Method, control device and computer program for communicating an event to a driver of a vehicle, as well as vehicle and computer-readable medium

Abstract

The present invention relates to a method, a control device, and a computer program for communicating an event to a driver of a vehicle, as well as to a vehicle and a computer-readable medium. The electric pedal assembly (100) comprises the pedal (110) pivotably mountable on the vehicle, which is configured to be actuated by a foot of a driver of the vehicle, and a pedal actuation unit (120) operatively connected to the pedal (110) and configured to cause a movement of the pedal (110). The inventive method comprises receiving an event signal representative of the event to be communicated and sending a notification signal to the pedal actuation unit (120) for communicating the event to the driver. The notification signal causes the pedal actuation unit (120) to move the pedal (110) such that the event is communicated to the driver.

Description

The present invention relates to a method, a control device and a computer program for communicating an event to a driver of a vehicle by means of a pedal of an electric pedal arrangement of the vehicle, and to a vehicle and a computer-readable medium, in particular for a so-called brake-by-wire pedal or a drive-by-wire accelerator pedal or power pedal.Electrical pedal arrangements which do not have a mechanical connection to the respective actuating elements, such as a brake unit or throttle valve, can become of importance in the future. In such electric pedal assemblies, such as an electric brake or accelerator pedal, a functional check prior to use thereof is important to allow the driver to perform all desired functions of the electric pedal assembly.Exemplary prior art is known from DE 10 2014 220 460 A1, U.S. Pat. No. 10 434 876 B2, DE 10 2010 013 356 A1, CN 104 442 382 A, DE 10 2016 220 385 A1, U.S. Pat. No. 10 434 876 B2, WO 2014 / 072 111 A2, U.S. Pat. No. 9 582 025 B2 and U.S. Pat. No. 9 827 811 B1.The present invention is essentially based on the object of communicating the driver of a vehicle efficiently and in a simple manner about events.This object is achieved with a method according to claim 1, a control device according to claim 10, a pedal arrangement according to claim 12, a vehicle according to claim 13, a computer program according to claim 14 and a computer readable medium according to claim 15. Advantageous embodiments are given in the dependent claims.The present invention is essentially based on the idea of using an electric pedal arrangement present in a vehicle, which has a pedal and a pedal actuation unit, which is operatively connected to the pedal and is designed to move the pedal and to detect movements of the pedal for detecting and detecting a driver's wish, such as a wish for accelerating or braking the vehicle, to inform the driver of the vehicle about events which take place. In particular, when such an event occurs, such as a previous collision, a recognized traffic sign or a recognized tiredness of the driver, the driver can be informed about this event by means of an active movement of the pedal and alerted thereto. This may be done, for example, by generating a predetermined pattern of movement of the pedal, such as a forward and rearward movement of the pedal.Thus, according to a first aspect of the present invention, a method of communicating an event to a driver of a vehicle via a pedal of an electric pedal assembly of the vehicle is disclosed. The electric pedal assembly includes the pedal pivotally attachable to the vehicle and configured to be operated by a foot of a driver of the vehicle, a pedal operation unit in communication with the pedal and configured to cause movement of the pedal, and a pedal force sensor disposed on the pedal and configured to generate a pedal force signal representative of an external force applied to the pedal. The method according to the invention comprises receiving an event signal representative of the event to be communicated, receiving a pedal force signal from the pedal force sensor, determining that a foot of the driver is at least partially touching the pedal based at least partially on the received pedal force signal, and transmitting a notification signal to the pedal actuation unit for notifying the event to the driver. The notification signal causes the pedal operation unit to move the pedal so as to notify the driver of the event. The message signal is transmitted to the pedal actuation unit only when it has been determined that a foot of the driver is at least partially touching the pedal.Thus, conversely, if it is determined that a foot of the driver is not currently touching the pedal, haptic feedback by means of the pedal actuation unit to which the notification signal is sent remains absent, since such haptic feedback that presupposes contact between the pedal and the driver would be useless.By sending the notification signal to the pedal actuation unit, which thereupon actively moves the pedal, the driver can be made active aware of the event and can easily communicate this event to him.According to a preferred embodiment, the event signal is representative of at least one of the following events to be communicated: message about the vehicle state and / or message about the vehicle environment and / or message about the geographical vehicle position and / or message about the driver state.The