Motor vehicle operable in an autonomous and a manual driving mode and method for operating an output unit of a motor vehicle

Abstract

Motor vehicle (1) operable in an autonomous driving mode in which guidance control signals (21) for automated longitudinal and lateral guidance of the motor vehicle (1) can be generated by means of a control device (22), and in a manual driving mode in which longitudinal and lateral guidance of the motor vehicle (1) can be carried out by a driver (3), wherein at least one output control signal (49) can be generated by means of the control device (22) and output to at least one optical output unit (15) when a change from the autonomous driving mode to the manual driving mode is imminent, wherein the at least one output control signal (49) causes an optical warning signal (50) to be output into an occupant compartment (2) of the motor vehicle (1) by means of the at least one optical output unit (15),wherein the optical output unit (15) or at least one of the optical output units (15) is arranged on or in a vehicle column (11) of the motor vehicle (1).

Description

[0001] The present invention relates to a motor vehicle operable in an autonomous driving mode, in which guidance control signals for automated longitudinal and lateral control of the motor vehicle can be generated by means of a control device, and in a manual driving mode, in which longitudinal and lateral control of the motor vehicle can be carried out by a driver, wherein at least one output control signal can be generated by means of the control device and output to at least one optical output unit when a change from the autonomous driving mode to the manual driving mode is imminent, wherein the at least one output control signal causes an optical warning signal to be output into an occupant compartment of the motor vehicle by means of the at least one optical output unit.

[0002] The topic of autonomous driving is gaining increasing importance in the automotive sector. In vehicles with high levels of autonomy, or fully automated, autonomous, or self-driving vehicles, the occupants, including the driver, are permitted to attend to matters other than driving while the vehicle is in motion. For example, the driver can rotate the driver's seat so that their view faces the rear passenger area, allowing them to converse with passengers sitting in the back. Nevertheless, situations, planned or unplanned, can arise in which the driver must take over control of the vehicle.

[0003] WO 2018 / 144130A1 discloses an autonomous vehicle with displays arranged in the passenger compartment, in particular on the vehicle's headliner. Based on the direction of an occupant's gaze, camera images concerning the current state of the vehicle within their field of vision are displayed on the screens. Objects present in the camera images are also highlighted to facilitate a sudden transfer of control of the vehicle to the occupant.

[0004] Further concepts for vehicle lighting systems to inform an occupant are known from US 2010 / 0 302 020 A1 and DE 10 2004 015 671 A1.

[0005] The invention aims to provide an improved concept in connection with the output of a warning signal indicating the need for the occupant or driver to take over control of the motor vehicle.

[0006] According to the invention, the problem is solved in a motor vehicle of the type mentioned at the outset by arranging the optical output unit or at least one of the optical output units on or in a vehicle pillar of the motor vehicle.

[0007] The invention is based on the idea of ​​utilizing a virtually always available space in the passenger compartment, which, due to the existing spatial constraints, is almost never used for other purposes, for the output of the visual warning signal. The vehicle roof is connected to the underbody, specifically the floor and / or sills and / or fenders, via the vehicle pillars. Vehicle pillars typically have an elongated, web-like design, which, due to this very confined structure, offers hardly any possibilities for mounting additional components. In contrast, the optical output unit can be designed to be sufficiently small to be installed in or on the vehicle pillar.The optical output unit can be attached to a surface of the vehicle column that faces the passenger compartment and thus represents a visible side of the vehicle column, or it can be inserted into a recess of the vehicle column, so that it protrudes at least partially into an interior of the vehicle column and may be flush with the surface of the vehicle column.

[0008] The motor vehicle according to the invention can be operated in autonomous driving mode. In this mode, the control signals required for driving, which are directed towards longitudinal guidance (i.e., acceleration and braking) and lateral guidance (i.e., steering), are generated by the control unit provided for this purpose and output to the respective components of the motor vehicle, such as a steering system and a traction system. Autonomous operation in motor vehicles is classified into levels or stages of automation, ranging, for example, from 0 to 5. While level 0 means that the driver is manually driving, level 5 means that fully automated driving takes place, in which, apart from setting a destination and starting the system, no human intervention is required.In the motor vehicle according to the invention, the autonomous driving mode is preferably feasible within the framework of automation level 3 and / or 4.

