DRIVING SYSTEM AND METHOD FOR AUTOMATED DRIVING WITH A STEERING WHEEL DISPLAY

Description

[0001] The invention relates to a driving system for automated driving with a steering wheel display and a display method for such a driving system.

[0002] In automated or autonomous driving systems with automated longitudinal and lateral control, various driving modes with different levels of automation are often selectable. Examples of automation levels include assisted, partially automated, highly automated, and fully automated driving. These levels of automation correspond, for example, to the definition of the German Federal Highway Research Institute (BASt) (see BASt publication "Research Compact," issue 11 / 2012). For instance, an assisted driving mode can often be selected in which the driver remains responsible for lateral control (i.e., steering the vehicle), while the system takes over longitudinal control (e.g., acceleration) within certain limits.When a driving system operates in a partially automated driving mode, the system takes over longitudinal and lateral control for a certain period and / or in specific situations, while the driver must continuously monitor the system, as with assisted driving. A distinction can be made between partially automated hands-on driving, in which the driver must keep one or both hands on the steering wheel for safety reasons, and partially automated hands-off driving, in which the driver can also take their hands off the steering wheel. For example, the system switches from partially automated hands-off driving to partially automated hands-on driving in certain situations. When the driving system operates in a highly or fully automated driving mode, the system takes over longitudinal and lateral control without the need for continuous driver monitoring.In highly automated driving, the driver must be able to take over control of the vehicle within a certain timeframe after the vehicle has prompted the driver to do so. In fully automated driving, the system can automatically handle driving in all situations for a specific use case; no driver is required for this use case. The four automation levels mentioned above correspond to SAE Levels 1 to 4 of the SAE J3016 standard (SAE - Society of Automotive Engineering). For example, highly automated driving (HAF) corresponds to Level 3 of the SAE J3016 standard. Furthermore, SAE J3016 also defines Level 5 as the highest level of automation, which is not included in the BASt definition.SAE Level 5 corresponds to driverless driving, where the system can automatically handle all situations like a human driver throughout the entire journey; a driver is generally no longer required.

[0003] In known automated driving systems, the current automation status regarding longitudinal and lateral control of the currently active driving mode is often indicated by status lights, images and / or text in the instrument cluster and / or in the HUD (HUD - Head-up Display). Sometimes, status lights on the driving mode selection control (e.g., buttons) are also used to indicate the automation status with regard to longitudinal and lateral guidance. Takeover prompts or the request to place hands on the steering wheel (e.g., with a traffic jam assist system) are also usually displayed in the instrument cluster or HUD displayed. Furthermore, it is known to use the gear selector switch to select an automated driving mode and to signal the active driving mode (see, for example, DE 10 2007 029 594 A1).

[0004] When a vehicle is highly automated, the driver perceives the lateral guidance in addition to the driving dynamics acceleration, as the steering wheel turns automatically depending on the driving situation and the driver sees the automated steering angle position.

[0005] In familiar driving systems, the automation status is often not displayed at the primary location of automation (steering wheel), but rather further away on the instrument cluster. This is not ideal from a logical and design perspective.

[0006] Takeover prompts and / or the request to place hands on the steering wheel are primarily not displayed where the driver is supposed to take action (i.e., on the steering wheel), but rather elsewhere (i.e., in the instrument cluster or the head-up display). This, too, is not ideal in terms of user interface logic and driver reaction time.

[0007] A steering wheel with integrated light sources is already known from German patent application DE 10 2011 112 134 A1. When the vehicle's autonomous driving mode is activated, the light sources on the steering wheel rim are switched on.

[0008] Furthermore, the German patent application DE 10 2013 012 779 A1 describes the use of an arc-shaped light unit in the steering wheel rim for visually signaling the activation of an automatic driving mode and for visually signaling a takeover request. After activation of the autonomous driving mode, the steering wheel rim illuminates green, for example. When switching to manual driving mode, the steering wheel rim initially remains illuminated green and flashes. If no takeover occurs, the steering wheel rim illuminates red. After driver takeover, the steering wheel rim illuminates blue.

[0009] From the German patent application DE 10 2007 052 ​​258 A1, it is known to indicate the status of the lateral guidance system via an illuminated ring on the steering wheel. When the lateral guidance system is deactivated, the illuminated ring glows red. In the standby state, the illuminated ring glows, for example, yellow. When transitioning from the deactivated to the activated state of the lateral guidance system, the illuminated ring changes to green. When a takeover request is received, the illuminated ring flashes red.

[0010] Furthermore, the German patent application DE10 2015 016 056 A1 describes a method for displaying information by means of at least one lighting element integrated into the steering wheel of a vehicle. The information displayed is the status of a driving system, indicated by the at least one lighting element.

[0011] The object of the invention is to provide an automated driving system with an intuitive driver display for showing information relating to the automation, which supports various driving modes of automation. It is further an object of the invention to provide a corresponding display method for a driving system for automated driving.

[0012] The problem is solved by the features of the independent claims. Advantageous embodiments are described in the dependent claims.

[0013] A first aspect of the invention relates to a driving system for automated driving for a motor vehicle, wherein the driving system has a steering wheel display.