message about the vehicle state is preferably a message about the fact that certain vehicle functions are activated or deactivated, such as, for example, the parking brake, an auto hold function of the vehicle, an antilock system (ABS), an anti-slip control (ASR), an electronic stability program (ESP) and / or the selected vehicle drive program, such as, for example, recuperation mode, eco mode or sport mode. Furthermore, the communicated vehicle state may be emergency operation of the vehicle on the basis of a technical defect determined in some other way, such as, for example, a too low tire pressure in one of the tires of the vehicle or a low state of charge of the traction battery. In addition, the reported vehicle condition may indicate that at least one occupant in the vehicle is not properly seatbelted, that one of the vehicle doors, such as a vehicle door, a front door, a tailgate, a fuel door, or a tailgate, is not properly closed, that a trailer is hitched, or that the passenger airbag is deactivated due to an installed child seat on the passenger seat.In a further advantageous embodiment of the method according to the invention, the message about the vehicle environment comprises a message about the near-field and / or far-field environment of the vehicle, such as imminent collisions with objects in the vehicle environment, for example when changing the lane to a freeway, and / or a message about the roadway state, such as for example taps, coefficient of friction of adhesion of the roadway or unevenness of the roadway, and / or a message about recognized traffic signs and detected traffic light states. For example, the driver may be informed of a change of a red phase of a traffic light to a green phase of the traffic light when it is detected that the driver does not actively step the pedal for accelerating the vehicle within a predetermined period of time after such a change of the traffic signal.In a further preferred embodiment of the method according to the invention, the message about the geographical vehicle position comprises a message about traffic areas in which the vehicle is currently located, such as, for example, roads, school areas and / or environmental zones, and / or a message about completions that the driver has to complete in the environment of the geographical vehicle position, such as, for example, the visit of a doctor, and / or a message about imminent navigation announcements, such as, for example, an imminent turn for reaching the desired destination. Consequently, in addition to acoustic and visual information about the geographical vehicle environment, the driver can also be haptically informed about such an event via the pedal in the vehicle that is already present.Advantageously, the message about the driver state comprises a message about the tiredness and / or involuntaryness of the driver and / or a message about the need for a break for the driver and / or a message about a massage function for the foot and / or leg of the driver. In particular, when an increased fatigue of the driver is detected, the driver can either be shaken awake by the haptic feedback via the pedal or it can be pointed out that a break is necessary. It is likewise conceivable, according to the invention, to stress the foot and the leg by applying a force to the pedal in such a way that, on the one hand, a massage function takes place or, on the other hand, a muscle stress takes place, which can increase the driving comfort, in particular during long journeys. Furthermore, even during an autonomous driving operation of the vehicle and / or in a parked state of the vehicle, the driver can receive haptic feedback by means of the pedal.In a particularly advantageous embodiment of the method according to the invention, the notification signal is furthermore designed to cause the pedal actuation unit to move the pedal according to a predetermined movement pattern. The predetermined movement pattern has a predetermined amplitude and / or a predetermined amplitude range relative to the maximum pivoting movement of the pedal and / or a predetermined movement speed of the pedal and / or a predetermined movement acceleration of the pedal and / or a predetermined duration and / or a predetermined number of repetitions of the movement pattern. Furthermore, it may be preferred to provide a stringing together of predetermined movement patterns. The information content of the haptic message to the driver can thus be at least partially increased. For example, a short motion of the pedal may inform the driver of an imminent left turn, whereas a short and a long motion of the pedal, with respect to the travel path of the pedal, may inform the driver of an imminent right turn.In a particularly preferred embodiment, the predetermined movement pattern is a movement of the pedal by a predetermined portion of the maximum pivoting movement of the pedal in a first direction and back again.Preferably, the predetermined movement pattern is selected depending on the event to be notified. That is, a notification of the vehicle state has a different movement pattern than a notification of the vehicle environment. Similarly, the vehicle geographic position message has a different pattern of motion than a driver state message. Thus, by moving the pedal according to a predetermined pedal pattern, the driver can be alerted and informed of a particular event. The assignment of the event