[0009] In autonomous driving mode, the guidance control signals are preferably generated based on several pieces of driving information acquired that relate to the current driving operation of the vehicle. For this purpose, the vehicle may include a sensor system whose sensor signals are used to determine or represent the driving information. The sensor signals can be transmitted to the control unit. The sensor system can detect, in particular, circumstances relating to the vehicle's environment, including current traffic situations, other road users, and road conditions. The sensor system may include at least one optical sensor for acquiring image data relating to the visually visible range of the electromagnetic spectrum. Additionally or alternatively, the sensor system may include at least one radar sensor and / or at least one lidar sensor.The sensor data can be transmitted to and analyzed by data analysis software, particularly software implemented by the control unit. This data analysis software, which could be image analysis software, for example, could be artificial intelligence.

[0010] The motor vehicle according to the invention can be operated in manual driving mode. In this mode, at least some, and in particular a large proportion, of the control signals and / or operating actions required for driving, which are directed towards longitudinal and lateral guidance, are generated by the driver and output or transmitted to the respective vehicle components. It is preferably provided that the manual driving mode of the motor vehicle according to the invention can be implemented within the framework of automation levels 0 and / or 1 and / or 2.

[0011] The optical output unit can be used to generate a visual warning signal. In a simple, preferred case, the visual warning signal is implemented by illuminating a warning light. This is easily understood and intuitively perceptible to the occupant and allows for rapid intervention.

[0012] The vehicle pillar supporting the optical output unit, or at least one of the vehicle pillars supporting one of the optical output units, is preferably arranged in a central or rearward area of ​​the passenger compartment with respect to a longitudinal direction of the vehicle. This enables the driver to perceive the optical warning signal even when the driver's seat is facing the rear of the passenger compartment or when the driver is located there. In this case, outputting the optical warning signal via an optical output unit located in the area of ​​the dashboard, which is also conceivable within the scope of the present invention, would pose the risk that the driver facing away from the dashboard would not perceive the optical warning signal, particularly if it is output exclusively via the optical output unit located there.

[0013] Preferably, the optical output unit, or at least one of the optical output units, is arranged on or in a B-pillar or on a C-pillar of the motor vehicle. The B-pillar, also referred to as the center pillar, connects the vehicle roof and the vehicle floor at the center of the passenger compartment with respect to a longitudinal direction. The C-pillar connects the vehicle roof to a rear side wall with respect to the longitudinal direction of the vehicle, in particular the rear fender. If the motor vehicle according to the invention is a station wagon that has a fourth pillar extending rearward along the longitudinal direction of the vehicle, also referred to as a D-pillar, the optical output unit, or at least one of the optical output units, can also be arranged on this pillar.

[0014] It is conceivable that the optical output unit, or at least one of the optical output units, comprises at least one light source by means of which a warning light, particularly a colored one, can be generated as the optical warning signal. The light source can be a light-emitting diode (LED). Preferably, light of varying brightness and / or color can be generated by means of the light source. The optical output unit can have a housing in which the components of the optical output unit, in particular the light source and optionally a support for the light source, such as a circuit board, are arranged. The housing can have an opening or a transparent section through which the light generated by the light source is emitted.

[0015] In the motor vehicle according to the invention, at least one further optical output unit may be arranged on the vehicle headliner or a front console, in particular on the dashboard. The advantages described in connection with the optical output unit arranged on the vehicle pillar apply equally or are correspondingly enhanced if, in addition, one of the optical output units is arranged in the upper area of ​​the passenger compartment, i.e., on the vehicle headliner.

[0016] It is conceivable that the control device can output at least one control signal to at least one acoustic output unit, wherein the at least one control signal causes an acoustic warning signal to be emitted into the passenger compartment of the motor vehicle by means of the at least one acoustic output unit. By emitting the acoustic warning signal in addition to the visual warning signal, the warning effect for the driver is further enhanced. The acoustic warning signal can be a warning tone, in particular a siren- or horn-like tone, or a spoken warning text output as a voice message. The output of the visual and acoustic warning signals can occur simultaneously, in particular concurrently.