[0014] The driving system can be operated in at least one automated driving mode with automated longitudinal and / or lateral control and in a different second automated driving mode with automated longitudinal and / or lateral control. Preferably, there are two different driving modes with automated longitudinal and lateral control. The two driving modes differ, for example, in their degree of automation. The two driving modes correspond, for example, to a partially automated driving mode, which allows the driver to temporarily or permanently remove their hands from the steering wheel, and a highly automated driving mode, which allows the driver to permanently disengage from driving and the corresponding controls.

[0015] The first and second riding modes, for example, correspond to two different riding modes supported by the riding system from a group of three riding modes described below. This group includes: a semi-automated hands-on driving mode with automated longitudinal and lateral guidance, in which the driver must continuously monitor the system and keep one or two hands on the steering wheel; a semi-automated hands-off driving mode with automated longitudinal and lateral guidance, in which the driver must continuously monitor the system but does not have to keep a hand on the steering wheel; and a highly or fully automated hands-off driving mode with automated longitudinal and lateral guidance, in which the driver does not have to continuously monitor the system and does not have to keep a hand on the steering wheel.

[0016] In this case, the driving system can only support two different or even all three different driving modes of the group of driving modes described above.

[0017] For example, the driving system has a semi-automated hands-off driving mode or a highly or fully automated hands-off driving mode as its first driving mode and a semi-automated hands-on driving mode as its second driving mode.

[0018] In another example, the driving system has a highly or fully automated hands-off driving mode as its first driving mode and a semi-automated hands-off driving mode or a semi-automated hands-on driving mode as its second driving mode.

[0019] It is also possible that the first or second driving mode is an assisted driving mode in which the system only handles the longitudinal control of the vehicle. It is also conceivable that the first or second driving mode is a driving mode in which the system handles the lateral control of the vehicle, while the driver controls the longitudinal control.

[0020] The driving system features a steering wheel display with lights that illuminate the steering wheel and can be operated in various lighting states distinguishable by the driver. These lighting states can differ, for example, in one or more of the following aspects: their luminous color (e.g., green, blue, red), their luminous area (e.g., a fully illuminated light ring in the steering wheel rim compared to areas where only parts of the light ring are illuminated, e.g., only on the left and right of the steering wheel rim; variable light areas would also be conceivable for a steering wheel display in the steering wheel spokes or in the steering wheel hub), continuous illumination or flashing illumination, their luminous intensity (e.g., bright illumination and slight illumination) and their luminous pattern (e.g., every LED of a light ring is illuminated, as opposed to a light ring where only every second LED is illuminated along the circumference).

[0021] Steering wheel indicator lights are integrated, for example, into the steering wheel spokes or the steering wheel hub to illuminate them. Preferably, however, they are lights that illuminate the steering wheel rim and are typically integrated into the rim itself. Of course, the steering wheel rim could also be illuminated by lights located outside of it.

[0022] The driver assistance system includes an illuminated control element (e.g. a button) located in particular on the steering wheel for the driver to select the first driving mode and an illuminated control element (e.g. a button) located in particular on the steering wheel for the driver to select the second driving mode.

[0023] The driving system dictates which of the various illumination states the steering wheel display should exhibit. The driving system specifies that when the system is operating in the first driving mode, the steering wheel display illuminates in a first illumination state. When the system is operating in the second driving mode, the steering wheel display illuminates in a second illumination state that is distinguishable from the first for the driver. The first and second illumination states can be maintained continuously while the driving system is operating in the first or second driving mode, respectively. Alternatively, it would also be conceivable that the first and / or second illumination state is maintained only for a limited time after switching to the first or second driving mode, after which, for example, the steering wheel display is switched off.

[0024] The driving system is designed to illuminate both the steering wheel display and the control element assigned to the first driving mode in a common luminous color in the first driving mode, and to illuminate both the steering wheel display and the control element assigned to the second driving mode in a different common luminous color that is distinguishable for the driver in the second driving mode.

[0025] For example, in highly or fully automated hands-off driving mode, both the control element for the highly or fully automated hands-on driving mode and the steering wheel display illuminate in blue, whereas in semi-automated hands-on driving mode, both the control element for the semi-automated hands-on driving mode and the steering wheel display illuminate in green. If the color of the steering wheel display changes in semi-automated hands-on driving mode (e.g., to yellow or red), the color of the control element for selecting the semi-automated hands-on driving mode preferably also changes to the same color.

[0026] The different illumination states of the steering wheel display allow the driver to reliably distinguish between the first and second driving modes when each is activated, at a point in the vehicle (i.e., on the steering wheel) where the driver primarily perceives the automation of driving operations. This type of signaling to the driver is particularly intuitive if the driver also activates an automated driving mode via the steering wheel, for example, using multiple steering wheel buttons or a sliding control element.

[0027] In a first example, the first driving mode corresponds to a semi-automated hands-off driving mode or a highly or fully automated hands-off driving mode, whereas the second driving mode corresponds to a semi-automated hands-on driving mode.

