, for example, one or more, in particular current, distances of the vehicle to at least one or more, preferably stationary and / or moving, markings and / or bodies, preferably in the vicinity of the vehicle and / or in front of the vehicle and / or to the side of the vehicle and / or behind the vehicle. The at least one or the bodies include, for example, at least one or more other road users, such as at least one or more other vehicles. For example, the at least one or the bodies include or form a vehicle traveling ahead.

[0071] Preferably, at least one or more distance detection devices are provided, by means of which the at least one or more distances can be detected and / or are detected. Advantageously, at least one or more, in particular electrical, distance signals can be provided and / or are provided by means of the at least one or each distance detection device, which characterize at least one or more of the distances. Preferably, the at least one or the status signals include the at least one or the distance signals. Preferably, the at least one or more detection devices include the at least one or more distance detection devices. Preferably, the at least one or more distance detection devices are provided in the vehicle.

[0072] Preferably, the at least one or more distance detection devices comprise at least one or more radar devices and / or at least one or more lidar devices and / or at least one or more cameras.

[0073] The at least one or more state characteristics include, for example, at least one or more, in particular current, engine characteristics of the at least one vehicle engine.

[0074] Preferably, at least one or more engine identification number (EIN) acquisition devices are provided, by means of which at least one or more, in particular current, EINs can be acquired and / or are acquired. Advantageously, at least one or more, in particular electrical, EIN signals can be provided and / or are acquired by means of the at least one or each EIN acquisition device, which characterize at least one or more, in particular the EINs. Preferably, the at least one or the status signals comprise the at least one or the EIN signals. Advantageously, the at least one or more acquisition devices comprise the at least one or more EIN acquisition devices. Preferably, the at least one or more EIN acquisition devices are provided in the vehicle.

[0075] Preferably, the at least one or more engine identification numbers include at least one rotational speed of the at least one vehicle engine. Preferably, the at least one or more engine identification number detection devices include at least one rotational speed sensor by means of which at least one, or at least one, in particular the current, rotational speed of the at least one vehicle engine can be detected and / or is detected. Advantageously, the at least one or the engine identification number signals include at least one, in particular electrical, rotational speed signal that characterizes at least one, or at least one, rotational speed of the at least one vehicle engine.

[0076] The at least one or more state properties include, for example, at least one, or in particular the current, rotational speed of the at least one vehicle engine. The at least one rotational speed of the at least one vehicle engine is also referred to, for example, as engine speed.

[0077] Preferably, at least one speed sensor is provided, by means of which at least one, in particular the current, speed of the at least one vehicle engine can be detected and / or is detected. Advantageously, the at least one speed sensor can provide and / or is provided the at least one, in particular electrical, speed signal, which characterizes at least one speed of the at least one vehicle engine. Preferably, the at least one status signal or signals include the at least one speed signal. Advantageously, the at least one or more detection devices include the at least one speed sensor. Preferably, the at least one speed sensor is provided in the vehicle.

[0078] The at least one or more state characteristics include, for example, a soundscape, particularly a current one, preferably in the interior of the vehicle body. For example, the soundscape includes information about the music volume set by the driver.

[0079] Preferably, a noise detection device is provided by means of which the noise level, or a noise level, preferably in the interior of the vehicle body, can be detected and / or is detected. Advantageously, at least one noise level signal, preferably electrical, can be provided and / or is provided by means of the noise detection device, which characterizes the noise level, preferably in the interior of the vehicle body. Preferably, the at least one status signal or signals include the at least one noise level signal. Advantageously, the at least one or more detection devices include the noise level detection device. The noise level detection device preferably includes at least one microphone or is formed by one. Preferably, the noise level detection device is provided in the vehicle.

[0080] The at least one or more state properties include, for example, the gear or gear engaged, in particular the gear currently engaged, of the at least one or at least one vehicle transmission.

[0081] Preferably, a gear detection device is provided by means of which the currently engaged or shifted gear can be detected and / or is detected. Advantageously, at least one gear signal, particularly an electrical signal, can be provided and / or is provided by means of the gear detection device, which characterizes the currently engaged or shifted gear of the at least one vehicle transmission. Preferably, the at least one status signal or signals include the at least one gear signal. Advantageously, the at least one or more detection devices include the gear detection device. Preferably, the gear detection device is provided in the vehicle.

[0082] The at least one or more state properties include, for example, - a, in particular current, angular position of the steering wheel, preferably with respect to the steering wheel axis and / or - an angular velocity of the steering wheel, in particular its current velocity, preferably with respect to the steering wheel axis and / or - an angular acceleration of the steering wheel, preferably with respect to the steering wheel axis, and in particular a current one.

[0083] Preferably, a steering wheel angle detection device is provided, by means of which, for example, the angular position of the steering wheel, in particular its current position, and / or the angular velocity of the steering wheel, in particular its current position, and / or the angular acceleration of the steering wheel, in particular its current position, can be detected and / or is detected.

[0084] The steering wheel angle detection device forms or comprises, for example, a steering wheel angle position detection unit by means of which the angular position of the steering wheel, or a current angular position, can be detected and / or is detected.

[0085] The steering wheel angle detection device forms or comprises, for example, a steering wheel angular velocity detection unit by means of which the angular velocity of the steering wheel, or a current angular velocity, can be detected and / or is detected.