[0017] The present invention further relates to a method for operating at least one optical output unit of a motor vehicle, wherein the motor vehicle is operable in an autonomous driving mode, in which guidance control signals for carrying out automated longitudinal and lateral guidance of the motor vehicle are generated by means of a control device, and in a manual driving mode, in which the longitudinal and lateral guidance of the motor vehicle is carried out by a driver, wherein at least one output control signal is generated by means of a control device of the motor vehicle and is output to the at least one optical output unit when a change from the autonomous driving mode to the manual driving mode is imminent, wherein the at least one output control signal causes an optical warning signal to be output into an occupant compartment of the motor vehicle by means of the at least one optical output unit.According to the invention, the problem is solved in such a method by arranging the optical output unit, or at least one of the optical output units, on or in a vehicle pillar of the motor vehicle. All advantages, features, and aspects explained in connection with the motor vehicle according to the invention are equally transferable to the method according to the invention, and vice versa.

[0018] It is conceivable that during autonomous driving mode, at least one change signal is detected, which is used to verify the fulfillment of a change condition. The generation and output of the control signal occur when this condition is met. Verifying the fulfillment of the change condition provides a decision criterion for whether the control signal is currently being generated and output, and whether the visual warning signal is being produced. The relevant change signal relates to circumstances that necessitate switching to manual driving mode and thus indicate the appropriateness of issuing the visual warning signal. Verification of the change condition can be performed continuously or cyclically at intervals of, for example, less than one second. This verification can be carried out by the control unit.

[0019] Preferably, at least one criticality information relating to the transition from autonomous driving mode to manual driving mode is captured, wherein the appearance of the optical warning signal depends on the at least one criticality information. In this embodiment, the optical warning signal output not only provides binary information about whether a transition to manual driving mode is imminent, but also includes a gradation of the urgency and / or the presence of a hazardous situation.

[0020] It is conceivable that the transition information, or one of the transition information pieces, and / or the criticality information, or one of the criticality information pieces, is a time-based information piece relating to the remaining time and / or distance until the switch from autonomous driving mode to manual driving mode. For example, at the beginning of a journey, a specific time or location on the route to be traveled can be determined at which the autonomous driving mode will end. The vehicle may be equipped with a navigation system that performs corresponding route planning, with the location being determined during the route planning process. The time-based information can refer to the remaining time until the switch is to take place. Alternatively, the time-based information can refer to the remaining distance to the point where the switch is to occur.The aforementioned switching condition can be fulfilled, or can only be fulfilled, if the time information shows that the remaining time or distance until the switch falls below a predetermined limit.

[0021] The changeover information, or one of the changeover information types, and / or the criticality information, or one of the criticality information types, can be a problem indicator relating to an issue that arises during the automated longitudinal and lateral control system. The problem may occur in a situation where, during automated longitudinal and lateral control, it is determined that, for example, due to ambiguous evaluation results from sensor signals used to generate the control signals, a situation exists in which the autonomous driving mode cannot be assumed to function flawlessly. If the problem indicator signals the presence of a problem, immediate driver intervention and thus an immediate switch to manual driving mode are typically required.

[0022] It is conceivable that the change information, or one of the change information pieces, and / or the criticality information, or one of the criticality information pieces, is traffic information relating to the current traffic situation in which the vehicle is currently located. The traffic information may concern circumstances regarding the current road layout, other road users, and / or current right-of-way situations. Based on the traffic information, a hazard value can be determined, for example, by means of the control unit, which represents a measure of the current accident potential. Additionally or alternatively, the hazard value can be determined based on the problem information. The aforementioned change condition can then be fulfilled, or only fulfilled, if the hazard value shows that it exceeds a predefined limit.

[0023] Particularly when traffic information relates to specific circumstances in the vicinity of the vehicle, this information can be acquired using the vehicle's sensors. As mentioned above, these sensors can include optical sensors, radar sensors, and / or lidar sensors.

[0024] Provided that at least one criticality indicator is detected, it is preferably provided that the color and / or brightness and / or the presence of a flashing pattern and / or the flashing frequency of the visual warning signal depend on the at least one criticality indicator. For example, it is conceivable that the color of the warning light changes with respect to the time information as the remaining time or distance until the changeover decreases and / or with respect to the traffic information as the hazard level increases, for example, from green to yellow to red. The brightness of the warning light can also be increased in this context. It is also conceivable that the warning light flashes if the remaining time or distance until the changeover falls below a predetermined threshold and / or if the hazard level exceeds one or more predetermined thresholds.The flashing frequency can increase with a further decrease in the remaining time or distance until the change and / or with a further increase in the danger level.