[0028] In In this first example, it is advantageous if, in the first illumination state when the first driving mode (semi-automated hands-off mode, or highly or fully automated hands-off mode) is active, the steering wheel rim illuminates as a closed ring of light, whereas in the second illumination state when the second driving mode (semi-automated hands-on mode) is active, the steering wheel rim is illuminated only on the left and right arcs to signal that the driver should place their hands on these arcs. This can be done regardless of whether the driver already has their hands on the steering wheel or not. Thus, a left and a right section of the steering wheel display are illuminated, indicating to which the driver must place their hands.It is also possible that in the first driving mode, the steering wheel rim does not illuminate as a continuous ring of light, but rather only in larger arcs (compared to the second driving mode), encompassing the left and right arcs and extending significantly beyond them. For example, in the first driving mode, the steering wheel rim is completely illuminated except for a recessed upper and / or lower arc. It would also be conceivable that a certain arc is left unlit on the left and right, for example, in the area of ​​the steering wheel spokes.

[0029] The driver intuitively places his hands on the illuminated sections on the left and right of the steering wheel rim when the vehicle is operated in semi-automated hands-on driving mode and only a left and a right illuminated section of the steering wheel display are lit.

[0030] In principle, it would also be conceivable that the first illumination state is assigned to any one of the three driving states and the second illumination state with the two arc areas to another of the three driving states.

[0031] If the two driving modes to be distinguished are the semi-automated hands-off driving mode and the semi-automated hands-on driving mode, a color change between the two driving modes may be provided in addition to the change in the display area (for example, green for semi-automated hands-off driving mode and yellow for semi-automated hands-on driving mode).

[0032] For this purpose, a segmented light ring can be integrated into the steering wheel rim as a light source, which can illuminate either in all segments or only in a subset of the segments in the right and left areas of the steering wheel rim. Preferably, the color of the light ring can also be changed.

[0033] If the first driving mode is the semi-automated hands-off driving mode and the second driving mode is the semi-automated hands-on driving mode, the driving system preferably switches automatically from the semi-automated hands-off driving mode to the semi-automated hands-on driving mode (for example, upon detecting a critical driving situation, such as an obstacle). It is also possible that the driving system can automatically switch back from the hands-on driving mode to the hands-off driving mode (for example, after the critical driving situation).

[0034] Preferably, a control element is provided by means of which the driver selects a semi-automated driving mode; however, the selection of the hands-off driving mode or hands-on driving mode is preferably taken over by the vehicle.

[0035] In another example of the invention, the first driving mode is the highly or fully automated hands-off driving mode, whereas the second driving mode is the semi-automated hands-off driving mode or the semi-automated hands-on driving mode.

[0036] In this case, it is advantageous if, in highly or fully automated driving mode, the steering wheel indicator illuminates in a first light color (e.g., blue) in its initial state, whereas in semi-automated driving mode, the indicator illuminates in a second light color that is distinguishable from the first (e.g., green) in its second state. In the case of a semi-automated hands-on driving mode, the light color in the second state can depend on whether the driver currently has their hands on the steering wheel or not (for example, green when the steering wheel is touched and yellow when it is not).

[0037] This allows the driver to easily differentiate between highly or fully automated driving modes and partially automated driving modes. This differentiation is particularly important because in highly or fully automated driving modes, the driver does not need to constantly monitor the automated driving operation, whereas in partially automated driving mode, this continuous monitoring is mandatory. The different colors alert the driver to the varying levels of driver monitoring required.

[0038] In addition to the distinction based on color, it may be provided that in the second illumination state (semi-automated driving mode) the steering wheel rim only illuminates on a left arc area and on a right arc area of ​​the steering wheel rim, whereas in the first illumination state (highly automated or fully automated driving mode) the steering wheel rim illuminates as a closed ring of light or at least in (compared to the left and right arc areas) larger arc areas of the steering wheel rim that include and extend beyond the left and right arc areas.

[0039] Regardless of the driving mode signaling described above, the steering wheel display can also be used for a hands-on prompt. A driving mode assisted by the driver system is a semi-automated hands-on driving mode; this can, for example, correspond to the second driving mode.

[0040] The driving system includes a hands-on detection device for implementing the hands-on prompt. This device detects when a hand is in contact with the steering wheel, particularly the rim. For example, a capacitive or resistive hands-on sensor can be integrated into the steering wheel rim to detect when it is touched. The hands-on sensor can cover the entire circumference or only a portion of the rim. Preferably, touching the steering wheel rim with just one hand at a point detectable by the sensor is sufficient to trigger the detection.

[0041] The driving system is preferably configured to issue a hands-on prompt to the driver to place their hands on the steering wheel when the vehicle is operating in semi-automated hands-on driving mode, if the hands-on detection device does not detect any hand contact with the steering wheel. It should be noted that a hands-on prompt in semi-automated hands-on driving mode differs from a takeover prompt in highly automated driving mode: A hands-on prompt asks the driver to place their hands on the steering wheel without requiring them to actually steer (the driving system does this for the driver). The driver can then intervene quickly if the situation requires it. A takeover prompt asks the driver not only to place their hands on the steering wheel but also to take over the steering of the vehicle and, generally, its longitudinal control.

