Method and assistance system for supporting a driver in a mixed traffic environment and appropriately equipped motor vehicle

Abstract

The invention relates to a method for assisting a driver (2) of a motor vehicle (1) in driving the vehicle. In this method, at least conditionally automated third-party vehicles (14) in the vicinity of the motor vehicle (1) are detected based on acquired environmental data. A notification (15) regarding the detected at least conditionally automated third-party vehicles (14) is then issued to the driver (2) of the motor vehicle (1) by means of an output device (8). The invention also relates to a correspondingly configured assistance system (4) and a motor vehicle (1) equipped therewith.

Description

[0001] The present invention lies in the field of automotive engineering and relates to a method for assisting a driver of a motor vehicle in driving the vehicle. The invention also relates to a corresponding assistance system for carrying out the method and a motor vehicle equipped therewith.

[0002] There are already approaches today for integrating at least partially automated vehicles into public road traffic. Such vehicles can, in principle, offer their occupants improved safety and comfort. However, in relation to overall traffic flow, this can also have negative impacts on safety and comfort. For example, the behavior of automated vehicles can differ from that of typical manually driven vehicles. Therefore, especially during the introductory phase, i.e., while automated vehicles are not yet a familiar part of traffic, and / or when automated vehicles are not readily recognizable as such to other road users, unexpected situations can arise. This can lead to misunderstandings, delays, or even accidents if other drivers do not anticipate certain behaviors from an automated vehicle.Therefore, there is a need for solutions to make the simultaneous use of automated and manually driven vehicles in the same traffic space more harmonious.

[0003] As one approach, US patent 9969320B2 describes a lamp for an autonomous vehicle. The lamp is intended to emit light into the vicinity of the autonomous vehicle when the vehicle is in manual driving mode. However, when the vehicle is in autonomous driving mode, the lamp is not intended to emit any light into the surrounding area.

[0004] Similarly, US 11 681 037 B2 describes a vehicle lamp with a marker lamp designed to inform the surroundings that the vehicle is being driven automatically.

[0005] These approaches can only partially solve the problems mentioned at the beginning, or not under all circumstances. For example, such lights may not always be reliably visible to the driver of another vehicle, or their meaning may not be clearly understood.

[0006] German patent DE 10 2018 218 922 A1 describes a method for predicting the driving behavior of a second vehicle by a first vehicle. This involves receiving data from the second vehicle's surroundings and / or data from the driver and / or the load of the second vehicle. Based on this information, the predicted driving behavior of the second vehicle is then calculated. However, even with this method, the actual behavior of the second vehicle cannot always be predicted exactly and reliably. Furthermore, it can be distracting for the driver of the first vehicle, for example, if they are presented with a complex, predicted driving behavior of the second vehicle.

[0007] The object of the present invention is to contribute to improving safety and comfort in traffic situations.

[0008] This problem is solved by the subject matter of the independent claims. Further possible embodiments of the invention are disclosed in the dependent claims, the description, and the figures. Features, advantages, and possible embodiments set forth in the description for one of the subject matter of the independent claims are to be regarded, at least analogously, as features, advantages, and possible embodiments of the respective subject matter of the other independent claims, as well as of any possible combination of the subject matter of the independent claims, optionally in conjunction with one or more of the dependent claims.

[0009] The method according to the invention serves to support a driver of a motor vehicle in driving the vehicle. In the method according to the invention, environmental data is acquired in the motor vehicle, i.e., by the motor vehicle or through the motor vehicle, for example by means of environmental sensors and / or via a data connection or by means of an assistance system of the motor vehicle configured for the method. This environmental data can characterize at least other road users in a respective environment of the motor vehicle, i.e., for example, specify and / or describe and / or identify and / or locate them. Such environmental data can be acquired continuously during operation, i.e., for example, continuously or at a predetermined acquisition frequency.

[0010] In a further step of the inventive process, vehicles currently operating at least conditionally automated are detected or identified in the vicinity of the motor vehicle based on environmental data. The captured environmental data can thus be automatically processed and evaluated to continuously check whether any other vehicles operating at least conditionally automated are currently located or moving in the vicinity of the motor vehicle. Conditionally automated driving can correspond to Autonomy Level 3 according to SAE J3016. Therefore, the occupants of an other vehicle operating at least conditionally automated do not need to constantly monitor the other vehicle or the surrounding traffic.