[0025] Regarding the acoustic warning signal, it may also be stipulated that at least one property of this signal depends on at least one piece of criticality information. For example, a volume and / or a frequency and / or the presence or absence of the corresponding tone, and possibly a tone frequency, may depend on the criticality information.

[0026] It is conceivable that brightness information related to the ambient light level of the vehicle is detected, with the brightness of the visual warning signal depending on this brightness information. Thus, the brightness of the visual warning signal can be greater the greater the current ambient light level of the vehicle. This ensures not only that the visual warning signal is reliably perceived even in bright surroundings, but also that glare from the visual warning signal is avoided in darkness. The brightness information can be determined using sensor data from a brightness sensor in the vehicle, which could be the optical sensor of the sensor device.

[0027] Preferably, the motor vehicle comprises several optical output units by means of which the optical warning signal is emitted, wherein the optical output units are distributed throughout the passenger compartment. In this way, the optical warning signal is not emitted from a single location in the passenger compartment, but distributed across several locations, thus ensuring reliable perception of the optical warning signal. In particular, one of the output units is arranged at the B-pillar, particularly at both B-pillars, as well as at the C-pillar, particularly at both C-pillars, and optionally at the D-pillar, particularly at both D-pillars.

[0028] The visual warning signal can always be output via any of the visual output units. It is also conceivable that the visual output units used to output the visual warning signal can be selected selectively. This means, for example, that the visual warning signal is output only via some of the visual output units, or via one of the optical output units for which this appears appropriate.

[0029] It is conceivable that directional information relating to the driver's current gaze direction is captured and taken into account in such a way that the visual warning signal is only output via the output unit(s) located within the driver's current field of vision, which is dependent on the direction of gaze. The selective output of the visual warning signal is thus targeted to those optical output units to which the driver is currently looking. The directional information can include the driver's current position within the passenger compartment and a horizontal angle relating to the driver's current gaze direction. Data from an interior camera located within the passenger compartment can be used to determine this directional information.

[0030] It is also conceivable that location information relating to the driver's current position is recorded and taken into account in such a way that the visual warning signal is only emitted by the output unit(s) located in the same area of ​​the passenger compartment as the driver. The selective output of the visual warning signal thus occurs specifically via those optical output units located in the same area of ​​the passenger compartment as the driver, and therefore in close proximity to the driver. If the aforementioned directional information also includes the driver's position within the passenger compartment, this directional information can additionally be used as location information.

[0031] Preferably, the generation of the output control signal and the associated evaluation steps are carried out by means of software implemented by the control unit, wherein the software implements, preferably, a trained artificial intelligence. The control unit is configured and designed to perform at least some of the steps of the method according to the invention. For this purpose, the control unit is connected to the components involved via signal lines. The control unit can comprise a computer-readable storage medium and a processing unit, wherein the storage medium comprises instructions implementing the software which, when executed by the processing unit configured as a computer, cause it to perform at least one of the steps, in particular all steps, of the method described above.

[0032] Further advantages, features and details of the present invention will become apparent from the exemplary embodiments described below and from the figures. These show schematically: Fig. 1 a schematic top view of a motor vehicle according to an embodiment of the invention, Fig. 2 a schematic, side view of the motor vehicle of the Fig. 1, Fig. 3 a longitudinal section through a vehicle pillar in the area of ​​an optical output unit of the motor vehicle Fig. 1, and Fig. 4 a flowchart of a method according to the invention in an exemplary embodiment, which is carried out on the part of the motor vehicle Fig. 1 is carried out.

[0033] Fig. Figure 1 shows a schematic top view of a motor vehicle 1 according to an embodiment of the invention, comprising a passenger compartment 2 in which the occupants of the motor vehicle 1, in particular a driver 3, typically reside during travel. The passenger compartment 2 can also be referred to as a passenger cell. Fig. Figure 2 shows a schematic, side view of the motor vehicle 1, broken open at the rear, so that the passenger compartment 2 is visible. The passenger compartment 2 contains a front console 4 forming a dashboard, a driver's seat 5, a passenger seat 6, and a rear bench seat 7. For better orientation, the Fig. 1 and Fig. 2 each shows a coordinate system in which a vehicle longitudinal direction 8 points rearward along a vehicle longitudinal axis, a vehicle transverse direction 9 points to the right along a vehicle transverse axis and a vehicle vertical direction 10 points upwards along a vehicle vertical axis.

