Method and apparatus for inhibiting automated driving functions of a vehicle

Abstract

To provide safe and particularly comfortable operation of automated driving functions of a vehicle. A device for controlling automated driving functions of a vehicle, the device comprising: - to detect a blocking event ahead in the direction of travel of the vehicle 100; - specifying the spatial extent 221 of the blocking range 225 for the detected blocking event depending on the event type of the detected blocking event; and -Do not allow automated driving functions to be used at a blocking range of 225 It is composed of:

Description

[Technical Field]

[0001] The present invention relates to a method and corresponding apparatus configured to control the use of automated driving functions of a vehicle.

[0002] The vehicle may be equipped with one or more automated driving functions, each configured to at least partially or fully automate the vehicle's longitudinal driving (longitudinal guidance) and / or lateral driving (lateral guidance). In this case, if one or more conditions for using the driving function are not met in the vehicle's driving situation, for example, if the road on which the vehicle is driving does not have lane markings, the use of the driving function may not be permitted in some cases.

[0003] If it is recognized during vehicle operation that an automated driving function that is actually used can no longer be used (for example, because the conditions for use are no longer met), a takeover request can be output to the vehicle driver, requesting the driver to manually take over the driving role. Here, the takeover request should not be made too late to enable a reliable takeover, but should also not be made too early to enable comfortable use of the vehicle. The inability to use the driving function should be recognized early in an appropriate manner so that the activation of the driving function can be prevented. Summary of the Invention [Problem to be solved by the invention]

[0004] The present specification addresses the technical problem of providing a safe and particularly comfortable operation of automated driving functions of a vehicle. [Means for solving the problem]

[0005] The problem is solved by each independent claim. Advantageous embodiments are set out in particular in the dependent claims. It should be noted that the additional features of claims dependent on an independent claim, either without the features of the independent claim or only in combination with some of the features of the independent claim, may form an invention independent of the combination of all the features of the independent claim, which invention may be made for the subject matter of an independent claim, a divisional application or a subsequent application. The same applies to technical suggestions given in the description that may form an invention independent of one of the features of the independent claim.

[0006] According to one aspect, an apparatus for controlling automated driving functions of a vehicle is described, wherein the driving functions can be configured to provide at least partially or fully automated (e.g., SAE Level 3) longitudinal and / or lateral driving of the vehicle.

[0007] The device is configured to detect a blocking (blockage, obstacle) event ahead in the direction of travel of the vehicle. The device can, for example, be configured to identify, in particular receive, data about the blocking event. The data can include real-time traffic information (RTTI) data and / or V2X, in particular vehicle-to-vehicle or vehicle-to-infrastructure notifications. The blocking event can then be detected based on the identified, in particular received, data. The identified, in particular received data can also indicate a location of the blocking event and / or an event type of the blocking event.

[0008] The device is also configured to determine a spatial extent of a blocking range for a detected blocking event depending on the event type of the detected blocking event, where the spatial extent of the blocking range can include or correspond to the length of the blocking range in the direction of travel, and different spatial extents can be determined for different event types.

[0009] The event type of the detected blocking event may be one of a plurality of different predefined event types. The predefined number of different event types may be, for example: weather conditions at the location on the roadway on which the vehicle is traveling, in particular at least one event type of rain, fog, sleet or snowfall; and / or At least one event type regarding a person at a location on the travel path, and / or At least one event type for an object located at a location on the path; and / or at least one event type for roadway conditions at the roadway location, in particular holes or icy road surfaces or the absence of road markings; and / or At least one event type for natural disasters at the location of the roadway, in particular landslides, and / or At least one event type regarding other traffic participants traveling in the wrong direction (e.g., wrong-way drivers) It is possible to include:

[0010] Different event types may be associated with different spatial extents of the blocking range. The device can be configured to determine the spatial extent of the blocking range for a detected blocking event using an assignment function that indicates, for a plurality of different event types, the spatial extent of the blocking range for a blocking event of each event type. The assignment function can include or be, for example, a lookup table. Thus, the spatial extent of the blocking range can be determined particularly effectively and reliably.