[0042] The hands-on request described above involves a change in the illumination state of the steering wheel display from one illumination state (for example, the second illumination state described above) to another illumination state that is distinguishable from this illumination state for the driver.

[0043] By changing the illumination state of the steering wheel display, the driver can be intuitively prompted to put their hands on the steering wheel.

[0044] The change in the illumination state manifests itself, for example, as a change in the illumination color, such as a change to a signal color (e.g., from green or blue to red). For instance, as described above, in the semi-automated hands-on driving mode, only the left and right sections of the steering wheel rim are illuminated, indicating where the driver should place their hands. When prompted to take control of the steering wheel, the color preferably changes from green or blue to red.

[0045] Preferably, the lighting state transitions continuously from one state to the other. For example, after detecting that the hands are not on the steering wheel, one lighting state transitions to the other within a specific time period (e.g., a period in the range of 3 s to 12 s, e.g., 6 s).

[0046] The continuous transition can be designed, for example, in such a way that, as part of the change in the illumination state, the area(s) of the steering wheel display that initially illuminate in a specific luminous color are continuously filled with a different luminous color (e.g., in the manner of an hourglass).

[0047] Regardless of the driving mode signaling described above, the steering wheel display can also be used to indicate whether the driver has their hands on the steering wheel in the semi-automated hands-on driving mode or not.

[0048] In this case, the driving system includes a hands-on detection device for recognizing when a hand is on the steering wheel, in particular on the steering wheel rim. The driving system is configured to illuminate the steering wheel indicator in a specific state when the vehicle is operating in semi-automated hands-on driving mode and a hand is detected on the steering wheel, in particular on the steering wheel rim. Without a hand on the steering wheel, in particular on the steering wheel rim, the steering wheel indicator illuminates in a different state that is distinguishable to the driver. For example, the two states differ in their color. For example, in semi-automated hands-on driving mode, the steering wheel indicator illuminates in a first color (e.g., green) when at least one hand is gripping the steering wheel rim at any point, whereas the steering wheel indicator illuminates in a second color (e.g., yellow) when no hand is gripping the steering wheel.The indicator light (orange) illuminates when no hand is gripping the steering wheel rim at any point. Preferably, in both cases, not the entire steering wheel rim illuminates, but only a left and a right curved section of the rim, to signal that the driver should keep their hands on these curved sections.

[0049] Here, too, an optional warning escalation can be provided. The display can change color over time if the driver does not grip the steering wheel rim with at least one hand at any point within a defined period (e.g., 8 seconds). For example, the second color (e.g., orange) can continuously transition into a third color by gradually filling the illuminated display areas with the third color (e.g., like an hourglass).

[0050] Another aspect of the application concerns a display method for a driving system for the automated driving of a motor vehicle. The driving system is operable in at least a first automated driving mode with automated longitudinal and / or lateral control and in a second automated driving mode with automated longitudinal and / or lateral control, different from the first, wherein the first and second driving modes preferably correspond to two different driving modes from the group of three driving modes already discussed above. The driving system has a steering wheel display with light sources for illuminating the steering wheel, wherein the steering wheel display is operable in different illumination states distinguishable by the driver.The driver assistance system comprises an illuminated control element, in particular located on the steering wheel, for the driver to select the first driving mode, and an illuminated control element, in particular located on the steering wheel, for the driver to select the second driving mode. According to the display method, when the driving system is operating in the first driving mode, the steering wheel display illuminates in a first illumination state, whereas when the driving system is operating in the second driving mode, the steering wheel display illuminates in a second illumination state that is distinguishable from the first. In the first driving mode, both the steering wheel display and the control element associated with the first driving mode illuminate in a common color, and in the second driving mode, both the steering wheel display and the control element associated with the second driving mode illuminate in a different common illumination color that is distinguishable from the first.

[0051] The foregoing descriptions of the driving system according to the invention also apply accordingly to the display method. Advantageous embodiments of the display method according to the invention not explicitly described here or in the claims correspond to the advantageous embodiments of the driving system according to the invention described above or in the claims.

[0052] The invention is described below with reference to an exemplary embodiment and the accompanying drawings. These show: Fig. 1 shows an exemplary steering wheel with an exemplary steering wheel display and exemplary controls for a driving system according to the invention for automated driving; Fig. 2 shows exemplary, different illumination states of a steering wheel display for different driving modes of an exemplary driving system for automated driving; and Fig. 3 shows an exemplary implementation of the signaling of a hands-on request in the semi-automated hands-on driving mode.

[0053] In Fig. 1 Figure 1 shows an exemplary steering wheel 1 with an exemplary steering wheel display 2 integrated into a steering wheel rim 3 and with exemplary combined display and control elements 5 integrated into a steering wheel spoke 4 for a driving system according to the invention for automated driving. The steering wheel display 2 is implemented in the form of a segmented light ring with a plurality of light segments, which, depending on the control signal, can be illuminated either as a closed light ring or only in certain arc regions of the light ring. The light ring can illuminate in different colors depending on the system control signal. For example, light sources in the form of LEDs (LED - light-emitting diode) can be provided to implement the individual segments of the light ring. A segment of the light ring can correspond to a group of LEDs or to a single LED.