[0034] The motor vehicle 1 comprises several vehicle pillars 11, namely two A-pillars 12, two B-pillars 13 and two C-pillars 14. For the sake of clarity, the vehicle pillars 11 are shown only in Fig. Figure 1 shows and connects a vehicle roof to a body underbody of the motor vehicle 1. Furthermore, the motor vehicle 1 comprises several optical output units 15, namely one on each of the two B-pillars 13, one on each of the two C-pillars 14, one on a headliner 16 and one on the dashboard 4. The optical output units 15 arranged on the vehicle pillars 11 are thus located in a central and rear area of ​​the passenger compartment 2.

[0035] Fig. Figure 3 shows a longitudinal section view of one of the vehicle pillars 11 on which one of the optical output units 15 is arranged, showing the area in which the optical output unit 15 is located. The vehicle pillar 11 has a recess into which the optical output unit 15 is inserted, so that it is located inside this vehicle pillar 11 and is flush with a visible side of the vehicle pillar 11 facing the passenger compartment 2.

[0036] The optical output units 15 each comprise a housing 17 in which light sources 18, designed as light-emitting diodes, and a carrier 19, namely a circuit board, supporting the light sources 18, are arranged. Light can be generated by means of the light sources 18, the color and brightness of which can be changed. The light generated by the light sources 18 exits the optical output unit 15 and enters the passenger compartment 2 via a transparent section 20 of the housing, which is formed by a diffuser extending flush with the visible side of this vehicle pillar 11.

[0037] The motor vehicle 1 can be operated in an autonomous driving mode and in a manual driving mode. In autonomous driving mode, the guidance control signals 21 required for driving, which are directed towards longitudinal guidance (i.e., acceleration and braking) and lateral guidance (i.e., steering), are generated by a control unit 22 of the motor vehicle 1 and output to a steering and a traction unit of the motor vehicle 1. The guidance control signals are generated based on driving information acquired from the current driving operation of the motor vehicle 1, which is determined from sensor data acquired by a sensor unit 39.

[0038] For the motor vehicle 1, it is intended that the autonomous driving mode can be implemented within the framework of automation level 3 or 4. This means that the autonomous driving mode generally operates without any intervention from the driver 3, allowing the driver to attend to other tasks during autonomous driving mode. Specifically, it is intended that the driver's seat 5 can be rotated 180° about an axis of rotation extending along the vehicle's vertical direction 10, so that the driver 3 faces the occupants 23 seated on the rear bench 7. A corresponding situation is described in the Fig. 2 shown.

[0039] Regarding the manual driving mode, it is provided that the driver 3 generates or performs the control signals and operating actions required for carrying out the driving operation, which are directed towards longitudinal and lateral guidance, i.e. steering by means of a steering wheel 24 and accelerating or braking by means of a corresponding pedal 25, whereby these control signals or operating actions are output or transmitted to the respective vehicle components.

[0040] Now, using the motor vehicle 1 as an example, a method according to the invention will be explained in accordance with an exemplary embodiment, with reference to Fig. Figure 4 shows a flowchart of this procedure. The control unit 22 is set up to carry out the evaluation and control steps. For example, the generation of the output control signals 21 and the execution of the related evaluation steps are carried out by means of software 26 implemented by the control unit 22, which implements a trained artificial intelligence. The control unit 22 is connected to the components involved via signal lines not shown in the figures. The control unit 22 comprises a computer-readable storage medium 27 and a processing unit 28, wherein the storage medium 27 contains instructions implementing the software 26, which, when executed by the processing unit 28 (designed as a computer), cause it to carry out the steps of the procedure described below.

[0041] The procedure comprises steps 29 to 34. Before the first step 29 is carried out, a route is planned at the beginning of the journey with vehicle 1 using a GPS-based navigation device 35 provided by vehicle 1. For this purpose, the driver 3 specifies the destination, and a corresponding route is planned using the navigation device 35. This route may also include a point where a switch from autonomous driving mode to manual driving mode will take place. For example, let us assume that the first part of the route includes autonomous driving on a highway, while the second part of the route is characterized by winding and confusing roads, which necessitates manual driving mode.