[0011] The different event types are: The accuracy with which the blocking event can be located for each event type, where the accuracy of the location may depend, for example, on the accuracy of the detection at the time of detection, such as, for example, on the current weather conditions. Alternatively or additionally, the blocking event may possibly have a proper motion, and therefore the accuracy of the location may depend, for example, on how long the detection time is delayed; and / or The severity of the adverse effects that a blocking event of each event type may have on the vehicle, its occupants and / or other traffic participants. may differ from each other in terms of

[0012] The device is The spatial extent of the blocking range increases with decreasing precision (of the location of the blocking event) for each event type, and / or The spatial extent of the blocking range increases with increasing severity (of the possible effects of a blocking event) of each event type, The spatial extent of the blocking range for a detected blocking event can be configured to be determined depending on the event type of the detected blocking event.

[0013] The above-mentioned relationship between accuracy and / or severity and the spatial extent of the blocking range can be stored, for example, in the allocation function.

[0014] The device may be configured to determine the spatial extent of a blocking range for a detected blocking event with the involvement of a vehicle external unit, for example, by sending a response request thereto to the vehicle external unit, and the spatial extent of the blocking range may then be determined by the vehicle external unit and communicated to the device.

[0015] The device is also configured to not enable automated driving functions within the blocked range (at least partially, and possibly the entire blocked range).

[0016] For this purpose, the device can be configured to output a takeover request to the vehicle driver before reaching a specified blocking range for the detected blocking event (to request the driver to manually take over driving duties) and deactivate automated driving functions at the beginning of the specified blocking range. The takeover request can be output, for example, a predetermined handover time period before reaching the beginning of the specified blocking range.

[0017] Alternatively, or in addition, the device may be configured to prevent automated driving functions from being operable as long as the vehicle is within a specified blocking range for a detected blocking event.

[0018] Alternatively or additionally, the device may be configured to prevent (prohibit) automated driving functions from being operable as long as the vehicle is within a specified blocking range for the detected blocking event, such that driving functions are not available for at least the remainder of the blocking range.

[0019] Thus, a device is described that is configured to define a blocking range for a blocking event, in particular the length and / or radius of the blocking range, depending on the type, thereby making it possible to increase the safety and comfort of automated driving functions.

[0020] The device can be configured to determine the position of the detected blocking event, and the spatial extent of a partial area in the direction of travel before the position of the detected blocking event and / or the spatial extent of a partial area in the direction of travel after the position of the detected blocking event can be determined depending on the event type of the detected blocking event. The blocking area for the detected blocking event can be determined particularly precisely and flexibly based on the partial area in front of and / or behind the position of the detected blocking event. This can further improve the comfort and safety of automated driving functions.

[0021] According to another aspect, there is described a (road vehicle) motor vehicle (in particular a car or lorry or bus or motorcycle) comprising the apparatus described herein.

[0022] According to another aspect, a vehicle-external unit (e.g., a back-end server) is described that includes the apparatus described herein. The vehicle-external unit can detect a blocking event ahead in the vehicle's driving direction. For example, it can recognize that a blocking event exists on or around the vehicle's driving route. It can also specify a spatial extent of a blocking range for the detected blocking event (depending on the event type of the detected blocking event). Furthermore, it can prevent the use of the vehicle's automated driving functions in the blocking range. For this purpose, data about the specified spatial extent of the blocking range can be transmitted to the vehicle. The use of the automated driving functions can then be prevented by a control unit of the vehicle.

[0023] According to another aspect, a method for controlling automated driving functions of a vehicle is described. The method includes detecting a blocking event ahead in a direction of travel of the vehicle and determining a spatial extent of a blocking range for the detected blocking event depending on an event type of the detected blocking event, where the spatial extent may be different for different event types. The method also includes disabling the automated driving functions within the blocking range (at least partially, or preferably the entire blocking range).

[0024] According to another aspect, a software (SW) program is described, which can be configured to run on a processor (e.g., in a vehicle controller) and thereby perform the methods described herein.

[0025] According to another aspect, a storage medium is described. The storage medium can include a software program configured to execute on a processor and thereby perform the methods described herein.

