DRIVING ASSISTANCE SYSTEM FOR AUTOMATED DRIVING OF A VEHICLE

Description

[0001] The present invention relates to a driver assistance system for automated driving of a vehicle, a vehicle with such a driver assistance system, a driver assistance method for automated driving of a vehicle, and a storage medium for executing the driver assistance method. In particular, the present invention relates to switching a lane keeping assistant from a lower level of automation to a higher level of automation. State of the art

[0002] The development of driver assistance systems, for example for automated driving, is gaining increasing importance. One example of this is the lane keeping assistant. Using a camera, the lane keeping assistant checks lane markings and compares them with the vehicle's position in the lane. If the vehicle threatens to unintentionally leave the lane, the lane keeping assistant warns the driver with a visual, acoustic, and / or haptic signal. However, if the driver activates the turn signal to change lanes or turn, the lane keeping assistant does not intervene in the steering.

[0003] In addition to such warnings, there are also active lane keeping assistants. The active lane keeping assistant also uses the camera image and compares it with the position of the driver's own vehicle. If the vehicle falls below a minimum distance from the lane markings, the lane keeping assistant steers the vehicle back to the center of the lane. Since the driver remains responsible even when the lane keeping assistant is activated, the lane keeping assistant continuously measures the torque applied to the steering wheel and checks whether the driver's hands are still on the steering wheel. If this is not the case, the driver is warned and the lane keeping assistant is deactivated.

[0004] If the driver attempts to activate the lane keeping assistant, it may fail, for example, due to uncertain sensor data. In such situations, the driver may fail to acknowledge the unsuccessful activation and assume that the lane keeping assistant is active. This can lead to dangerous situations, for example, if the driver takes their hands off the steering wheel, assuming the lane keeping assistant is active.

[0005] DE 10 2011 055 495 A1 describes a method for operating a driver assistance system of a motor vehicle, wherein, if a defined activation criterion is present, an automatic activation of at least one driver assistance function of the driver assistance system takes place.

[0006] DE 10 2010 009 133 A1 describes support for the optimal use of a driver assistance system. Driving data is continuously recorded using a vehicle sensor device and transmitted to a system selection device. This selects suitable driver assistance systems based on an evaluation of the driving data. The selected systems are then suggested to the driver for activation. Disclosure of the invention

[0007] It is an object of the present invention to provide a driver assistance system for automated driving of a vehicle, a vehicle with such a driver assistance system, a driver assistance method for automated driving of a vehicle, and a storage medium for executing the driver assistance method, which can improve safety during automated driving. In particular, it is an object of the present invention to ensure a driver's attention with regard to the status of automated driving.

[0008] This object is achieved by the subject matter of the independent claims. Advantageous embodiments are specified in the subclaims.

[0009] According to an independent aspect of the present invention, a driver assistance system for automated driving of a vehicle, in particular a motor vehicle, is specified. The driver assistance system comprises a driver assistance module configured for automated driving with a first level of automation and for automated driving with a second level of automation, wherein the second level of automation is higher than the first level of automation; an output module configured to output a driver instruction if, during automated driving with the first level of automation, a predetermined driver action is absent for a first period of time; and a user input module configured to receive a user input for switching from the first level of automation to the second level of automation. The output module is further configured to output the driver instruction if the following conditions are met: (i) the driver assistance system determines that the specified driver action is absent for a second period of time that is shorter than the first period of time, (ii) the user input to switch from the first level of automation to the second level of automation is received, and (iii) a switch from the first level of automation to the second level of automation is unsuccessful.

[0010] According to the invention, when switching from a lower level of automation to a higher level of automation, the time until the driver instruction, such as a hands-on request, is issued is shortened. If the driver takes their hands off the steering wheel during an unsuccessful attempt to activate the higher level of automation, the corresponding driver instruction is issued more quickly than usual. This ensures that the driver quickly acknowledges the unsuccessful activation of the higher level of automation and acts accordingly. This can prevent dangerous situations due to incorrect acceptance of an activated driver assistance function.

[0011] The driver assistance module and / or the output module and / or the user input module can be implemented in a common software and / or hardware module. Alternatively, the driver assistance module and / or the output module and / or the user input module can each be implemented in separate software and / or hardware modules.