[0042] The first two steps 29 and 30 of the procedure concern the implementation of the autonomous driving mode. In the first step 29, several changeover information 36 is determined. One of the changeover information 36 is a time information 37, which relates to the remaining distance and thus the time until the change from the autonomous to the manual driving mode. The time information 37 is determined by the navigation device 35, which determines the current position of the vehicle 1 on the route, thereby enabling the determination of the time information 37.

[0043] Another of the changeable information 36 is traffic information 38, which relates to the current traffic situation in which the vehicle 1 is currently located. Traffic information 38 encompasses all circumstances and information required for executing the autonomous driving mode or for generating the guidance control signals 21. Traffic information 38 includes details regarding the current road layout, other road users, and the current right-of-way situation. To determine traffic information 38, sensor data acquired by the sensor device 39 of the vehicle 1 are transmitted to the control device 22 and evaluated by the software 26. The sensor device 39 comprises an optical sensor 40 for acquiring image data relating to the visually visible range of the electromagnetic spectrum, a radar sensor 41, and a lidar sensor 42.Based on the traffic information 38, the guidance control signals 21 are generated and output in the second step 30.

[0044] Another of the change information 36 is a problem information 43, which indicates whether a problem is currently occurring during the execution of the automated longitudinal and lateral guidance. This problem exists in a situation where, for example due to ambiguous evaluation results of sensor signals from the sensor device 39, on the basis of which the generation of the guidance control signals 21 is based, a situation exists in which error-free execution of the autonomous driving mode cannot be assumed.

[0045] In step 31, the fulfillment of a changeover condition is checked using changeover information 36. This check serves as a decision criterion for whether a change to manual driving mode is currently required or imminent. The changeover condition is fulfilled if, based on time information 37, the remaining time or distance until the change to autonomous driving mode falls below a predefined limit. Furthermore, the changeover condition is fulfilled if, based on a determined hazard value, it is determined that this value exceeds a predefined limit. The hazard value represents a measure of the current accident potential and is determined using traffic information 38 and problem information 43.

[0046] If the changeover condition is not met, the procedure continues with the re-execution of steps 29 and 30, and thus the updating of the changeover information 36. If the changeover condition is met, the procedure continues with the execution of step 32, in which several criticality information pieces 44 are determined, relating to a criticality concerning the pending changeover from autonomous driving mode to manual driving mode. The two criticality information pieces 44 are the already acquired information, namely the time information 37, the traffic information 38, and the problem information 43.

[0047] Furthermore, in step 32, brightness information 45 is determined, which relates to the brightness present in the vicinity of the vehicle 1. This brightness information 45 is determined based on the sensor or image data acquired by the optical sensor 40. Brightness information 45 is a value that indicates the average brightness present in this image data.

[0048] Finally, in step 32, direction information 47, comprising location information 46, is determined. To acquire the information 46, 47, image data from an interior camera 48 located in the passenger compartment 2 is used, which is evaluated by the software 26 for this purpose. The location information 46 relates to the current location of the driver 3 in the passenger compartment, i.e., in relation to the Fig. The situation shown in Figure 2 indicates that the driver is located in the driver's seat 5. In addition to this location information 46, the direction information 47 also relates to the current direction of view of the driver 3, i.e., in relation to the view shown in the Fig. 2. Situation shown, that his direction of gaze currently points backwards along the longitudinal direction 8 of the vehicle.

[0049] In the next step 33, an output control signal 49 is generated based on information 44 to 47. The output control signal 49 is transmitted to the optical output units 15 and causes a selective output of an optical warning signal 50, which informs the driver 3 of the impending change from autonomous driving mode to manual driving mode. In this case, the warning signal 50 is an illuminated warning light. The generation of the output control signal 49 is such that the properties or appearance of the warning light depend on information 44 to 47, as explained below.

[0050] The color, brightness, flashing, and, if the warning light is flashing, flashing frequency of the optical warning signal 50 depend on information 44 to 47. With regard to time information 37, the color of the warning light changes as the remaining time decreases, transitioning from green to yellow to red. For example, the warning light is green when this time is more than 5 minutes, yellow when this time is between 2 and 5 minutes, and red when this time is less than 2 minutes. Furthermore, the warning light flashes when this time is less than 1 minute, with the flashing frequency then increasing as time decreases. With regard to traffic information 38, the color of the warning light also changes from green to yellow to red with increasing hazard level, and the brightness of the warning light increases with increasing hazard level.Regarding problem information 43, the warning light is always red and flashing when it indicates that there is currently a problem during the execution of the automated longitudinal and lateral guidance.