to the movement pattern can take place, for example, in the form of a look-up table in which a predetermined movement pattern is assigned to each detected event. The assignment of the predetermined movement patterns can be provided by the vehicle manufacturer or can be generated by the driver of the vehicle at his own choice.According to a further aspect of the present invention, a control device is disclosed which is designed to carry out a method according to the invention for notifying a driver of a vehicle by means of a pedal of an electric pedal arrangement of the vehicle.In a preferred embodiment, the control device according to the invention has a first control device section for executing the step of receiving the event signal and a second control device section for executing the step of transmitting the message signal.According to yet another aspect of the present invention, a pedal assembly for a vehicle is disclosed, comprising a pedal pivotally attachable to the vehicle and configured to be operated by a foot of a driver of the vehicle, a pedal operating unit operatively connected to the pedal and configured to move the pedal, and a control device according to the invention.In accordance with yet another aspect of the present invention, a vehicle having a pedal assembly according to the present invention is disclosed.According to yet another aspect of the present invention, a computer program is disclosed that comprises instructions which, when executed by a computing unit, cause the computing unit to execute a method according to the invention for notifying a driver of the vehicle of an event by means of a pedal of an electric pedal arrangement of the vehicle.According to yet another aspect of the present invention, a computer readable medium is disclosed on which the computer program according to the invention is stored.Other advantages and features of the present invention will become apparent to those skilled in the art upon practicing the teachings described herein and upon viewing the accompanying single drawing, in which: FIG. 1 shows a schematic illustration of an electric pedal arrangement according to the invention with a pedal for a vehicle, and FIG. 2 shows an exemplary flow diagram of a method according to the invention for notifying a driver of the vehicle of an event by means of the pedal of the electric pedal arrangement of FIG. 1.Within the scope of the present disclosure, an "electric pedal assembly" includes a pedal that is mechanically decoupled from the respective vehicle components. The pedal may be a brake pedal, an accelerator pedal such as an accelerator pedal or an electric pedal, a clutch pedal or a parking brake pedal. In particular, in an electric pedal arrangement according to the present disclosure, mechanical coupling devices, such as cable pulls, hydraulic systems, pneumatic systems or the like, which establish a mechanical coupling between the pedal and the respective vehicle component, are dispensed with. The pedal can preferably be a so-called brake-by-wire brake pedal, in which the pedal movement is converted into an electrical signal, which is provided to the actuating device for the brake shoes, which in turn generates the desired braking force.FIG. 1 shows a schematic illustration of an electric pedal arrangement 100 according to the invention with a pedal 110 for a vehicle. In addition to the pedal 110, the electric pedal arrangement 100 has a pedal actuation unit 120 (see dashed line in FIG. 1 ) which is operatively connected to the pedal 110 and is designed to set the position of the pedal 110 between a predetermined first end position and a predetermined second end position. The predetermined first and second end positions of the pedal 110 describe in particular the mechanical end positions of the pivotable pedal 110. Thus, the maximum pivot range of the pedal 110 is defined by the predetermined first end position and the predetermined second end position.However, it will be understood by those skilled in the art that an operating pivot range of the pedal 110 may be less than the maximum pivot range of the pedal 110. By appropriately driving the pedal operation unit 120, the operation range of the pedal 110 can be set as desired so that the operation swing range end positions are different from the predetermined first and second end positions. In this case, the pedal actuation unit 120 can apply such a great pedal actuator force to the pedal 110 located in an actuation pivot range end position that the driver feels that the end position is reached at this pedal position. Also, the pedal operation unit 120 may set the pedal operation feeling according to a driver's request.The pedal 110 includes a pedal member 112 pivotally attached to a pedal mount 111. The pivoting movement of the pedal 110, in particular of the pedal element 112, is marked in FIG. 1 by the arrow 113. The pedal 110 is also equipped with a pedal force sensor 114 configured to generate a pedal force signal representative of an external force applied to the pedal 110. For example, the pedal force sensor 114 may sense the force exerted by a driver's foot 10 on the pedal 110, particularly on the pedal member 112.The pedal actuation unit 120 operatively connected to the pedal 110 consists of a pedal actuator 122, which is designed to exert a pedal actuator force, which correlates with the pedal actuator operating parameters, such as, for example, electrical