[0054] Furthermore, a hands-on detection device with sensors integrated into the steering wheel rim is provided, which can detect whether the driver is holding at least one hand on the steering wheel in the arc of the steering wheel rim 3 that is covered by the sensors. The sensors may cover the entire steering wheel rim 3, or one or more areas of the steering wheel rim 3 may be excluded (e.g., the area at the bottom and / or top of the steering wheel rim 3).

[0055] The combined display and control elements 5 comprise a plurality of control panels 5.1-5.7, with each individual control panel being operated by pressing or touching. The function and display of the combined display and control elements 5.1-5.4 preferably depend on the currently active driving mode. These control panels 5.1-5.4 can be assigned variable symbolic or textual labels depending on the driving mode.

[0056] The combined display and control elements 5.5, 5.6, 5.7 with the exemplary labels "MAN", "ASSIST" and "AUTO" each serve to select a respective assigned driving mode by the driver and are backlit in color when the driving mode assigned to the control element is active, in order to signal the active driving mode to the driver.

[0057] The driving system supports a variety of driving modes: 1. Manual Driving Mode: In manual driving mode, both longitudinal and lateral control are performed manually by the driver. The driver can select manual driving mode by pressing control 5.5 ("MAN"). When manual driving mode is active, control 5.5 ("MAN") is backlit in color to indicate that the mode is active. 2. Assisted Driving Mode: In assisted driving mode, the driving system performs longitudinal control. The function of the driving system in this mode preferably corresponds to the function of an ACC system (ACC - adaptive cruise control). Lateral control is performed by the driver. The driver must continuously monitor the driving system. The driver can select assisted driving mode by pressing control 5.6 ("ASSIST"). When assisted driving mode is active, control 5.6 ("ASSIST") is backlit in color to indicate that the mode is active.The driver can increase or decrease the target distance to the vehicle in front using controls 5.1 and 5.3. These controls are equipped with corresponding display information in this driving mode. 3. Semi-automated hands-on driving mode (semi-automated driving, abbreviated "TAF-HON"): In semi-automated hands-on driving mode, the driving system takes over both longitudinal and lateral control. In this driving mode, the driver must continuously monitor the system and keep at least one hand on the steering wheel. If the assisted driving mode has been selected by pressing control 5.6 ("ASSIST"), a semi-automated driving mode can be selected by pressing control 5.4. The driving system automatically determines whether a semi-automated hands-off driving mode or a semi-automated hands-on driving mode is active. 4.Partially automated hands-off driving mode (partially automated driving, abbreviated "TAF-HON"): This differs from the partially automated hands-on driving mode in that the driver does not need to keep their hands on the steering wheel. Preferably, the system is designed so that the driver can keep their hands on the steering wheel in the partially automated hands-off driving mode if they wish (but are not required to do so). 5. Highly automated hands-off driving mode (highly automated driving, abbreviated HAF): In the highly automated hands-off driving mode, the driving system takes over longitudinal and lateral control (for example, for the driver on the highway). The driver does not need to constantly monitor the system or keep their hands on the steering wheel. However, the driver must be able to take over driving within a certain time after the vehicle has prompted them to do so. By pressing control element 5.The driver can select the highly automated driving mode using control 5.7 ("AUTO"). When the assisted driving mode is active, control 5.7 ("AUTO") is backlit in color to indicate the active driving mode.

[0058] In Fig. 2 The diagram schematically shows the various states S1-S10 of the steering wheel display 2, depending on the driving mode, as well as the transitions between these states. Areas of the steering wheel display shown without hatching indicate that these areas are not illuminated. If the entire steering wheel display 2 is not hatched, the entire display 2 is not illuminated. A diagonally hatched area of ​​the steering wheel display 2 corresponds to an area illuminated in a first color, e.g., blue. If the entire steering wheel display 2 is shown with diagonal hatching, the entire display 2 is illuminated in the first color, e.g., blue. A horizontally hatched area of ​​the steering wheel display 2 corresponds to an area illuminated in a second color, e.g., green. If the entire steering wheel display 2 is shown with horizontal hatching, the entire display 2 is illuminated in the second color, e.g., green.

[0059] When the vehicle is in manual driving mode, steering wheel display 2 is in state S1 and is not illuminated. In response to activation of control 5.7 ("AUTO"), the vehicle switches from manual driving mode to highly automated hands-off driving mode (HAF). If HAF is active and has taken over lateral and longitudinal control of the vehicle, steering wheel display 2 is in state S4, in which it illuminates as a closed ring in the first color (e.g., blue).

[0060] The transition to HAF driving mode can be accompanied by a dynamic animation. After pressing control 5.7 ("AUTO") in manual driving mode, intermediate states S2, S3, and possibly other intermediate states not shown, follow. In these states, the illumination of the steering wheel display gradually increases in the first color (e.g., blue), starting from the left and right sections of steering wheel display 2, until the entire illuminated ring is lit in state S4. In state S4, control 5.7 ("AUTO") illuminates in the same color as steering wheel display 2.