[0012] The driver assistance system is configured for automated driving. In this document, the term "automated driving" can be understood as driving with automated longitudinal or lateral guidance, or autonomous driving with automated longitudinal and lateral guidance. Automated driving can, for example, involve extended driving on the highway or limited-time driving during parking or maneuvering. The term "automated driving" encompasses automated driving with any degree of automation. Examples of levels of automation include assisted, partially automated, highly automated, or fully automated driving. These levels of automation were defined by the Federal Highway Research Institute (BASt) (see the BASt publication "Research Compact," issue 11 / 2012).

[0013] In assisted driving, the driver continuously performs longitudinal or lateral guidance, while the system takes over the other function within certain limits. In partially automated driving (TAF), the system takes over longitudinal and lateral guidance for a certain period of time and / or in specific situations, whereby the driver must continuously monitor the system, as with assisted driving. In highly automated driving (HAF), the system takes over longitudinal and lateral guidance for a certain period of time without the driver having to continuously monitor the system; however, the driver must be able to take over vehicle control after a certain time. In fully automated driving (VAF), the system can automatically handle driving in all situations for a specific application; for this application, a driver is no longer required.

[0014] The four levels of automation mentioned above correspond to SAE Levels 1 to 4 of the SAE J3016 standard (SAE International – formerly Society of Automotive Engineering). For example, highly automated driving (HAF) corresponds to Level 3 of the SAE J3016 standard. Furthermore, SAE J3016 also stipulates SAE Level 5 as the highest level of automation, which is not included in the BASt definition. SAE Level 5 corresponds to driverless driving, in which the system can automatically handle all situations like a human driver throughout the entire journey; a driver is generally no longer required.

[0015] Preferably, the first level of automation corresponds to SAE Level 2.

[0016] SAE Level 2 corresponds to partial automation of vehicle control. With this level of partial automation of vehicle control, functions such as automatic parking, lane keeping, general longitudinal guidance, acceleration, and / or braking are handled by the driver assistance system.

[0017] Preferably, the second level of automation corresponds to SAE Level 3.

[0018] SAE Level 3 corresponds to conditional automation of vehicle guidance. With this type of conditional automation of vehicle guidance, the driver does not need to continuously monitor the driver assistance system. The driver assistance system independently performs functions such as activating the turn signal, changing lanes, and keeping in lane. However, it must be ensured that the driver can take over control of the vehicle if necessary within a certain time period upon a request from the driver assistance system.

[0019] The driver assistance system is preferably a lane keeping assistant, in particular an active lane keeping assistant with steering assistance. The active lane keeping assistant supports the driver in laterally guiding the vehicle, e.g., with respect to a lane, by determining a steering torque and outputting it to a steering system of the vehicle. The steering torque is a so-called feedback torque, which is introduced into the vehicle's steering system or the corresponding actuator, so that the vehicle is guided back into the lane. The at least one actuator can also be configured to provide an assistance torque that assists the driver in applying a desired (manual) steering torque.

[0020] The steering torque is adjusted, for example, by determining the strength of the steering torque and outputting it as a command or instruction to the vehicle's steering system. The term "strength of the steering torque" refers to a magnitude (or an amount or an intensity) of the force corresponding to the steering torque, which is provided, for example, by the at least one actuator of the steering system. The strength of the steering torque or the feedback torque indicates, in particular, how strongly the steering effect is influenced by the driver assistance system. The strength of the steering torque or the feedback torque indicates, in particular, the intensity of the driver assistance system's intervention on the steering system or the steering wheel.

[0021] The magnitude of the feedback torque can be set so that the vehicle is not kept in the lane against the driver's will, allowing the driver to override the driver assistance system. To do this, the driver applies a sufficiently large manual steering torque to the steering wheel, causing a limit value to be exceeded, which leads to deactivation of the driver assistance system.

[0022] The driver assistance system preferably comprises at least one detection unit configured to detect at least one lane. Based on the detection data from the at least one detection unit, the driver assistance system assists the driver in guiding the vehicle laterally with respect to the lane.