[0011] If at least one other vehicle with at least conditional automation is detected in the vicinity of the motor vehicle, for example, within a predetermined distance, then in a further step of the method according to the invention, an output device, in particular of the motor vehicle, is automatically activated to issue a notification to the driver of the motor vehicle regarding the at least one detected other vehicle with at least conditional automation. Such a notification can be issued at least or only if the motor vehicle itself is being controlled, operated, or driven in a mode that is at most partially automated or at most assisted.

[0012] Such a warning system allows the driver of a motor vehicle to be alerted to at least partially automated vehicles in the vicinity of the vehicle in a particularly safe, reliable, and consistent manner. Since a suitable output device on the vehicle itself can be used to issue the warning, the driver can perceive it regardless of the specific environmental conditions. This ensures, with a high degree of reliability, that the driver is always informed about at least partially automated vehicles in the vicinity.

[0013] The driver can then adjust their expectations or behavior accordingly, either preventively or proactively. This can help avoid potentially dangerous situations or reduce irritation and thus the driver's comfort. Because vehicles with at least conditional automation are automatically detected, various characteristics or identifying signals used to recognize or identify such vehicles can be taken into account simply, reliably, and consistently. The warning itself can always be consistent and unambiguous. This makes it easier for the driver to recognize that there are at least conditionally automated vehicles in the vicinity. In particular, this also allows drivers who are unfamiliar with the identifying signals or operating conditions of such vehicles to be alerted to their presence.Furthermore, the automatic recognition can be flexibly adapted, for example via a corresponding software update of the vehicle or its assistance system, if other methods or standards for identifying at least conditionally automated vehicles emerge or become established. This can be particularly useful because no universally valid standard for identifying at least conditionally automated vehicles has yet been established.

[0014] The present invention also relates to an assistance system for a motor vehicle. The assistance system according to the invention comprises an input interface for acquiring data, a data processing unit for processing the acquired data and generating corresponding control signals for an output device, and an output interface for outputting the control signals, for example, to the output device or an intermediate control unit or the like. The assistance system according to the invention is configured to execute the method according to the invention, in particular automatically. For this purpose, the assistance system or its data processing unit can, for example, comprise a processing unit, such as a microprocessor, microchip, microcontroller, or the like, and a computer-readable data storage device coupled thereto.This data storage device can then contain a corresponding operating or computer program that encodes or implements the process steps, measures, or sequences described in connection with the method according to the invention—or subsequently in connection with the assistance system according to the invention. This operating or computer program can then be executed by means of the process equipment in order to carry out the corresponding method or to effect its execution. The assistance system according to the invention can therefore be, in particular, the assistance system mentioned in connection with the method of measurement according to the invention.

[0015] The input and output interfaces can be separate or integrated in a bidirectional interface and can each be implemented wholly or partially in hardware and / or software. The assistance system according to the invention can be a standalone device or integrated into a more comprehensive vehicle system and / or have further functions. Depending on the configuration, the assistance system according to the invention can include the output device or, for example, be configured for direct or indirect coupling with such an output device, such as via the vehicle's electrical system.

[0016] The assistance system can be configured to trigger the output of an optical or visual cue, an acoustic cue, and / or a haptic cue in response to the respective control signal. Accordingly, the output device can be, for example, a display, a loudspeaker, a haptic actuator, or the like.

[0017] In one possible embodiment of the present invention, the assistance system is configured to acquire at least some of the environmental data via a communication or data connection. Such a communication or data connection can, in particular, be a Car2X or WLAN connection. In other words, at least conditionally automated vehicles can be recognized or identified based on signals or data received via such a communication or data connection or a corresponding interface.

[0018] For example, such vehicles can transmit their current driving or operating status, i.e., their currently used level of automation, directly to other vehicles in their vicinity, particularly the vehicle equipped with the assistance system, via such a communication or data connection. Indirect communication is also possible, for example, via infrastructure, road equipment, or traffic management systems, and / or an external server or similar device. The assistance system, or the vehicle equipped with it, can therefore be configured to receive corresponding signals or data via these channels.