voltage and / or electrical current and / or rotor position and / or characteristic variables of the pedal actuator 112 per se, such as, for example, resistances, inductances or temperature, on the pedal 110 for moving the pedal 110. For this purpose, the pedal actuation unit 120 further has a transmission unit 124, which comprises a spindle 123, which is designed to move a spindle element 125 in translation when it rotates (see arrow 127 in FIG. 1 ). An actuating element 121 is fastened to the spindle element 125, which is coupled to the pedal 110 on the opposite side. The mechanical system of the electric pedal arrangement 100 is thus effected by a translatory drive of the spindle element 125 by the pedal actuator 122, which is converted into a pivoting movement (see arrow 113 in FIG. 1 ) of the pedal 110 on the basis of the joints on the spindle element 125 and the pedal 110.The pedal actuation unit 120 further comprises a power electronics 126 and a pedal actuation controller 128. The pedal actuation controller 128 is configured in particular to control the operation of the pedal actuation unit 120, in particular of the pedal actuator 122.The pedal actuation unit 120 may further comprise a reset device (not shown) configured to reset the pedal 110 to a predetermined initial position in a non-powered state, such as a deactivated vehicle. The restoring device can be provided, for example, in the form of a spring damper system. The reset device can also be designed to set the initial position of the pedal 110 as desired, so that it defines an actuating pivot range end position of the pedal 110. This actuating pivot range end position of the pedal 110 as the initial position is in turn adjustable according to a driver's intention.The pedal assembly 100 of FIG. 1 further includes a pedal position sensor 130 configured to generate a pedal position signal representative of the actual position of the pedal 100 between the predetermined first end position and the predetermined second end position. The pedal position sensor 130 can be, for example, an angle sensor which detects the angle between the fastening element 111 and the pedal element 112, from which the actual position of the pedal 110 can be determined. Alternatively or additionally, one of the linear position sensors for detecting the linear position of the spindle element 125 can be provided, from which the position of the pedal 110 can be derived. Alternatively or additionally, an angle sensor for detecting the angle between the spindle 123 and the actuating element 121 or for detecting the angle between the actuating element 121 and the pedal element 112 can be provided, from which the pedal position can in turn be derived. Alternatively or additionally, it is also possible to take into account parameters of the pedal actuator 122, such as, for example, the motor position of the pedal actuator 122, for ascertaining the pedal position.The pedal arrangement 100 further comprises a first limiting element 140 configured to mechanically limit a movement of the pedal 110 beyond the predetermined first end position. In particular, when the pedal 110 is moved in the direction of the first limiting element 140, the latter can come into contact with the pedal 110 and thus mechanically limit a further movement thereof. Similarly, the pedal assembly 100 includes a second limiting member (not shown) configured to mechanically limit movement of the pedal 110 beyond the predetermined second end position. In particular, when the pedal 110 is moved in the direction of the second limiting element 140, the latter can come into contact with the pedal 110 and thus mechanically limit a further movement thereof.The pedal assembly 100 of FIG. 1 further includes a control device 160 configured to control the pedal operation unit 120. The controller 160 may be in communication with the pedal actuation controller 128. Alternatively, the pedal operation controller 128 may be incorporated into the controller 160.The controller 160 may include a plurality of controller portions, such as a first controller portion 161 capable of receiving an event signal, a second controller portion 162 capable of transmitting a notification signal to the pedal operation unit 120, a third controller portion 164 capable of receiving the pedal position signal of the pedal position sensor 130, a fourth controller portion 166 for generating the notification signal, and a fifth controller portion 168 for receiving the pedal force signal from the pedal force sensor 114 which will be described later with reference to FIG. 2.The control device 160 may include a processor and a memory. Alternatively, the control device 160 may be the processor connected to the memory. The processor may be a central processing unit (CPU). The processor may further be another general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or the like. The general purpose processor may be a microprocessor, or the processor may be any conventional processor or the like.The memory includes, but is not limited to, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM), or portable read only memory (e.g., CD-ROM). The memory is configured to store associated program instructions and associated data.Referring to FIG. 2, an example flowchart of a method according to the invention for notifying an event to a driver of the vehicle via the pedal 110 of the electric pedal assembly 100 of FIG. 1 is shown.The