[0086] The steering wheel angle detection device forms or includes, for example, a steering wheel angular acceleration detection unit, by means of which the angular acceleration of the steering wheel, or a current angular acceleration, can be detected and / or is detected.

[0087] Advantageously, a steering wheel angle position signal, particularly an electrical one, can be provided by means of the steering wheel angle detection device and / or the steering wheel angle position detection unit, which characterizes the angular position of the steering wheel. Preferably, the at least one status signal(s) include the steering wheel angle position signal. Preferably, the at least one or more detection devices include the steering wheel angle detection device.

[0088] Preferably, a steering wheel angular velocity signal, in particular an electrical signal, is provided by means of the steering wheel angle detection device and / or by means of the steering wheel angular velocity detection unit, which characterizes the angular velocity of the steering wheel. Preferably, the at least one status signal(s) include the steering wheel angular velocity signal.

[0089] Preferably, a steering wheel angular acceleration signal, in particular an electrical signal, is provided by means of the steering wheel angle detection device and / or by means of the steering wheel angular acceleration detection unit, which characterizes the angular acceleration of the steering wheel, or a current angular acceleration of the steering wheel. Preferably, the at least one or more status signals include the steering wheel angular acceleration signal.

[0090] The angular velocity of the steering wheel corresponds in particular to the time derivative of the steering wheel's angular position. The angular acceleration of the steering wheel corresponds in particular to the time derivative of the steering wheel's angular velocity. Preferably, the steering wheel angle detection device is provided in the vehicle.

[0091] Preferably, the vehicle has active rear-axle steering (ACS). In particular, at least one actuator, e.g., referred to as the rear-axle steering actuator (ACS actuator), is assigned to the active rear-axle steering system. Preferably, the active rear-axle steering system comprises and / or controls the at least one actuator assigned to it. Advantageously, the active rear-axle steering system and / or the at least one actuator assigned to it enable and / or enable a track adjustment of at least one or more vehicle wheels provided on a rear axle of the vehicle.

[0092] Preferably, each actuator control data set and / or the actuator control data of each actuator control data set includes rear axle steering control data (AKC control data). Preferably, the active rear axle steering and / or the at least one actuator associated with it is / are controllable depending on the rear axle steering control data of each actuator control data set. Advantageously, the active rear axle steering and / or the at least one actuator associated with it is / are controlled depending on the rear axle steering control data of the selected actuator control data set.

[0093] Preferably, the vehicle has active roll stabilization (ERC), which is in particular an electromechanical roll stabilization system. Preferably, the active roll stabilization system comprises at least one or more roll stabilizers. In particular, at least one actuator, e.g., referred to as a roll stabilization actuator (ERC actuator), is assigned to the active roll stabilization system. Preferably, the active roll stabilization system comprises and / or controls the at least one actuator assigned to it. Advantageously, a change in the roll velocity and / or the roll behavior of the vehicle and / or the vehicle body and / or a change in the behavior of the at least one or more roll stabilizers can be brought about and / or is brought about by means of the active roll stabilization system and / or by means of the at least one actuator assigned to it.

[0094] Preferably, each actuator control data record and / or the actuator control data of each actuator control data record include roll stabilization control data (ERC control data). Preferably, the active roll stabilization and / or the at least one actuator associated with it is / are controllable depending on the roll stabilization control data of each actuator control data record. Advantageously, the active roll stabilization and / or the at least one actuator associated with it is / are controlled depending on the roll stabilization control data of the selected actuator control data record.

[0095] Preferably, the vehicle has a steer-by-wire (SbW) system. Preferably, the steer-by-wire system includes the steering wheel. In particular, at least one actuator, e.g., a steer-by-wire actuator (SbW actuator), is assigned to the steer-by-wire system. Preferably, the steer-by-wire system includes and / or controls the at least one actuator assigned to it. Advantageously, the steer-by-wire system and / or the at least one actuator assigned to it enable and / or enable the pivoting or steering of at least one or more vehicle edges provided on a front axle of the vehicle, or of at least one or more of the vehicle wheels provided on the front axle of the vehicle, in particular about one or more steering axes.

[0096] Preferably, each actuator control data record and / or the actuator control data of each actuator control data record comprise steer-by-wire control data (SbW control data). Preferably, the steer-by-wire system and / or the at least one actuator associated with it is / are controllable depending on the steer-by-wire control data of each actuator control data record. Advantageously, the steer-by-wire system and / or the at least one actuator associated with it is / are controlled depending on the steer-by-wire control data of the selected actuator control data record.

[0097] Preferably, the vehicle has a damping control system (CDC), which in particular is a continuous damping control system. Preferably, the damping control system comprises at least one or more dampers. In particular, at least one actuator is assigned to the damping control system, which is, for example, referred to as the damping control actuator (CDC actuator). Preferably, the damping control system comprises and / or controls the at least one actuator assigned to it. Advantageously, a change in the damping behavior of the vehicle and / or the vehicle body and / or at least one or more of the dampers can be brought about and / or is brought about by means of the damping control system and / or by means of the at least one actuator assigned to it, for example, depending on a damping characteristic curve.