[0051] Although it is conceivable that the optical warning signal 50 could be output by means of all optical output units 15, in the present embodiment this occurs selectively, i.e., only with some of the optical output units 15. Specifically, the output control signal 49 is generated based on the location information 46 and the direction information 47 such that the optical warning signal 50 is output only by means of those optical output units 15 that are within the driver's 3's current field of vision, which depends on the direction of view, and that the optical warning signal 50 is output only by means of those optical output units 15 that are in the same area of ​​the passenger compartment 2 as the driver 3. In the present case, this means that, based on the Fig.2. An exemplary situation is shown in which the output of the optical warning signal 50 is carried out with the two optical output units 15 located on the left-hand vehicle pillars 11, the one on the right-hand C-pillar 14, and the one on the vehicle roof 16.

[0052] Furthermore, the output control signal 49 is generated such that the brightness of the optical warning signal 50 depends on the brightness information 45. The brightness of the warning light increases with the ambient brightness. This ensures that the optical warning signal 50 is sufficiently perceptible even in bright surroundings and that the driver 3 is not dazzled by the optical warning signal 50 in darkness.

[0053] The at least one output control signal 49 is also output to an acoustic output unit 51, which is a loudspeaker located in passenger compartment 2. Thus, the output control signal 49 causes an acoustic warning signal 52 to be emitted into passenger compartment 2 by means of the acoustic output unit 51. The acoustic warning signal 52 is, for example, a siren- or horn-like warning tone. The acoustic warning signal 52 is emitted simultaneously with the visual warning signal 50.

[0054] The characteristics of the acoustic warning signal 52 also depend on the criticality information 44. With regard to the time information 37, the volume of the acoustic warning signal 52 changes as the remaining time until the change decreases. If the visual warning signal 50 is flashing, the acoustic warning signal 52 also switches on and off cyclically at a frequency corresponding to the flashing frequency of the visual warning signal 50. With regard to the traffic information 38, the sound frequency of the acoustic warning signal 52 changes from a low to a high frequency as the level of danger increases. With regard to the problem information 43, the acoustic warning signal 52 is intended to be a voice output containing the warning text "Attention, immediate intervention by the driver is required!"

[0055] In the final step 34 of the procedure, the fulfillment of a completion condition is verified. This condition is only met if the vehicle has switched from autonomous driving mode to manual driving mode. If the vehicle 1 is operating in manual driving mode and the completion condition is therefore met, the procedure is initially terminated and then restarts with step 29 when the vehicle 1 returns to autonomous driving mode. If, however, the vehicle 1 is not yet in manual driving mode, steps 32 to 34 are repeated, resulting in a continuous update of warning signals 50 and 52, so that corresponding changes in information 44 to 47 are also reflected in warning signals 50 and 52. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] WO 2018 / 144 130 A1

[0003] US 2010 / 0 302 020 A1

[0004] DE 10 2004 015 671 A1

[0004]