[0023] Preferably, the at least one detection unit comprises (or is) at least one camera configured to detect at least one lane. The at least one camera can, for example, be a CMOS camera mounted behind a windshield. From the captured images, the driver assistance system detects lane markings and determines an optimal steering angle to keep the vehicle in the center of the lane. If the vehicle threatens to leave the detected lane center, the feedback torque is applied to the steering wheel.

[0024] Preferably, the specified driver action is for the driver to hold the steering wheel. For example, with a lane departure warning system according to SAE Level 2, the driver must keep their hands on the steering wheel so that the driver can take control at any time if the lane departure warning system deactivates.

[0025] Preferably, the driver assistance system is configured to detect a driver hand torque applied to the steering wheel. Based on the detected driver hand torque, it can be determined whether the specified driver action is present, in particular whether the driver (presumably) does not have their hands on the steering wheel and the specified driver action therefore does not occur. In particular, it can be determined that the driver (presumably) does not have their hands on the steering wheel if the detected hand torque is less than (or equal to) a threshold. Similarly, it can be determined that the driver has their hands on the steering wheel if the detected hand torque is (equal to or) greater than the threshold.

[0026] Preferably, the driver instruction is a Hands-on Request (HOR) or a Take-over Request (TOR).

[0027] The hands-on request is a request to the driver to place their hands on the steering wheel or to grasp the steering wheel with their hands. In this case, the lane keeping assistant can be active and perform vehicle guidance. If the driver assistance system detects that the driver's hands are not on the steering wheel, the hands-on request can be issued without the lane keeping assistant being immediately deactivated.

[0028] A takeover request is a request to the driver to take over control of the vehicle. In this case, the lane keeping assistant can be deactivated and control transferred to the driver. For example, if the system becomes too uncertain about lane detection, the takeover request can be issued and the lane keeping assistant deactivated.

[0029] Preferably, the output module is configured to output the driver instruction optically and / or acoustically and / or haptically.

[0030] In some embodiments, the output module may comprise at least one display device configured to visually output or display the driver instruction. The display device may, for example, be provided in or on the dashboard of the vehicle. The display device may, for example, be a head unit. In some embodiments, the display device comprises an LCD display, a plasma display, or an OLED display.

[0031] Additionally or alternatively, the output module may comprise at least one loudspeaker configured to output the driver instruction acoustically.

[0032] Additionally or alternatively, the output module can be configured to output the driving instruction haptically, for example by vibrating the steering wheel.

[0033] Preferably, the first time period is 5 seconds or more, or 10 seconds or more. For example, the first time period can be in the range between 5 and 15 seconds.

[0034] Additionally or alternatively, the second time period may be 4 seconds or less. For example, the second time period may be 1 second.

[0035] The first time period and the second time period can be defined starting from a point in time at which the driver assistance system determines that the driver's hands are (presumably) no longer on the steering wheel. In particular, the point in time can be a point in time at which the driver assistance system determines that the detected hand torque is less than or equal to the threshold.

[0036] The driver assistance module comprises the user input module, which is configured to receive the user input for switching from the first level of automation to the second level of automation. The user input module can be provided, for example, in or on the dashboard of the vehicle. The user input module can be, for example, a head unit. In some embodiments, the user input module comprises at least one display device, such as a touchscreen, and / or at least one tactile control element, such as a switch, a button, and / or a rotary switch.

[0037] According to a further aspect of the present invention, a vehicle, in particular a motor vehicle, is specified. The vehicle comprises the driver assistance system for automated driving according to the embodiments of the present invention.

[0038] The term "vehicle" includes cars, trucks, buses, mobile homes, motorcycles, etc., used to transport people, goods, etc. In particular, the term includes motor vehicles used to transport people.

[0039] According to a further independent aspect of the present invention, a driver assistance method for automated driving of a vehicle, in particular a motor vehicle, is provided. The driver assistance method comprises outputting a driver instruction if, during automated driving with a first level of automation, a predetermined driver action is absent for a first period of time; receiving a user input to switch from the first level of automation to a second level of automation, wherein the second level of automation is higher than the first level of automation; and outputting the driver instruction if: (i) the specified driver action is not performed for a second period of time which is shorter than the first period of time, and (ii) switching from the first level of automation to the second level of automation is unsuccessful.

[0040] The driver assistance method for automated driving of a vehicle can implement the aspects of the driver assistance system for automated driving of a vehicle described in this document.