[0098] Preferably, each actuator control data set and / or the actuator control data of each actuator control data set comprise damping control control data (CDC control data). Preferably, the damping control and / or the at least one actuator associated with it is / are controllable depending on the damping control control data of each actuator control data set. Advantageously, the damping control and / or the at least one actuator associated with it is / are controlled depending on the damping control control data of the selected actuator control data set.

[0099] Preferably, the vehicle has an active suspension (sMO), which in particular forms an active damping system and / or is also referred to as an active damping system. Preferably, the active suspension comprises at least one or more dampers. Advantageously, the at least one or more dampers, preferably each, form one or more active dampers. An active damper is, in particular, a damper whose length is adjustable by means of an actuator or damper actuator. In particular, at least one of the actuators, which is referred to as a suspension actuator or damper actuator (sMO actuator), is assigned to the active suspension. The at least one active damper is preferably length-adjustable by means of the at least one damper actuator. Preferably, the active suspension comprises and / or controls the at least one actuator assigned to it.Advantageously, the active suspension and / or the at least one actuator associated with it can bring about and / or bring about a change in the vehicle dynamics and / or a change in the roll behavior and / or a change in the pitch behavior and / or a change in the yaw behavior and / or a change in the damping behavior and / or a change in the ground clearance of the vehicle and / or the vehicle body. Ground clearance is defined in particular as the distance between the vehicle body and the road surface on which the vehicle, preferably with its wheels, rests.

[0100] Preferably, each actuator control data set and / or the actuator control data of each actuator control data set includes chassis control data (sMO control data). Preferably, the active chassis and / or the at least one actuator assigned to it is / are controllable depending on the chassis control data of each actuator control data set. Advantageously, the active chassis and / or the at least one actuator assigned to it is / are controlled depending on the chassis control data of the selected actuator control data set.

[0101] Preferably, the vehicle has a brake-by-wire (BbW) system. Preferably, the brake-by-wire system comprises the brake pedal and / or the at least one or more vehicle brakes. In particular, at least one actuator, e.g., designated as a brake-by-wire actuator (BbW actuator), is assigned to the brake-by-wire system. Preferably, the brake-by-wire system comprises and / or controls the at least one actuator assigned to it. Advantageously, braking of the vehicle and / or braking of at least one or more vehicle wheels provided on at least one or more vehicle axles, or of the at least one or more vehicle wheels provided on the vehicle axles, can be achieved and / or is achieved by means of the brake-by-wire system and / or by means of the at least one of the vehicle wheels provided on the vehicle axles.

[0102] Preferably, each actuator control data record and / or the actuator control data of each actuator control data record includes brake-by-wire control data (BbW control data). Preferably, the brake-by-wire system and / or the at least one actuator associated with it is / are controllable depending on the brake-by-wire control data of each actuator control data record. Advantageously, the brake-by-wire system and / or the at least one actuator associated with it is / are controlled depending on the brake-by-wire control data of the selected actuator control data record.

[0103] Preferably, the vehicle has an electronic power control (EPC) system. Preferably, the electronic power control system includes the accelerator pedal. Advantageously, the accelerator pedal is an electronic accelerator pedal. In particular, at least one actuator is assigned to the electronic power control system, which is, for example, referred to as the power control actuator (EPC actuator). Preferably, the electronic power control system includes and / or controls the at least one actuator assigned to it.Advantageously, by means of the electronic power control and / or by means of the at least one actuator assigned to it, for example depending on at least one or more accelerator pedal characteristics, a change in the engine power of the at least one vehicle engine and / or a change in at least one or the at least one speed of the at least one vehicle engine and / or a change in the torque of the at least one vehicle engine and / or a change in the throttle valve position of the at least one vehicle engine and / or a change in the fuel injection quantity of the at least one vehicle engine can be brought about and / or is brought about by means of the electronic power control and / or by means of the at least one actuator assigned to it, for example depending on at least one or more accelerator pedal characteristics.

[0104] Preferably, each actuator control data record and / or the actuator control data of each actuator control data record comprise power control data (EPC control data). Preferably, the electronic power controller and / or the at least one actuator associated with it is / are controllable depending on the power control data of each actuator control data record. Advantageously, the electronic power controller and / or the at least one actuator associated with it is / are controlled depending on the power control data of the selected actuator control data record.

[0105] Preferably, the vehicle has power steering (PS), which is also referred to as power steering. Preferably, the power steering includes the steering wheel. In particular, at least one actuator is assigned to the power steering, which is referred to, for example, as the power steering actuator (PS actuator). Preferably, the power steering includes and / or controls the at least one actuator assigned to it. Advantageously, the power steering and / or the at least one actuator assigned to it can support and / or enable the pivoting or steering of at least one of the vehicle edges provided on a front axle of the vehicle, or of the at least one of the vehicle wheels provided on the front axle of the vehicle, particularly about one or more steering axes, by means of the power steering and / or by means of the at least one actuator assigned to it.

[0106] Preferably, each actuator control data set and / or the actuator control data of each actuator control data set includes power steering control data (PS control data). Preferably, the power steering and / or the at least one actuator associated with it is / are controllable depending on the power steering control data of each actuator control data set. Advantageously, the power steering and / or the at least one actuator associated with it is / are controlled depending on the power steering control data of the selected actuator control data set.