method of FIG. 2 starts at step 200 and then reaches step 210, at which it is checked whether an event to be communicated has occurred or is present at all. An event to be communicated is, for example, a message about the vehicle state, a message about the vehicle environment, a message about the geographical vehicle position or a message about the driver state. A message about the vehicle state could be, for example, the message about an activated or deactivated parking brake. A message about the vehicle environment may be, for example, an imminent collision with an object, such as another vehicle, in the vehicle environment. A message about the geographical position of the vehicle can be, for example, a message about a certain traffic area in which the vehicle is currently located, such as a road in which driving of the vehicle is permitted at step speed. A message about the driver state can be, for example, the current one of a detected fatigue of the driver.Accordingly, all sensors of the vehicle which are present in any case can be used to generate and provide, based on their signals, such an event signal which is representative of an event which has taken place. These include, in particular, cameras, ultrasonic sensors, radar sensors, LIDAR sensors, acceleration sensors, seat occupancy sensors and any other sensors installed and present in the vehicle, each of which fulfil a predetermined function.The method of FIG. 2 remains at step 210 until such an event signal is received. As already explained, the event signal can be sent by an engine controller, which evaluates the corresponding signals of the vehicle sensors to determine whether or not an event to be communicated is present.If it is determined in step 210 that an event to be communicated is present, the method reaches step 220, in which a corresponding event signal is received by the control device 160, in particular by the first control device section 161. In FIG. 1, the reception of an event signal is characterized by a line extending into the control device 160 which represents a communication connection between the control device 160, in particular the first control device section 161, and the motor controller. It is self-evident to the person skilled in the art that the control device 160 can also be integrated in the engine controller.In a subsequent step 230, the control device 160, in particular the fifth control device section 168, can receive a pedal force signal from the pedal force sensor 114. In a subsequent step 240, the pedal force signal is evaluated to determine whether or not a foot 10 is resting on the pedal 110. Namely, if the pedal effort signal indicates a pedal effort value that exceeds a predetermined pedal effort threshold, it may be assumed that a driver's foot 10 is currently resting on the pedal 110, and thus the driver interacts with the pedal 110. If, on the other hand, the pedal force signal indicates a pedal force value that does not exceed the predetermined pedal force threshold value, this may be indicative of no foot 10 of the driver currently being applied to the pedal 110, and consequently the method then proceeds to step 270 and is ended.If it is consequently determined in step 240 that a foot 10 of the driver is resting on the pedal 110, the method reaches step 250, in which a predetermined movement pattern is determined based at least in part on the received event signal. In particular, a movement pattern can be determined as a function of the event that has taken place, which is known to the driver and can therefore also give the driver an indication of the type of event. The assignment of the event to the movement pattern can take place, for example, in the form of a look-up table in which a predetermined movement pattern is assigned to each detected event.In a subsequent step 260, the control device 160, in particular the fourth control device section 168, can generate and provide a notification signal based on the movement pattern determined in step 250. Simultaneously or in a separate step, the control device 160, in particular the second control device section 162, can send the generated notification signal to the pedal actuation unit 120, which is designed to cause the pedal actuation unit 120 to move the pedal 110 according to the predetermined movement pattern before the method is ended again in step 270.The movement pattern can be, in particular, predetermined amplitudes, predetermined movement ranges, predetermined pedal speeds, predetermined pedal accelerations, etc. The duration, intensity and / or repetitions of the pedal movements can also be features of the movement pattern. For example, a predetermined event can be communicated to the driver of the vehicle by short, vibration-like movements of the pedal 110, for example when detecting tiredness of the driver. The short, vibration-like movements of the pedal 110 can be configured to suggest to the driver or even wake up a recovery break.With the method according to the invention, when an event occurs and is detected, the driver can consequently be haptically informed about this, for example be warned of a dangerous situation which is imminent, such as a collision with another vehicle or an object located in the blind spot of the vehicle. It is also possible to provide the driver with haptic feedback via the pedal about a corresponding event and even muscle relaxation by applying a force to the driver's leg.