[0019] The embodiment of the present invention proposed here can enable a particularly clear and reliable detection of vehicles driving at least conditionally automatically, for example even if such a vehicle is at least temporarily completely or partially obscured from the perspective of the motor vehicle and / or if such vehicles do not have a clear marking or have different markings visible from the outside.

[0020] In a further possible embodiment of the present invention, the assistance system is configured to acquire camera data from a vehicle's environmental detection camera, at least as part of the environmental data, and to recognize at least conditionally automated vehicles based on this data, using a specific marking and / or an operating state of an externally visible device of the vehicle. Such a device can, in particular, be a lamp or light. In other words, a light or illumination marking provided by or in the form of such an externally visible lamp can be used as the corresponding marking. In particular, for example, a specific light color signaling the at least conditionally automated operating state can be recognized or evaluated, and thus used as a criterion for recognizing at least conditionally automated vehicles.Detecting vehicles that are currently operating at least conditionally with automated driving capabilities based on a lamp or light color can have the advantage that such a lamp or light color can be controllable and thus signal the corresponding level of autonomy or automation only when the vehicle is actually operating in such an automated manner. The camera-based detection method proposed here allows vehicles that are operating at least conditionally with automated driving capabilities to be detected even if they and / or the vehicle equipped with the assistance system according to the invention are not configured for Car2X communication. In contrast, surround-view cameras are already widely used today.

[0021] In a further possible embodiment of the present invention, the assistance system is configured to generate the respective control signal in such a way that the resulting indication explicitly specifies the respective level of autonomy or automation of the detected at least conditionally automated vehicle. In other words, vehicles operating at conditional automation (Level 3), highly automated vehicles (Level 4), and fully automated vehicles (Level 5) can be characterized or identified by different or different indications. Such differentiated indications enable the driver to better assess the capabilities or the expected behavior of the respective vehicle.This can lead to further improvements in safety and comfort in traffic.

[0022] In a further possible embodiment of the present invention, the assistance system is configured to control an optical display device, in particular that of the respective motor vehicle equipped with the assistance system, to issue the warning. In other words, the assistance system can be configured to generate an optical or visual warning by means of the respective control signal. This allows the driver of the motor vehicle to be alerted to the detected, at least conditionally automated, other vehicle in a simple and distraction-free manner. Suitable optical display devices can be, for example, screens or displays, such as those of an instrument cluster or an infotainment system, or a head-up display (HUD). Such a display device can provide a spatial context in a particularly easily understandable way, or embed the warning within a spatial context.This allows the driver to easily recognize not only that a vehicle with at least limited automation has been detected in the vicinity, but also, for example, where this vehicle is located in the environment or in relation to the vehicle equipped with the assistance system. This can enable the driver to gain a particularly simple and accurate understanding of the surroundings and to adjust their expectations and / or behavior accordingly.

[0023] In a possible further development of the present invention, the assistance system is configured to provide a visual indication of detected, at least conditionally automated, third-party vehicles, distinguishing them from other third-party vehicles detected in the respective environment. This indication is displayed in a schematic representation of the environment shown by the display device. Such a schematic representation allows the driver to easily correlate the displayed data or information—in particular, representations of the third-party vehicles and the indication—with the real environment. This visual indication makes it particularly easy and intuitive to distinguish at least conditionally automated third-party vehicles from other vehicles, such as those with only partial automation or manual control.Thus, the further development of the present invention proposed here can further improve safety and comfort.

[0024] In a possible further development of the present invention, the assistance system is configured to provide visual highlighting by changing the color and / or brightness and / or a frame and / or an associated or superimposed symbol and / or a flashing display. Such indicators enable the driver to easily and intuitively identify other vehicles, at least those operating in a conditionally automated manner. Depending on the display device used, for example, a corresponding frame or symbol, or the like, can appear around or on a schematic representation of the respective other vehicle, or, from the driver's perspective, around or on the other vehicle actually visible in the surroundings.

[0025] In a further possible embodiment of the present invention, the assistance system is configured to control a head-up display (HUD) of the respective vehicle equipped with the assistance system, serving as a display device for outputting the respective warning(s). In other words, the assistance system can be configured to generate a corresponding projected optical or visual warning via the respective control signal. This allows the driver to be alerted to other vehicles, at least conditionally automated, detected in the vicinity with minimal distraction and with maximum safety, as the driver does not have to take their eyes off the surrounding traffic. Furthermore, this allows such other vehicles to be marked or identified with particular precision, ease, and intuitive understanding.This means the driver no longer needs to perform any transfer or allocation tasks between the real environment and, for example, a representation of the environment on a screen or similar device. This further improves safety and comfort.