[0107] Preferably, the vehicle has a distance control cruise control (ACC), which is also referred to as adaptive cruise control. In particular, at least one actuator is assigned to the distance control cruise control, which is referred to, for example, as the distance control cruise control actuator (ACC actuator). Preferably, the distance control cruise control includes and / or controls the at least one actuator assigned to it. Advantageously, the distance between the vehicle and a vehicle ahead and / or the speed of the vehicle can be controlled and / or managed by means of the distance control cruise control and / or the at least one actuator assigned to it, preferably depending on the current distance between the vehicle and the vehicle ahead and / or on the speed of the vehicle ahead. The terms "control" or "manageable" also include, in particular, the meanings "regulate" and "adjustable".

[0108] Preferably, each actuator control data set and / or the actuator control data of each actuator control data set includes adaptive cruise control (ACC) control data. Preferably, the adaptive cruise control and / or the at least one actuator associated with it is / are controllable depending on the adaptive cruise control control data of each actuator control data set. Advantageously, the adaptive cruise control and / or the at least one actuator associated with it is / are controlled depending on the adaptive cruise control control data of the selected actuator control data set.

[0109] Preferably, the vehicle has at least one transmission control unit (TC). Preferably, the at least one vehicle transmission can be shifted into different gears or into different gears by means of the at least one transmission control unit. In particular, at least one actuator, which is e.g. referred to as a transmission control actuator (TC actuator), is assigned to the at least one transmission control unit. Preferably, the at least one transmission control unit comprises and / or controls the at least one actuator assigned to it. Advantageously, a gear change, preferably in the at least one vehicle transmission, can be brought about and / or is brought about by means of the at least one transmission control unit and / or by means of the at least one actuator assigned to it, for example depending on at least one or more speed threshold values.

[0110] Preferably, each actuator control data set and / or the actuator control data of each actuator control data set includes transmission control data (TCD). Preferably, the at least one transmission control unit and / or the at least one actuator associated with it is / are controllable depending on the transmission control data of each actuator control data set. Advantageously, the at least one transmission control unit and / or the at least one actuator associated with it is / are controlled depending on the transmission control data of the selected actuator control data set.

[0111] Preferably, the vehicle has an anti-noise system (ANC system), which is also referred to as an active noise control system. In particular, at least one actuator is assigned to the anti-noise system, which is referred to, for example, as an anti-noise actuator (ANC actuator). Preferably, the anti-noise system comprises and / or controls the at least one actuator assigned to it. Advantageously, noise, or at least one noise, preferably in the interior of the vehicle body, can be generated, amplified, and / or reduced by means of the anti-noise system and / or by means of the at least one actuator assigned to it.

[0112] Preferably, each actuator control data record and / or the actuator control data of each actuator control data record include anti-noise control data (ANC control data). Preferably, the anti-noise system and / or the at least one actuator associated with it is / are controllable depending on the anti-noise control data of each actuator control data record. Advantageously, the anti-noise system and / or the at least one actuator associated with it is / are controlled depending on the anti-noise control data of the selected actuator control data record.

[0113] Preferably, at least one or the actuators are controlled, in particular additionally, depending on a, preferably current, position of the vehicle.

[0114] Advantageously, a position determination device is provided by means of which the position of the vehicle, or a position, particularly its current position, can be detected and / or is detected. Preferably, at least one position signal, particularly an electrical signal, can be provided and / or is provided by means of the position determination device, which characterizes the position of the vehicle. The position determination device is, for example, formed by a navigation system, which is in particular a global navigation satellite system. Preferably, the position determination device and / or the navigation system is / are provided in the vehicle. Advantageously, the at least one actuator(s), in particular additionally, are controlled depending on the at least one position signal.

[0115] Preferably, at least one or the actuators are controlled, in particular additionally, depending on a, preferably current, traffic density at the location of the vehicle.

[0116] Advantageously, a traffic density detection device is provided by means of which information about the traffic density at the vehicle's location, particularly current information, can be acquired and / or is acquired. Preferably, at least one traffic density signal, particularly an electrical signal, can be provided and / or is provided by means of the traffic density detection device, which characterizes the traffic density at the vehicle's location. The traffic density detection device is, for example, formed by the positioning device and / or the navigation system. Preferably, the traffic density detection device is provided in the vehicle. Advantageously, the at least one actuator(s), particularly additionally, are controlled depending on the at least one traffic density signal.

[0117] Preferably, at least one or the actuators are controlled, in particular additionally, depending on a, preferably current, condition of the road surface at the location of the vehicle.

[0118] Advantageously, a road surface detection device is provided by means of which information, particularly current information, about the condition of the road surface at the vehicle's location can be detected and / or is detected. Preferably, at least one road surface signal, particularly electrical, can be provided and / or is provided by means of the road surface detection device, which characterizes the condition of the road surface at the vehicle's location. The road surface detection device is, for example, formed by the positioning device and / or by the navigation system. Preferably, the road surface detection device is provided in the vehicle. Advantageously, the at least one actuator(s), particularly additionally, are controlled depending on the at least one road surface signal.