Claims

Method for communicating an event to a driver of a vehicle by means of a pedal (110) of an electric pedal arrangement (100) of the vehicle, wherein the electric pedal arrangement (100) comprises the pedal (110), which can be pivotably attached to the vehicle and is designed to be actuated by a foot of a driver of the vehicle, a pedal actuation unit (120), which is operatively connected to the pedal (110) and is designed to bring about a movement of the pedal (110), and a pedal force sensor (114), which is arranged on the pedal (110) and is designed to generate a pedal force signal which is representative of a force applied externally to the pedal (110), wherein the method comprises: - receiving an event signal which is representative of the event to be communicated, - receiving a pedal force signal from the pedal force sensor (114), - determining, a foot of the driver at least partially touches the pedal (110) based at least partially on the received pedaling signal, and transmitting a notification signal to the pedaling unit (120) to notify the event to the driver, wherein the notification signal causes the pedaling unit (120) to move the pedal (110) so as to notify the driver of the event, wherein transmitting the notification signal to the pedaling unit (120) is performed only when it is determined that a foot of the driver at least partially touches the pedal (110).Method according to claim 1, wherein the event signal is representative of at least one of the following events to be communicated: - message about the vehicle state, and / or - message about the vehicle environment, and / or - message about the geographical vehicle position, and / or - message about the driver state.Method according to claim 2, wherein the message about the vehicle state comprises: - a message about the fact that vehicle functions are activated or deactivated, such as for example the parking brake, an auto hold function of the vehicle, an antilock system (ABS), an anti-slip control (ASR), an electronic stability program (ESP) and / or the vehicle drive program.Method according to claim 2, wherein the notification about the vehicle environment comprises: - notification about the near-field and / or far-field environment of the vehicle, such as imminent collisions with objects in the vehicle environment, and / or - notification about the roadway condition, and / or - notification about traffic signs and traffic lights.Method according to claim 2, wherein the notification of the geographical position of the vehicle comprises: - notification of traffic areas, such as game roads, school areas and / or environmental zones, and / or - notification of completions that the driver has to complete in the vicinity of the geographical position of the vehicle, and / or - notification of navigation announcements.The method according to claim 2, wherein the notification of the driver's state comprises: - notification of the driver's fatigue, and / or - notification of the need for a break, and / or - notification of a massage function for the driver's foot and / or leg by applying force to the pedal (110) via the pedal operation unit (120).The method of any preceding claim, wherein the notification signal is further configured to cause the pedal operation unit (120) to move the pedal (110) according to a predetermined movement pattern.The method of claim 7, wherein the predetermined pattern of motion is a motion of the pedal (110) in a first direction and back again by a predetermined portion of the maximum pivotal motion of the pedal (110).Method according to claim 7, wherein the predetermined movement pattern is selected depending on the event to be notified.A control device (160) configured to perform the steps of the method according to any of the preceding claims.The control device (160) according to claim 10, comprising: - a first control device section (161) for executing the step of receiving the event signal, and - a second control device section (162) for executing the step of transmitting the notification signal.A pedal assembly (120) for a vehicle, comprising: - a pedal (110) pivotably attachable to the vehicle and configured to be actuated by a foot of a driver of the vehicle, - a pedal actuation unit (120) operatively connected to the pedal (110) and configured to move the pedal (110), and - a control device (160) according to any one of claims 10 and 11.A vehicle having a pedal assembly (120) according to claim 12.A computer program comprising instructions which, when executed by a computing unit, cause the computing unit to perform a method according to any one of claims 1 to 9.A computer readable medium having stored thereon the computer program of claim 14.

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