[0026] The present invention also relates to a motor vehicle equipped with the assistance system according to the invention and comprising, as part thereof or coupled thereto, an output device, or the output device mentioned elsewhere, for issuing instructions to the respective driver of the motor vehicle. The motor vehicle according to the invention may, in particular, be the motor vehicle mentioned in connection with the method according to the invention and / or in connection with the assistance system according to the invention, or correspond to it. Accordingly, the motor vehicle according to the invention may have some or all of the properties and / or features mentioned in these contexts.

[0027] Further features of the invention may become apparent from the following description of the figures and from the drawings. The features and combinations of features mentioned above in the description, as well as the features and combinations of features shown below in the description of the figures and / or in the figures themselves, can be used not only in the combinations specified, but also in other combinations or individually, without departing from the scope of the invention.

[0028] The drawing shows in: Fig. 1 a schematic representation of a motor vehicle equipped to assist the driver in a mixed traffic environment; Fig. 2 an exemplary schematic representation to illustrate a first possible implementation for driver support; Fig. 3. An exemplary schematic representation to illustrate a second possible implementation of driver assistance; and Fig. 4 An exemplary schematic representation to illustrate a third possible implementation for driver assistance.

[0029] Identical or functionally equivalent elements are marked with the same reference symbols in the figures.

[0030] Fig. Figure 1 shows a schematic representation of a motor vehicle 1 that can be driven by a driver 2. To assist the driver 2 in driving the vehicle, the motor vehicle 1 has environmental sensors 3 and an assistance system 4. The assistance system 4 is represented here schematically and by an interface 5, a processor 6, and a computer-readable data storage device 7 coupled to it. The assistance system 4 can acquire sensor or environmental data from the environmental sensors 3 via the interface 5. The environmental sensors 3 can, in particular, include a camera for optically capturing the respective surroundings of the motor vehicle 1.Although the environmental sensor system 3 is shown here as an example and schematically as a device on the front of the motor vehicle 1, the environmental sensor system 3 can have several individual environmental sensors or detection devices, for example cameras, which can be arranged at different locations on the motor vehicle 1.

[0031] The motor vehicle 1 also has a dispensing device 8 by means of which payments can be made to the driver 2.

[0032] To further illustrate this, shows Fig. 2 an exemplary schematic representation of the environment 9, as it can be displayed by means of the output device 8 or output to the driver 2. In this schematic representation of the environment 9, for example, based on the sensor or environmental data of the environmental sensors 3 or also based on map data or the like, road markings 10, a lane 11 currently being used by the motor vehicle 1, and, if applicable, traffic signs 12 (see Fig. 3) and schematic representations of foreign vehicles 13 detected in the respective environment of the motor vehicle 1 are included or depicted.

[0033] The assistance system 4 is now configured to use the environmental data acquired by the environmental sensors 3 to recognize other vehicles 13 that are currently operating in at least a conditionally automated mode. For this purpose, the assistance system 4 can, for example, detect corresponding lights, illuminated markers, or similar features of such vehicles that indicate this.

[0034] In this case, for example, two other vehicles 13 were detected ahead of the two adjacent lanes, and one was detected ahead of the vehicle 1 in lane 11, which was being used by the vehicle 1. The assistance system 4 recognized the other vehicle 13 ahead of the vehicle 1 in the same lane 11 as being conditionally automated, i.e., as a Level 3 vehicle 14. The assistance system 4 is further configured to generate and output a control signal for each such detected Level 3 vehicle 14 to activate the output device 8, thereby generating a notification 15 for the detected Level 3 vehicle 14. As such a notification 15, which alerts the driver 2 to the detected Level 3 vehicle, its display or representation is modified compared to the displays or representations of the other other vehicles 13 and is thus visually highlighted.Furthermore, as another part of note 15, an explicit indication of the autonomy or automation level of the detected Level 3 vehicle 14 is embedded in the schematic environment representation 9 (L3).