[0119] Preferably, at least one or the actuators are controlled, in particular additionally, depending on the or a, preferably current, time.

[0120] Advantageously, a time recording device is provided by means of which the time, or a time, in particular the current time, can be recorded and / or is recorded. Preferably, at least one time signal, in particular an electrical signal, can be provided and / or is provided by means of the time recording device, which characterizes the time, preferably the current time. The time recording device is, for example, a clock. Preferably, the time recording device is provided in the vehicle. Advantageously, the at least one actuator(s), in particular additionally, are controlled depending on the at least one time signal.

[0121] According to one embodiment, the first of the predefined driver state data sets forms a standard driver state data set. The standard driver state data set is assigned, for example, the designation "Normal Driver". The actuator control data set assigned to the standard driver state data set forms, in particular, a standard actuator control data set.

[0122] If the process step whereby "the current driver state data set is compared with the predefined driver state data sets, one of which is selected depending on this comparison, in particular automatically," has not yet been carried out, the selected actuator control data set is preferably formed by the standard actuator control data set. In other words, in this case, at least one actuator or actuators are controlled, in particular, depending on the standard actuator control data set.

[0123] According to the invention, the at least one or the actuators are controlled during vehicle operation, depending on the selected actuator control data set, to generate sensory stimuli acting on the driver. In particular, the at least one or the actuators are controlled, preferably during vehicle operation, depending on the selected actuator control data set, such that sensory stimuli acting on the driver are generated. Preferably, these stimuli are generated, particularly in such a way that they are not consciously perceptible and / or perceived by the driver.

[0124] Thus, the vehicle's behavior can be adapted to the driver's state without the driver being aware of this adaptation. For example, an aggressive driver can be given a driving experience tailored to their emotional state, preferably without compromising driving safety. If an aggressive driver wants to drive fast, the sensory stimuli merely give them the impression of driving fast, without actually driving fast. It is advantageous that the driver is not aware of the adaptation of the driving behavior, as they might otherwise be inclined to deactivate the adaptation according to the invention. This, however, could impair driving safety.

[0125] According to one embodiment, the behavior of at least one or more actuators in the vehicle can be adapted based on existing sensor data on the driver's condition, which is known through the vehicle itself or through other corresponding sensory devices (such as wearables).

[0126] The adaptation according to the invention is, in particular, a subtle adaptation that is not consciously perceptible or perceived by the driver. The vehicle's driving behavior is preferably adapted to the driver's state. Preferably, the adaptation should generate the greatest possible driving safety while simultaneously giving the driver a greater sense of identification with the vehicle's driving behavior. State properties from the vehicle can include, for example, longitudinal and lateral acceleration, accelerator pedal position, steering speed, braking intensity, radar and / or lidar information, and / or other relevant data, for example, from communication via the vehicle's CAN bus (e.g., current gear, yaw rate, engine speed, etc.). Likewise, the processing of navigation data (such as position, traffic density, road surface condition) and time data is conceivable.In particular, processing as much data as possible leads to the best possible adaptation. For example, continuous learning achieves very good prediction and a rapid response to spontaneous deviations from usual driving habits.

[0127] Furthermore, with the help of, for example, deep-learning-capable artificial intelligence and / or a neural network, the adaptation can be significantly more precise and sensitive. In particular, the vehicle learns its driver and adjusts accordingly. By incorporating a wide variety of data (e.g., time of day, traffic data, weather data, calendar, vehicle usage data, location, etc.), the artificial intelligence can, for example, learn the driver's various habits and continuously improve its ability to predict them in order to optimally adapt the vehicle to the immediate driving situation.

[0128] For example, a driver might have a habit of driving fast and recklessly in the morning (e.g., well-rested and without much traffic), whereas in the evening they drive slowly (e.g., due to rush hour traffic) and are less focused. Thus, this driver could be classified as aggressive in the morning and inattentive in the evening. The goal is to learn the driver's habits and adjust the vehicle's handling accordingly.

[0129] The following are three examples of different states of a driver: I) Aggressive driver

[0130] For an aggressive driver, a more direct driving style is suggested, preferably while simultaneously increasing driving safety. In particular: - by means of the electronic power control (EPC) a different, in particular more direct, accelerator pedal characteristic curve is set and preferably at the same time the power of the vehicle engine is throttled and / or reduced; - by means of the transmission control (TC), a change in the speed thresholds or shift points for the vehicle transmission to higher speeds is effected, since the driver usually associates higher speeds with a higher speed; - by means of the roll stabilization (ERC) a reduction of roll stabilization in curves is achieved, so that the driver in particular is given the feeling of a higher vehicle speed; - by means of the damping control (CDC) and / or the active suspension (sMO), a switching of spring and / or damping systems to a direct or as direct as possible introduction of forces into the vehicle is effected; - a sportier soundscape is created in the vehicle interior by means of the anti-noise system (ANC); - a more indirect steering ratio with reduced support torques is achieved by means of the power steering (PS) or the steer-by-wire (SbW) system; - a minimum distance to vehicles ahead was achieved using the adaptive cruise control (ACC). II) Anxious or cautious driver

[0131] Preferably, the adjustments or measures taken for the aggressive driver are reversed so that environmental influences are reduced in particular and the driver is given a safer driving feeling. III) Tired / Inattentive Driver