[0061] If the vehicle is in manual driving mode, pressing control 5.7 ("AUTO") will switch it from manual to semi-automated driving mode. It may be possible for the vehicle to first switch to assisted driving mode upon pressing control 5.7 ("AUTO"), and only switch to semi-automated driving mode after pressing another control (e.g., control 5.4). In this case, control 5.4 is used to activate automated lateral control. At least the following variations are conceivable: 1. When control 5.6 ("ASSIST") is activated, the system always starts with automated lateral guidance (i.e., in a semi-automated driving mode). To deactivate lateral guidance (and switch to assisted driving mode), control 5.4 must be pressed, for example. 2. When control 5.6 ("ASSIST") is activated, the system always starts without automated lateral guidance (i.e., in assisted driving mode). To activate lateral guidance, another control (e.g., control 5.4) must be activated. 3. The system remembers the last set lateral guidance status (automated lateral guidance on or off) and restarts in this status after control 5.6 ("ASSIST") is activated.

[0062] If a semi-automated driving mode has been selected by the driver through one or more operating actions, the vehicle decides independently, depending on the current environmental situation, whether to operate in the semi-automated hands-off driving mode TAF-HOF or the semi-automated hands-on driving mode TAF-HON. The system-side decision for the semi-automated hands-off driving mode TAF-HOF is in Fig. 2 designated "HOF", while the system-side decision for the semi-automated hands-on driving mode TAF-HON in Fig. 2 is marked with "HON".

[0063] If the TAF-HOF driving mode is activated and the automated lateral and longitudinal control of the vehicle is engaged, the steering wheel display 2 is in state S7, in which it illuminates as a closed ring in the second color (e.g., green). The transition to TAF-HOF driving mode can be accompanied by a dynamic animation. After pressing control 5.7 ("ASSIST"), intermediate states S5, S6, and possibly other intermediate states not shown follow, in which the illumination of the steering wheel display 2 in the second color (e.g., green) gradually increases from the left and right sections of the display until the entire ring is illuminated in state S7. In state S7, control 5.6 ("ASSIST") illuminates in the same color as the steering wheel display 2. It may also be possible for control 5.4 to illuminate in the same color in state S7.

[0064] It would also be conceivable that in state S7 the illuminated ring is not completely closed, but merely illuminates larger arc areas of the steering wheel rim 3 compared to the later discussed state S10. These arc areas encompass the left arc area 10 and the right arc area 11 and extend significantly beyond them. For example, in state S7 the steering wheel rim 3 is completely illuminated except for a recessed upper and / or lower arc area. This would also apply to state S4 and the later discussed state S15.

[0065] If the TAF-HON driving mode is activated and the automated lateral and longitudinal control of the vehicle has been engaged, the steering wheel display 2 is in state S10, in which the steering wheel display illuminates only on a left arc 10 and a right arc 11 of the steering wheel rim 1 to signal that the driver should keep their hands on these arcs 10, 11 of the steering wheel rim 1. Preferably, the two arcs 10, 11 illuminate in the second illumination color (e.g., green). However, it would also be conceivable that in state S10, a different illumination color (e.g., yellow) is used instead of the second illumination color. Furthermore, it could be provided that the illuminated areas flash or pulse.

[0066] The transition to TAF-HON driving mode can be achieved with a dynamic animation. After pressing control element 5.7 ("ASSIST"), intermediate states S8, S9, and possibly other intermediate states not shown follow, in which the illumination of the steering wheel display 2 in the second color (e.g., green) gradually increases until areas 10 and 11 are illuminated in state S10.

[0067] In state S10, control element 5.6 ("ASSIST") illuminates in the same color as steering wheel display 2. It may also be provided that control element 5.4 illuminates in the same color in state S10.

[0068] It would be conceivable to make the illumination color of the steering wheel display 2 dependent on whether the driver is currently holding their hands on the steering wheel 1 or not in TAF-HON driving mode: For example, if the vehicle is in TAF-HON driving mode and the driver is supposed to keep their hands on the steering wheel 1, the arc areas 10 and 11 of display 2, where the driver is supposed to place their hands, would illuminate in the second illumination color (e.g., green) if a hands-on sensor detects that at least one hand is gripping the steering wheel rim 3 at any point. If the vehicle is in TAF-HON driving mode and the driver is supposed to keep their hands on the steering wheel 1, the arc areas 10 and 11 of display 2, where the driver is supposed to place their hands, would illuminate in the other illumination color (e.g., yellow) if a hands-on sensor detects that no hand is gripping the steering wheel rim 3 at any point.

[0069] By pressing control element 5.5 ("MAN"), the driving mode can be switched from HAF, TAF-HOF, and TAF-HON to manual driving mode. In this mode, the steering wheel indicator 2 then goes out successively, following the sequence described above, in reverse order of the activation of the automated driving mode. A transition to this mode can therefore be achieved with a dynamic animation.