[0035] Other types or variations of Note 15 are also possible. This is shown below. Fig. Figure 3 shows another exemplary schematic representation of the environment 9, as it can be displayed in a different situation or configuration using the output device 8. Here, too, only one of the detected foreign vehicles 13 was identified as a Level 3 vehicle 14. As a note 15, this Level 3 vehicle 14 is surrounded or marked here with a visually highlighting frame.

[0036] Output device 8 can also be a HUD instead of a screen or display. This is shown schematically and by way of example in Fig.Figure 4 shows a portion of the vehicle 1 and its surroundings from the driver's perspective. Within the driver's field of vision, a message 15 is projected by the output device 8 to mark a Level 3 vehicle 14 detected in the vicinity. This message 15 can appear or be displayed on the actual Level 3 vehicle 14, particularly in a contact-like manner.

[0037] Overall, the examples described show how a method for extending an HMI system (HMI: Human Machine Interface) can be implemented and applied for detected Level 3, Level 4 or Level 5 vehicles. Reference symbol list 1 motor vehicle 2 drivers 3. Environmental sensors 4 Assistance systems 5 Interface 6 processor 7 Data storage 8 Output device 9 Environment display 10 Road marking 11 lanes 12 traffic signs 13 foreign vehicles 14 Level 3 vehicles 15 Note 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] US 9 969 320 B2

[0003] US 11 681 037 B2

[0004] DE 10 2018 218 922 A1

[0006]

Claims

[1] Method for assisting a driver (2) of a motor vehicle (1) in driving the vehicle, wherein automatically - in the motor vehicle (1) environmental data is recorded that characterizes other road users (13) in a respective environment of the vehicle, - based on the environmental data, at least conditionally automated foreign vehicles (14) in the vicinity of the motor vehicle (1) are detected, - if at least one foreign vehicle (14) with at least conditional automation is detected, an output device (8) is activated to issue a respective notification (15) to the driver (2) of the motor vehicle (1) regarding the at least one detected foreign vehicle (14) with at least conditional automation. [2] Assistance system (4) for a motor vehicle (1), comprising an input interface (5) for acquiring data, a data processing device (6, 7) for processing the acquired data and for generating corresponding control signals for an output device (8), and an output interface (5) for outputting the control signals, wherein the assistance system (4) is configured to perform the method according to claim 1. [3] Assistance system (4) according to claim 2, characterized by , that the assistance system (4) is designed to acquire at least some of the environmental data via a data connection, in particular a Car2X or WLAN connection. [4] Assistance system (4) according to claim 2 or 3, characterized by, that the assistance system (4) is designed to capture, at least as part of the environmental data, camera data from an environmental detection camera (3) of the motor vehicle (1) and, based on this, to recognize at least conditionally automated foreign vehicles (14) by means of a respective marking and / or by means of an operating state of an externally visible device of the respective foreign vehicle (14), in particular a lamp. [5] Assistance system (4) according to one of claims 2 to 4, characterized by , that the assistance system (4) is configured to generate the respective control signal in such a way that the resulting indication (15) explicitly specifies the respective level of automation of the at least conditionally automated foreign vehicles (14). [6] Assistance system (4) according to any one of claims 2 to 5, characterized by, that the assistance system (4) is configured to control an optical display device (8), in particular of the motor vehicle (1), to issue the warning (15). [7] Assistance system (4) according to claim 6, characterized by , that the assistance system (4) is designed to provide an optical highlighting (15) of detected foreign vehicles (14) that are at least conditionally automated compared to other foreign vehicles (13) detected in the respective environment in a schematic representation of the environment (9) displayed by means of the display device (8). [8] Assistance system (4) according to claim 7, characterized by , that the assistance system (4) is configured to effect visual highlighting by a change in color and / or brightness and / or a frame and / or symbol and / or flashing display. [9] Assistance system (4) according to one of claims 6 to 8, characterized by, that the assistance system (4) is configured to control a HUD (8) of the motor vehicle (1) as a display device (8) for outputting the respective instruction (15). [10] Motor vehicle (1) comprising the assistance system (4) according to one of claims 2 to 9 and an output device (8) for issuing instructions (15) to a respective driver (2) of the motor vehicle (1).

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