[0132] In particular, a selection of measures or adjustments is made that lead to an increase in the driver's attention. For example, the vehicle's lateral and longitudinal dynamics are reduced, while its vertical dynamics are increased. Specifically: - by means of the electronic power control (EPC) a different, in particular more indirect, accelerator pedal characteristic curve is set and / or the power of the vehicle engine is throttled and / or reduced; - by means of the transmission control (TC), a change in the speed thresholds or shift points for the vehicle transmission to higher speeds was effected; - a reduction in roll stabilization in curves was achieved using the roll stabilization (ERC); - by means of the damping control (CDC) and / or the active suspension (sMO), a switch from spring and / or damping systems to a direct introduction of forces into the vehicle is effected; - a sportier soundscape is created in the vehicle interior by means of the anti-noise system (ANC); - for example, by means of the active suspension (sMO) and / or by means of the roll stabilization (ERC), a one-sided, high-frequency control of the dampers and / or the roll stabilizers is brought about as soon as the vehicle approaches a road edge, which is detected in particular by suitable sensors, such as a road detection system.

[0133] The method according to the invention is also suitable for autonomous driving. Even if the driver does not actively intervene in the driving process in this case, the vehicle's driving behavior can still be adapted to the driver's state of mind or emotional state. Furthermore, the use of artificial intelligence makes it possible to modify and / or supplement the predefined driver state data sets and / or the predefined actuator control data sets.

[0134] The invention is described below with reference to a preferred embodiment and the drawing. The drawing shows: Fig. 1 a schematic representation of a vehicle, Fig. 2 a schematic representation to illustrate the method according to the invention in one embodiment, Fig. 3 a supplementary schematic representation to explain the method according to the invention in the embodiment, Fig. 4. A schematic representation to illustrate the effect of an actuator control in a driver condition referred to as "aggressive driver". Fig. 5 a schematic representation to illustrate the effect of an actuator control in a driver state referred to as a “sporty driver”, Fig. 6. A schematic representation to illustrate the effect of an actuator control in a driver state referred to as "normal driver". Fig. 7 A schematic representation to illustrate the effect of an actuator control in a driver state referred to as "Comfortable Driver", Fig. 8 A schematic representation to illustrate the effect of an actuator control in a driver condition referred to as "anxious driver", Fig. 9 a schematic representation to illustrate the effect of an actuator control in a driver condition referred to as "inattentive driver", Fig. 10 an example of state properties for determining a driver state referred to as a “normal driver” and Fig. 11 an example of state properties for determining a driver state referred to as “Aggressive Driver”.

[0135] Out of Fig. Figure 1 shows a schematic representation of a vehicle 26, which has a vehicle body 27 and a chassis 28 with a front axle 29 and a rear axle 30, each comprising two vehicle wheels 31, which are each connected to the vehicle body 27 via a wheel suspension 32. Furthermore, the vehicle wheels 31 are connected to the vehicle body 27 via dampers 33. Preferably, the vehicle wheels 31 are also connected to the vehicle body 27 via springs. The wheel suspensions 32 of the front axle 29 and the wheel suspensions 32 of the rear axle 30 are each coupled to each other via a roll stabilizer 34. Furthermore, the vehicle wheels 31 of the front axle 29 can be steered by means of a steering wheel 35. An active rear axle steering system 36 is also provided for adjusting the track of the vehicle wheels 31 of the rear axle 30. The vehicle 26 comprises a vehicle engine 37 and an accelerator pedal 38, by means of which the vehicle engine 37 can be controlled.Furthermore, the vehicle 26 includes a brake pedal 39 and vehicle brakes 40, which can be actuated by means of the brake pedal 39. The vehicle engine 37 is coupled to a switchable vehicle transmission 41, which can be shifted into different gears by means of a transmission control unit 42. Additionally, the following are included: Fig. 1 a longitudinal direction x, a transverse direction y and a vertical direction z of vehicle 26 are indicated.

[0136] From the Fig. 2 and Fig. Figure 3 shows schematic representations to illustrate the method according to the invention in one embodiment, wherein several state properties 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 and 11 are measured, provided in the form of electrical state signals S1, S2, S3, S4, S5, S6, S7, S8, S9, S10 and S11 and supplied to an evaluation unit 12, by means of which a current driver state data set DSA is formed. State property 1 (speed) comprises a speed of the vehicle 26, state property 2 (accelerator pedal position) comprises an actuation position of the accelerator pedal 38 of the vehicle 26, state property 3 (accelerator pedal speed / acceleration) comprises an actuation speed and / or an actuation acceleration of the accelerator pedal 38, state property 4 (brake pedal position) comprises an actuation position of the brake pedal 39 of the vehicle 26,State property 5 (brake pedal speed / acceleration) comprises an actuation speed and / or an actuation acceleration of the brake pedal 39; state property 6 (accelerations / yaw rate of the vehicle body) comprises accelerations and / or rotational speeds of the vehicle body 27 of the vehicle 26; state property 7 (interior camera / facial recognition) comprises facial expressions of a driver located in an interior space of the vehicle body 27; state property 8 (external sensors [wearables etc.]) comprises at least one vital parameter, in particular a pulse rate, of the driver; state property 9 (radar / lidar [distance to traffic]) comprises a distance to a vehicle ahead; state property 10 (engine parameters) comprises at least one engine parameter, in particular a rotational speed.of the vehicle engine 37 of the vehicle 26 and the condition property 11 (noise background / music volume detection) includes a noise background in the interior of the vehicle body 27.,