[0070] By pressing control 5.7 ("AUTO"), the vehicle can switch from a semi-automated driving mode TAF-HOF or TAF-HON to the highly automated driving mode HAF. Conversely, in the highly automated driving mode HAF, pressing control 5.6 ("ASSIST") switches to a semi-automated driving mode, with the steering wheel display 2 changing accordingly (to state S4, S7, or S10). This transition may also be accompanied by intermediate lighting states.

[0071] Furthermore, the driving system can automatically switch the driving mode from one semi-automated driving mode to another. In this case, the steering wheel display 2 changes from state 7 to state 10 or from state S10 to state S7. This transition may also be accompanied by intermediate lighting states.

[0072] The following is related to Fig. 3 An exemplary implementation of the signaling of a hands-on request in the semi-automated hands-on driving mode TAF-HON is described. The change in the color and brightness of the steering wheel display 2 over time t during the hands-on request is shown in the diagram below.

[0073] If the hands-on detection device detects at time ta that no hand is on the steering wheel 1, the steering wheel display 2 begins to change its state from state S10 to prompt the driver to place their hands on the steering wheel as part of a hands-on request. The illuminated state S10 of the steering wheel display 2 continuously transitions within a defined time interval Δt 1 (e.g., 6 s) through the intermediate states S11 and S12 shown, to state S13, in which the left and right illuminated areas 10 and 11 display a third illumination color (e.g., red). The changed third illumination color (e.g., red) corresponds in Fig. 3the vertical hatching. During the transition to state S13, areas 10 and 11 are continuously filled with the third luminous color (e.g., red). The change in luminous state S10 can begin immediately after the hands-on detection device determines that no hand is on the steering wheel. Alternatively, the change in luminous state S10 can also begin only after the hands-on detection device has determined that the driver has not had a hand on the steering wheel for a certain period of time (e.g., 2 seconds), meaning the driver did not grip the steering wheel rim with at least one hand within this period.

[0074] If the driver places at least one hand on the steering wheel rim 3 within the time interval Δt 1 of the transition, the illumination state of the steering wheel display 2 preferably changes abruptly (i.e. without intermediate states) back to illumination state S10.

[0075] After reaching the illumination state S13 at time tb, the illumination state is maintained for a duration Δt 2 (e.g. Δt 2 = 2s) if, according to monitoring by the hands-on detection device, the driver does not place a hand on the steering wheel rim 3 (otherwise, return to illumination state S10).

[0076] If the driver has not placed a hand on the steering wheel after the time interval Δt 2 has elapsed, the illumination state S13 changes to the illumination state S14, in which areas 10 and 11 flash in the third illumination color (e.g. red).

[0077] In this state, acoustic warning signals are also issued to the driver.

[0078] After the driver has not placed a hand on the steering wheel for a period of time Δt 3 (e.g. Δt 3 = 4s) from time tc, a message will be displayed in the cockpit or head-up display at time td indicating that if the hands-on request is not followed, an emergency stop maneuver will be performed automatically by the driving system.

[0079] If the driver has not placed a hand on the steering wheel for a period of time Δt 4 (e.g. Δt 4 = 4s) from time td, an emergency stop maneuver is triggered at time te.

[0080] From this point on, the steering wheel display switches to state S15, in which indicator light 2 illuminates as a closed ring in the third color (e.g., red). The emergency stop maneuver is now executed by the driving system.

[0081] Instead of an emergency stop maneuver, it would also be conceivable that the driving system, in response to a failure to comply with the hands-on request, changes the automation state and, for example, puts the vehicle into manual driving mode with manual vehicle control.

Claims

1. A driving system for automated driving for a motor vehicle, wherein for automated driving the driving system is operable at least in one first automated driving mode with automated longitudinal and / or lateral guidance and in a second automated driving mode different therefrom with automated longitudinal and / or lateral guidance, wherein • the driving system comprises a steering wheel display (2) with illuminants for illuminating a portion of the steering wheel (1) of the motor vehicle, • the steering wheel display (2) is operable in different illumination states distinguishable by the driver, and • the driver assistance system comprises an illuminatable control element (5.7), in particular arranged on the steering wheel, configured for driver-side selection of the first driving mode and an illuminatable control element (5.6; 5.4), in particular arranged on the steering wheel, configured for driver-side selection of the second driving mode, and the driving system is configured to • specify which illumination state of the various illumination states the steering wheel display (2) has, • specify that, during operation of the driving system in the first driving mode, the steering wheel display (2) illuminates in a first illumination state, • specify that, during operation of the driving system in the second driving mode, the steering wheel display (2) illuminates in a second illumination state distinguishable by the driver from the first illumination state, • cause, in the first driving mode (HAF), both the steering wheel display (2) and the control element (5.7) associated with the first driving mode to illuminate in a common illumination colour, and • cause, in the second driving mode (TAF-HOF; TAF-HON), both the steering wheel display (2) and the control element (5.6; 5.4) associated with the second driving mode to illuminate in a different common illumination colour distinguishable by the driver.