[0026] Within the scope of this specification, the term "automated driving" can be understood as driving with automated longitudinal and lateral driving or automated driving with automated longitudinal and lateral driving. Automated driving can be, for example, relatively long driving on a highway or time-limited driving for parking or maneuvering. The term "automated driving" includes automated driving with any appropriate degree of automation. Exemplary degrees of automation are assisted driving, partially automated driving, highly automated driving, and fully automated driving. These degrees of automation are defined by the German Federal Institute for Road and Traffic Research (BASt) (see the BASt publication "Forschung kompakt", November 2012). In assisted driving, the driver continuously performs longitudinal and lateral driving, while the system takes over other functions to a certain extent. In partially automated driving (TAF), the system takes over longitudinal and lateral driving for certain periods and / or in special situations, and the driver needs to continuously monitor the system, as in assisted driving. Highly automated driving (HAF) involves a system assuming longitudinal and lateral driving for a period of time without the driver needing to continuously monitor the system, but the driver must still be able to drive the vehicle for a certain period of time. Fully automated driving (VAF) involves a system automatically performing all driving situations for a specific use case, where a driver is no longer required for that use case. The four levels of automation mentioned above correspond to SAE Levels 1 to 4 in the SAE J3016 (SAE: Society of Automotive Engineering) standard. For example, highly automated driving (HAF) corresponds to Level 3 of SAE J3016. SAE J3016 also defines SAE Level 5 as the highest level of automation, which is not included in the definition of BASt. SAE Level 5 corresponds to driverless driving, where the system can perform all driving situations like a human driver throughout the entire driving process, generally eliminating the need for a driver.The measures described herein relate in particular to driving functionality according to SAE Level 3.

[0027] It should be noted that the methods, devices, and systems described herein can be used alone or in combination with other methods, devices, and systems described herein. Furthermore, aspects of the methods, devices, and systems described herein can be combined with each other in various ways. In particular, features of the claims can be combined in various ways. Also, features shown in parentheses should be understood to be optional features.

[0028] The present invention will be described in detail below based on examples. [Brief explanation of the drawings]

[0029] [Figure 1] FIG. 1 illustrates exemplary components of a vehicle. [Figure 2] FIG. 1 illustrates an exemplary driving situation with a forward blocking event. [Figure 3] 1 is a flowchart of an exemplary method for controlling automated driving functions of a vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0030] As explained in the introduction, this specification addresses improving the comfort and safety of automated functions in vehicles. In this regard, Figure 1 illustrates an exemplary vehicle 100 including one or more surrounding sensors 102, each configured to detect sensor data related to the surroundings of the vehicle 100. Exemplary surrounding sensors 102 include radar sensors, lidar sensors, ultrasonic sensors, cameras, etc.

[0031] The (control) device 101 of the vehicle 100 can be configured to evaluate sensor data of one or more surrounding sensors 102, for example, to recognize one or more objects in the surroundings of the vehicle 100 and / or to identify the progression of the path on which the vehicle 100 is traveling. The device 101 can also be configured to operate longitudinal driving actuators (longitudinal guide actuators) and / or lateral driving actuators (lateral guide actuators) 103 of the vehicle 100 (e.g., drive motors, braking devices and / or steering devices) depending on the (evaluated) sensor data of the one or more surrounding sensors 102, in order to provide automated driving functions in which the vehicle 100 is driven longitudinally (longitudinal guide) and / or laterally (lateral guide) at least partially or fully automated.

[0032] The device 101 may also be configured to recognize the presence of a forward blocking (blockage, obstacle) event on the roadway along which the vehicle 100 is traveling. The blocking event may be at a predetermined location on the roadway. The blocking event may be a static event, such as a construction site. Data about the blocking event may be displayed (e.g., as a map attribute) on a digital map of the road network along which the vehicle 100 is traveling. Alternatively, or in addition, the forward blocking event may be detected based on sensor data from one or more surrounding sensors 102 of the vehicle 100.