[0137] Furthermore, several different driver state data sets DS1, DS2, DS3, DS4, DS5, and DS6 are specified, with which the current driver state data set DSA is compared using a comparison unit 13. Additionally, one of the specified driving state data sets DS1, DS2, DS3, DS4, DS5, and DS6 is selected based on this comparison using the comparison unit 13, with this selected driving state data set being designated by the reference symbol DSS. Optionally, the evaluation unit 12 and / or the comparison unit 13 can be supplemented or equipped with artificial intelligence, which is indicated in the drawing by the reference symbol AI.

[0138] Preferably, each of the specified driver state data sets DS1, DS2, DS3, DS4, DS5 and DS6 is assigned a designation, whereby the driver state data set DS1 is assigned the designation "Aggressive Driver", the driver state data set DS2 the designation "Sporty Driver", the driver state data set DS3 the designation "Normal Driver", the driver state data set DS4 the designation "Comfortable Driver", the driver state data set DS5 the designation "Anxious Driver" (alternatively: "Insecure Driver") and the driver state data set DS6 the designation "Inattentive Driver".

[0139] Furthermore, several different actuator control data sets AS1, AS2, AS3, AS4, AS5 and AS6 are specified (see Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8 to Fig. 9) where each of the predefined driver state data sets DS1, DS2, DS3, DS4, DS5, and DS6 is assigned one of the actuator control data sets. Actuator control data set AS1 is assigned to driver state data set DS1 labeled "Aggressive Driver." Actuator control data set AS2 is assigned to driver state data set DS2 labeled "Sporty Driver." Actuator control data set AS3 is assigned to driver state data set DS3 labeled "Normal Driver." Actuator control data set AS4 is assigned to driver state data set DS4 labeled "Comfortable Driver." Actuator control data set AS5 is assigned to driver state data set DS5 labeled "Anxious Driver" (alternatively: "Insecure Driver"). Finally, actuator control data set AS6 is assigned to driver state data set DS6 labeled "Inattentive Driver."The actuator control data set assigned to the selected driver state data set DSS is also referred to as the selected actuator control data set and is identified by the reference symbol ASS.

[0140] The vehicle includes several actuators 14, 15, 16, 17, 18, 19, 20, 21, 22, 23 and 24, where each of these actuators can represent at least one actuator, i.e., for example, a single actuator, but also several actuators. Actuator 14 represents at least one actuator of the active rear-axle steering (AKC) 36 of the vehicle 26. Actuator 15 represents at least one actuator of an active roll stabilization (ERC) system of the vehicle 26. Actuator 16 represents at least one actuator of a steer-by-wire (SbW) system of the vehicle 26. Actuator 17 represents at least one actuator of a damping control (CDC) system of the vehicle 26. Actuator 18 represents at least one actuator of an active suspension (sMO) system of the vehicle 26. Actuator 19 represents at least one actuator of a brake-by-wire (BbW) system of the vehicle 26. Actuator 20 represents at least one actuator of an electronic power control (EPC) system of the vehicle 26.

[0141] Actuator 21 represents at least one actuator of a power steering (PS) system of the vehicle 26. Actuator 22 represents at least one actuator of an adaptive cruise control (ACC) system of the vehicle 26. Actuator 23 represents at least one actuator of the transmission control (GS) 42 system of the vehicle 26. Finally, actuator 24 represents at least one actuator of an anti-noise system (ANC) system of the vehicle 26. These actuators are controlled by an actuator control unit 25, to which the selected actuator control data set ASS is supplied and / or made accessible, depending on the selected actuator control data set ASS.

[0142] It should be noted in particular that not all of the actuators 14, 15, 16, 17, 18, 19, 20, 21, 22, 23 and 24 need to be present in vehicle 26. According to a modification, it is possible that vehicle 26 only comprises a subset of the actuators.

[0143] In the Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8 to Fig. 9. The selected actuator control data set ASS is formed by different actuator control data sets AS1, AS2, AS3, AS4, AS5, and AS6. Furthermore, in the Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8 to Fig. Section 9 briefly explains the effects achieved by controlling the actuators 14, 15, 16, 17, 18, 19, 20, 21, 22, 23 and 24 depending on the respective actuator control data set.

[0144] It should be noted that in Fig. 6. The actuator control data set AS3, assigned to the driver state data set DS3 labeled "Normal Driver," forms the selected actuator control data set ASS. If qualifying terms are used for the effects achieved by the other actuator control data sets AS1, AS2, AS4, AS5, and AS6, such as higher, stronger, harder, sharper, etc., these terms refer specifically to the effect of the corresponding actuator using the actuator control data set AS3 for the "normal driver." For example, in Fig. 4 the effect explained for actuator 23 of the transmission control (TC) 42: “Move to the rear for operation at higher speeds”, that the speed thresholds at which a gear change occurs are lower compared to Fig. 6 are shifted towards higher speeds.