2. Driving system according to claim 1, wherein the first and the second driving mode correspond to two different driving modes from a group of three driving modes, wherein the group comprises: • a partially automated hands-on driving mode (TAF-HON) with automated longitudinal and lateral guidance, in which the driver must both continuously monitor the system and keep one or two hands on the steering wheel (1), • a partially automated hands-off driving mode (TAF-HOF) with automated longitudinal and lateral guidance, in which the driver must continuously monitor the system, but does not have to keep a hand on the steering wheel (1), and • a highly or fully automated hands-off driving mode (HAF) with automated longitudinal and lateral guidance, in which the driver does not have to continuously monitor the system and also does not have to keep a hand on the steering wheel (1).

3. Driving system according to any one of the preceding claims, wherein the illuminants are illuminants for illuminating the steering wheel rim (3).

4. Driving system according to any one of the preceding claims, wherein • the illuminants are illuminants for illuminating the steering wheel rim (3), and • the driving system is configured such that ∘ in the second illumination state (S10) the steering wheel rim illuminates only at a left arc region (10) and at a right arc region (11) of the steering wheel rim, and ∘ in the first illumination state (S7; S4) the steering wheel rim (3) illuminates as a closed light ring or at least in larger arc regions of the steering wheel rim, which comprise the left (10) and right (11) arc region and extend beyond them.

5. Driving system according to claim 4 and claim 2, wherein • the first driving mode is the partially automated hands-off driving mode (TAF-HOF) or the highly or fully automated hands-off driving mode (HAF), • the second driving mode is the partially automated hands-on driving mode (TAF-HON), and • in the second illumination state (S10) the steering wheel rim (3) illuminates only at the left arc region (10) and at the right arc region (11) of the steering wheel rim in order to signal that the driver should keep his hands at these arc regions of the steering wheel rim (3).

6. Driving system according to any one of the preceding claims, wherein the driving system is configured such that • in the first illumination state (S4) the steering wheel display (2) illuminates in a first illumination colour, and • in the second illumination state (S7; S10) the steering wheel display illuminates in a second illumination colour distinguishable by the driver from the first illumination colour.

7. Driving system according to any one of the preceding claims, wherein • in one of the two driving modes a driver must both continuously monitor the system and keep one or two hands on the steering wheel (1), • the driving system comprises a hands-on detection device for detecting hand contact with the steering wheel (1), and • the driving system is configured, during operation of the vehicle in the partially automated hands-on driving mode (TAF-HON), to output a hands-on request for requesting to place the hands on the steering wheel when the hands-on detection device does not detect hand contact with the steering wheel, wherein the hands-on request comprises a change of the illumination state of the steering wheel display from one illumination state (S10) to another illumination state (S13) distinguishable by the driver from this illumination state.

8. Driving system according to claim 7, wherein the driving system is configured such that in the one illumination state (S10) and in the other illumination state (S13) the steering wheel display (2) illuminates in a different illumination colour distinguishable by the driver in each case.

9. Driving system according to claim 8, wherein the driving system is configured such that within the framework of the change of the illumination state, the one illumination state (S10) transitions continuously or stepwise into the other illumination state (S13).

10. Driving system according to claim 9, wherein the driving system is configured such that within the framework of the change of the illumination state, the region or regions (10, 11) of the steering wheel display (2) initially illuminating in a certain illumination colour are filled up continuously or stepwise with another illumination colour.

11. Driving system according to any one of the preceding claims, wherein • one of the two driving modes is the partially automated hands-on driving mode (TAF-HON) with automated longitudinal and lateral guidance, in which the driver must both continuously monitor the system and keep one or two hands on the steering wheel (1), • the driving system comprises a hands-on detection device for detecting hand contact with the steering wheel (1), and • the driving system is configured, during operation of the vehicle in the partially automated hands-on driving mode (TAF-HON), ∘ to cause the steering wheel display (2) to illuminate in a certain illumination state when there is hand contact with the steering wheel (1), and ∘ to cause the steering wheel display (2) to illuminate in another illumination state distinguishable by the driver from the certain illumination state when there is no hand contact with the steering wheel.

12. Display method for a driving system for automated driving of a motor vehicle, wherein for automated driving the driving system is operable at least in a first automated driving mode with automated longitudinal and / or lateral guidance and in a second automated driving mode different therefrom with automated longitudinal and / or lateral guidance, wherein • the driving system comprises a steering wheel display (2) with illuminants for illuminating a portion of the steering wheel of the motor vehicle, • the steering wheel display (2) is operable in different illumination states distinguishable by the driver, and • the driver assistance system comprises an illuminatable control element (5.7), in particular arranged on the steering wheel, configured for driver-side selection of the first driving mode and an illuminatable control element (5.6; 5.4), in particular arranged on the steering wheel, configured for driver-side selection of the second driving mode, and wherein according to the display method, during operation of the driving system in the first driving mode the steering wheel display (2) illuminates in a first illumination state and during operation of the driving system in the second driving mode the steering wheel display (2) illuminates in a second illumination state distinguishable by the driver from the first illumination state, in the first driving mode (HAF) both the steering wheel display (2) and the control element (5.7) associated with the first driving mode illuminate in a common illumination colour, and in the second driving mode (TAF-HOF; TAF-HON) both the steering wheel display (2) and the control element (5.6; 5.4) associated with the second driving mode illuminate in a different common illumination colour distinguishable by the driver.