[0041] According to a further independent aspect of the present invention, a software (SW) program is provided. The SW program can be configured to be executed on one or more processors and thereby to carry out the driver assistance method described in this document for the automated driving of a vehicle, in particular a motor vehicle.

[0042] According to a further independent aspect of the present invention, a storage medium is provided. The storage medium can comprise a software program configured to be executed on one or more processors and thereby to execute the driver assistance method described in this document for the automated driving of a vehicle, in particular a motor vehicle.

[0043] According to a further independent aspect of the present invention, a software with program code for carrying out the driver assistance method for automated driving of a vehicle, in particular a motor vehicle, is to be executed when the software runs on one or more software-controlled devices. Short description of the drawings

[0044] Embodiments of the invention are illustrated in the figures and described in more detail below. They show: Figure 1schematically shows a vehicle with a driver assistance system for automated driving according to embodiments of the present invention, and Figure 2 a flowchart of a driver assistance method for automated driving of a vehicle according to embodiments of the present invention. Embodiments of the invention

[0045] In the following, unless otherwise stated, the same reference symbols are used for identical and equivalent elements.

[0046] Figure 1 schematically shows a vehicle 10 with a driver assistance system 100 for automated driving according to embodiments of the present invention.

[0047] The vehicle 10 includes the driver assistance system 100 for automated driving. During automated driving, the longitudinal and / or lateral guidance of the vehicle 10 is automatic. The driver assistance system 100 thus assumes control of the vehicle. To this end, the driver assistance system 100 controls the drive 20, the transmission 22, the hydraulic service brake 24, and the steering 26 via intermediate units (not shown).

[0048] To plan and implement automated driving, driver assistance system 100 receives environmental information from an environmental sensor system that monitors the vehicle's surroundings. In particular, the vehicle may include at least one environmental sensor 12 configured to record environmental data indicating the vehicle's surroundings. The at least one environmental sensor 12 may, for example, include one or more LiDAR systems, one or more radar systems, one or more cameras, and / or one or more laser scanners.

[0049] The driver assistance system 100 comprises a driver assistance module 110 configured for automated driving with a first level of automation and for automated driving with a second level of automation, wherein the second level of automation is higher than the first level of automation; an output module 120 configured to output a driver instruction if, during automated driving with the first level of automation, a predetermined driver action is absent for a first period of time; and a user input module 130 configured to receive a user input for switching from the first level of automation to the second level of automation. The output module 120 is further configured to output the driver instruction if the following conditions are met: (i) the driver assistance system determines that the specified driver action is absent for a second period of time that is shorter than the first period of time, (ii) the user input to switch from the first level of automation to the second level of automation is received, and (iii) a switch from the first level of automation to the second level of automation is unsuccessful.

[0050] The driver assistance system 100 can be an active lane keeping assistant that supports the driver in lateral guidance of the vehicle. However, the present invention is not limited to this, and other driver assistance systems that can be switched between at least two levels of automation are conceivable.

[0051] If the driver wishes to switch from a low level of automation to a higher level of automation and the switch cannot be made, for example, because the sensor data required to detect a lane is not sufficiently reliable, a driver instruction is issued more quickly than is normally the case with the low level of automation. This ensures that the driver quickly acknowledges the unsuccessful activation of the higher level of automation and acts accordingly.

[0052] The driver instruction can, for example, be a hands-on request or a take-over request, which is given to the driver visually and / or acoustically and / or haptically.

[0053] In some embodiments, the output module 120 may comprise at least one display device configured to visually output or display the driver instruction. The display device may, for example, be provided in or on the dashboard of the vehicle. The display device may, for example, be a head unit. In some embodiments, the display device comprises an LCD display, a plasma display, or an OLED display. Additionally or alternatively, the output module 120 may comprise at least one loudspeaker configured to acoustically output the driver instruction. Additionally or alternatively, the output module 120 may be configured to output or display the driving instruction haptically, for example, by vibrating the steering wheel.

[0054] Figure 2shows a schematic flowchart of a driver assistance method 200 for automated driving of a vehicle according to embodiments of the present invention. The driver assistance method 200 can be implemented by appropriate software that can be executed by one or more processors (e.g., a CPU).