[0145] Out of Fig. Figure 10 shows an example of state characteristics for determining a driver state designated as a "normal driver". The current driver state data set DSA is generated from the state signals S1 to S11 using the evaluation unit 12 and fed to the comparison unit 13. The current driver state data set DSA comprises the following current driver state data: - The vehicle's speed V is 159 km / h - The relative actuation position of the accelerator pedal is 67% - The actuation speed of the accelerator pedal is 0° / s - The relative actuation position of the brake pedal is 0% - The actuation speed of the brake pedal is 0° / s - The roll rate (around the vehicle's longitudinal axis X) is 00° / s - The pitching speed (around the vehicle's transverse axis Y) is -01° / s - The yaw rate (around the vehicle's vertical axis Z) is 0.2° / s - Driver's facial expression: Concentrated - The driver's pulse rate is: 85 bpm - The distance to the vehicle in front is: 150m - The engine speed of the vehicle is: 3400 rpm - Level of the set music volume: 04

[0146] Preferably, facial expressions are also represented by a numerical value. The comparison unit 13 compares the current driver state data set DSA with the predefined driver state data sets DS1 to DS6, each containing predefined driver state data. In this case, the smallest deviation of the current driver state data set DSA from the predefined driver state data sets DS1 to DS6 occurs for the predefined driver state data set DS3.

[0147] Out of Fig.Figure 11 shows an example of state characteristics for determining a driver state designated as "Aggressive Driver". The current driver state data set DSA is generated from the state signals S1 to S11 using the evaluation unit 12 and fed to the comparison unit 13. The current driver state data set DSA comprises the following current driver state data: - The vehicle's speed V is 159 km / h - The relative actuation position of the accelerator pedal is 98% - The accelerator pedal actuation speed is 2° / s - The relative actuation position of the brake pedal is 0% - The actuation speed of the brake pedal is 0° / s - The roll rate (around the vehicle's longitudinal axis X) is 21° / s - The pitching speed (around the vehicle's transverse axis Y) is -09° / s - The yaw rate (around the vehicle's vertical axis Z) is 12° / s - Driver's facial expression: Tense - The driver's pulse rate is: 140 bpm - The distance to the vehicle in front is: 10m - The engine speed of the vehicle is: 7200 rpm - Level of the set music volume: 11

[0148] Preferably, facial expressions are also represented by a numerical value. The comparison unit 13 compares the current driver state data set DSA with the predefined driver state data sets DS1 to DS6. In this case, the smallest deviation of the current driver state data set DSA from the predefined driver state data sets DS1 to DS6 occurs for the predefined driver state data set DS1. Reference sign 1. Vehicle State / Speed 2. State / actuation position of the accelerator pedal 3. State property / actuation speed of the accelerator pedal 4. State / actuation position of the brake pedal 5. State characteristic / actuation speed of the brake pedal 6 State properties / Rotational speeds of the vehicle body 7. Driver's physical condition / facial expression 8. Driver's physical condition / vital parameters, especially pulse rate 9. Vehicle condition / distance to vehicle in front 10. Condition characteristic / engine identification number, in particular engine speed 11. Condition / Noise Level 12 evaluation units 13 Comparison unit 14 Rear axle steering actuator (AKC) 15 Roll stabilization actuator (ERC) 16 Actuator of the steer-by-wire system (SbW) 17 Damping Control Actuator (CDC) 18 Actuator of the active landing gear (SmO) 19 Actuator of the brake-by-wire system (BbW) 20 Electronic Power Control (EPC) actuator 21 Power steering actuator (PS) 22 Adaptive Cruise Control (ACC) actuator 23 Actuator of the transmission control (GS) 24 Actuator of the anti-noise system (ANC) 25 Actuator control unit 26 vehicles 27 Vehicle body 28 Chassis 29 Front axle 30 Rear axle 31 vehicle wheel 32 Wheel suspension 33 dampers 34 Roll stabilizer 35 Steering wheel 36 Rear axle steering 37 Vehicle engine 38 Accelerator pedal 39 Brake pedal 40 Vehicle brake 41 Vehicle transmissions 42 Gearbox control AS1 actuator control data set AS2 actuator control data set AS3 actuator control data set AS4 actuator control data set AS5 actuator control data set AS6 actuator control data set ASS selected actuator control data set DS1 predefined driver state data set (Aggressive Driver) DS2 predefined driver state data set (Sporty Driver) DS3 predefined driver state data set (normal driver) DS4 predefined driver state data set (Comfortable Driver) DS5 predefined driver state data set (Anxious Driver) DS6 predefined driver state data set (Inattentive Driver) DSA current driver status data set DSS selected driver state data set S1 Status signal / Vehicle speed S2 status signal / accelerator pedal actuation position S3 status signal / accelerator pedal actuation speed S4 status signal / actuation position of the brake pedal S5 status signal / actuation speed of the brake pedal S6 status signal / rotational speeds of the vehicle body S7 status signal / driver's facial expressions S8 status signal / vital parameters of the driver, especially pulse rate S9 status signal / distance to vehicle ahead S10 status signal / engine identification number, especially engine speed S11 status signal / noise level x Vehicle longitudinal direction y vehicle transverse direction z Vehicle lifting direction

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