Claims

[1] Motor vehicle (1) operable in an autonomous driving mode in which guidance control signals (21) for automated longitudinal and lateral control of the motor vehicle (1) can be generated by means of a control device (22), and in a manual driving mode in which longitudinal and lateral control of the motor vehicle (1) can be carried out by a driver (3), wherein at least one output control signal (49) can be generated by means of the control device (22) and output to at least one optical output unit (15) when a change from the autonomous driving mode to the manual driving mode is imminent, wherein the at least one output control signal (49) causes an optical warning signal (50) to be output into an occupant compartment (2) of the motor vehicle (1) by means of the at least one optical output unit (15), characterized bythat the optical output unit (15) or at least one of the optical output units (15) is arranged on or in a vehicle column (11) of the motor vehicle (1). [2] Motor vehicle (1) according to claim 1, characterized by , that the vehicle column (11) supporting the optical output unit (15) or at least one of the vehicle columns (11) supporting one of the optical output units (15) is arranged in a central or rear area of ​​the passenger compartment (2) with respect to a longitudinal direction (8) of the vehicle. [3] Motor vehicle (1) according to claim 1 or 2, characterized by , that the optical output unit (15) or at least one of the optical output units (15) comprises at least one light source (18) by means of which a warning light, in particular a colored light, can be generated as the optical warning signal (50). [4] Motor vehicle (1) according to any of the preceding claims, characterized by, that at least one further optical output unit (15) is arranged on a vehicle headliner (16) or a front console (4) of the motor vehicle (1). [5] Motor vehicle (1) according to any of the preceding claims, characterized by , that by means of the control device (22) the at least one output control signal (49) can be output to at least one acoustic output unit (51), wherein the at least one output control signal (49) causes an output of an acoustic warning signal (52) into an occupant compartment (2) of the motor vehicle (1) by means of the at least one acoustic output unit (51). [6] Method for operating at least one optical output unit (15) of a motor vehicle (1), wherein the motor vehicle (1) is operable in an autonomous driving mode in which guidance control signals (21) are generated by means of a control device (22) for carrying out automated longitudinal and lateral guidance of the motor vehicle (1), and in a manual driving mode in which the longitudinal and lateral guidance of the motor vehicle (1) is carried out by a driver (3), wherein at least one output control signal (49) is generated by means of a control device (22) of the motor vehicle (1) and is output to the at least one optical output unit (15) when a change from the autonomous driving mode to the manual driving mode is imminent, wherein the at least one output control signal (49) causes an output of an optical warning signal (50) into an occupant compartment (2) of the motor vehicle (1) by means of the at least one optical output unit (15),, characterized by that the optical output unit (15) or at least one of the optical output units (15) is arranged on or in a vehicle column (11) of the motor vehicle (1). [7] Method according to claim 6, characterized by , that during the execution of the autonomous driving mode at least one change information (36) is determined, on the basis of which the fulfillment of a change condition is checked, wherein the generation and output of the output control signal (49) takes place when the change condition is fulfilled. [8] Method according to one of claims 6 or 7, characterized by , that at least one criticality information (44) relating to the criticality of the change from the autonomous driving mode to the manual driving mode is recorded, wherein an appearance of the optical warning signal (50) depends on the at least one criticality information (44). [9] Method according to claim 7 or 8, characterized by, that the change information (36) or one of the change information (36) and / or the criticality information (44) or one of the criticality information (44) is a time information (37) relating to a remaining time and / or a remaining distance until the change from autonomous driving mode to manual driving mode. [10] Method according to any one of claims 7 to 9, characterized by , that the change information (36) or one of the change information (36) and / or the criticality information (44) or one of the criticality information (44) is a problem information (43) that relates to a problem occurring in the context of the implementation of the automated longitudinal and lateral guidance. [11] Method according to any one of claims 7 to 10, characterized by, that the change information (36) or one of the change information (36) and / or the criticality information (44) or one of the criticality information (44) is traffic information (38) relating to a current traffic situation in which the motor vehicle (1) is currently located. [12] Method according to any one of claims 8 to 11, wherein the criticality information (44) is captured, characterized by , that a color and / or a brightness and / or a flashing and / or a flashing frequency of the optical warning signal (50) depends on at least one criticality information (44). [13] Method according to any one of claims 6 to 12, characterized by , that brightness information (45) relating to brightness present in the environment of the motor vehicle (1) is detected, wherein the brightness of the optical warning signal (50) depends on the brightness information (45). [14] Method according to any one of claims 6 to 13, characterized by , that the motor vehicle (1) comprises several optical output units (15) by means of which the optical warning signal (50) is output, in particular selectively, wherein the optical output units (15) are arranged distributed in the passenger compartment (2). [15] Method according to claim 14, characterized by , that - directional information (47) relating to the driver's current direction of gaze (3) is detected and taken into account in such a way that the optical warning signal (50) is only output by means of the optical output unit (15) or only by means of those optical output units (15) which are located in the driver's current field of vision (3) which depends on the direction of gaze, and / or - location information (46) relating to the current location of the driver (3) is recorded and taken into account in such a way that the optical warning signal (50) is only issued by means of the optical (15) output unit or only by means of those optical (15) output units which are located in the same area of ​​the passenger compartment (2) as the driver (3).

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