[0055] The driver assistance method 200 comprises, in block 210, outputting a driver instruction if, during automated driving with a first level of automation, a predetermined driver action is absent for a first period of time; in block 220, receiving a user input to switch from the first level of automation to a second level of automation, wherein the second level of automation is higher than the first level of automation; and in block 230, outputting the driver instruction if: (i) the specified driver action is not performed for a second period of time which is shorter than the first period of time, and (ii) switching from the first level of automation to the second level of automation is unsuccessful.

[0056] According to the invention, when switching from a lower level of automation to a higher level of automation, the time until the driver instruction, such as a hands-on request, is issued is shortened. If the driver takes their hands off the steering wheel during an unsuccessful attempt to activate the higher level of automation, the corresponding driver instruction is issued more quickly than usual. This ensures that the driver quickly acknowledges the unsuccessful activation of the higher level of automation and acts accordingly. This can prevent dangerous situations due to incorrect acceptance of an activated driver assistance function.

[0057] Although the invention has been illustrated and explained in detail by means of preferred embodiments, the invention is not limited by the disclosed examples, and other variations may be derived therefrom by those skilled in the art without departing from the scope of the invention. It is therefore clear that a multitude of possible variations exist. It is also clear that the embodiments mentioned by way of example are truly only examples and should not be construed as limiting the scope, possible applications, or configuration of the invention in any way.Rather, the preceding description and the description of the figures enable the person skilled in the art to implement the exemplary embodiments in concrete terms, whereby the person skilled in the art, with knowledge of the disclosed inventive concept, can make various changes, for example with regard to the function or the arrangement of individual elements mentioned in an exemplary embodiment, without departing from the scope of protection defined by the claims.

Claims

1. Driving assistance system (100) for the automated driving of a vehicle (10), comprising: a driving assistance module (110), which is configured for automated driving with a first degree of automation and for automated driving with a second degree of automation, wherein the second degree of automation is higher than the first degree of automation; an output module (120), which is configured to output a driver instruction when a specified driver action is absent for a first time period during automated driving with the first degree of automation; and a user input module (130), which is configured to receive a user input for a switchover from the first degree of automation to the second degree of automation, wherein the output module (120) is further configured to output the driver instruction, in the event that: (i) the driving assistance system determines that the specified driver action is absent for a second time period which is shorter than the first time period; (ii) the user input for a switchover from the first degree of automation to the second degree of automation is received; and (iii) a switchover from the first degree of automation to the second degree of automation is unsuccessful.

2. Driving assistance system (100) according to Claim 1, wherein the driving assistance system (100) is a lane departure warning system.

3. Driving assistance system (100) according to Claim 1 or 2, wherein the specified driver action is the holding of the steering wheel by the driver.

4. Driving assistance system (100) according to one of Claims 1 to 3, wherein the driver instruction is a hands-on request or a take-over request.

5. Driving assistance system (100) according to one of Claims 1 to 4, wherein the output module (120) is designed for outputting an optical and / or acoustic and / or haptic driver instruction.

6. Driving assistance system (100) according to one of Claims 1 to 5, wherein the first time period is 5 seconds or more, in particular wherein the first time period lies within a range of 5 to 15 seconds, and / or wherein the second time period is 4 seconds or fewer, in particular wherein the second time period is 1 second.

7. Driving assistance system (100) according to one of Claims 1 to 6, wherein the first degree of automation corresponds to SAE Level 2, and wherein the second degree of automation corresponds to SAE Level 3.

8. Vehicle (10), in particular motor vehicle, comprising the driving assistance system (100) according to one of Claims 1 to 7.

9. Driving assistance method (200) for the automated driving of a vehicle, comprising: an output (210) of a driver instruction when a specified driver action is absent for a first time period during automated driving with a first degree of automation; reception (220) of a user input for a switchover from the first degree of automation to a second degree of automation, wherein the second degree of automation is higher than the first degree of automation; and outputting (230) of the driver instruction, in the event that: (i) the specified driver action is absent for a second time period which is shorter than the first time period; and (ii) a switchover from the first degree of automation to the second degree of automation is unsuccessful.

10. Storage medium, comprising a software program which is designed to be run on one or more processors, in order to execute the driving assistance method (200) according to Claim 9.