[0033] The device 101 may be configured to prevent the use of the automated driving functions of the vehicle 100 around the location of the blocking event in the forward blocking range. For this purpose, a takeover request may be output to the driver of the vehicle 100 via the user interface 104 of the vehicle 100, so that the driver of the vehicle 100 manually steers the vehicle 100 longitudinally and / or laterally. In this case, the takeover request should be made not too close to the blocking event to allow reliable takeover by the driver, and not too far from the blocking event to allow comfortable operation of the automated driving functions.

[0034] The vehicle 100 may include a communication unit 105 configured to receive data 111 about the blocking event from a vehicle external unit 110 . The data 111 can be received via wireless communication (such as, for example, 3G, 4G, 5G, or radio channels). The data 111 can include, among other things, RTTI (Real Time Traffic Information) data. The data 111 can include, among other things, information about certain weather conditions, obstacles on the road, and / or dynamic blocking events, such as wrong-way drivers not displayed on the digital vehicle.

[0035] 2 illustrates an exemplary driving situation in which a vehicle 100 is driving along a driving path 200 toward a blocking event, specifically a blocking event location 210. The blocking event may be a recognized blocking event based on received data 111. The data 111 about the blocking event may include: a location (which may correspond to the location where the blocking event begins in a spatially distributed blocking event); -Event types among several different predefined event types Exemplary event types may include a predetermined weather condition (e.g., heavy rain, fog, etc.), a predetermined roadway condition (e.g., potholes, icy road, etc.), a person in the roadway, an object in the roadway, a wrong-way driver, etc.

[0036] The device 101 can be configured to set a blocking range 225 for a blocking event, in which automated driving functions should be blocked (shut down), based on the event type of the blocking event, where the blocking range 225 has a subrange 220 before the blocking event position 210 (in the direction of travel of the vehicle 100) and a subrange 220 behind the blocking event position 210 (in the direction of travel of the vehicle 100).

[0037] The device 101 can be configured in particular to set the radius or length 221 of the blocking range 225, in particular of one or more sub-ranges 220, depending on the event type. For this purpose, a predefined allocation function (e.g. in the form of a table) can be used, which assigns a range length 221 to each of the different event types, whereby the range length 221 generally increases with increasing severity of the blocking event for the driving behavior of the vehicle 100.

[0038] It should be noted that in some cases, the blocking event is not located directly on (or near) the driving route of the vehicle 100. However, by setting a blocking range 225 having a predetermined radius around the blocking event (i.e., by setting a circular blocking range 225 around the blocking event), a situation may arise in which at least a portion of the blocking range 225 is located on the driving route of the vehicle 100.

[0039] Typically, an automated driving function, such as an SAE Level 3 autopilot, has a configured Operational Design Domain (ODD), which defines under what configuration or usage conditions the automated driving function can be activated by a user. Dynamic events, such as adverse weather conditions, natural disasters, or wrong-way drivers, may pose an elevated safety risk and may preclude the use of a configured blocking radius 221 across events that would block the driving function, particularly since different imprecisions may arise in locating each event depending on the event type. For this reason, different blocking radii 221 are preferably used to improve safety and comfort, and each blocking radius 221 may be based on the severity and / or scope (i.e., spatial extent) of the event for each event type.

[0040] A different blocking radius 221 can be set for each event type based on the severity of the event type that should result in a temporary blocking of the driving function. The blocking radius 221 (or resulting blocking radius 225) prohibits the autonomous driving function from being enabled for the predefined radius 221 and generates a takeover request as long as the vehicle 100 is already within the blocking radius 221 (i.e., within the corresponding blocking radius 225) during the event. Event types can be assigned to predefined blocking radii or spatial extents 221 in the backend system 110, and when an event of each event type occurs, information about the associated section 225 within the radius 221 can be communicated to the vehicle 100. In other words, the spatial extent 221 of the blocking radius 225 for a blocking event can be determined, in some cases, by the vehicle external unit 110.

[0041] To the extent that the vehicle 100's current geographic location is within an invalid and / or blocked section, the vehicle 100 may generate a takeover request following identification of the blocked area 225, or the section 225 may be blocked and autonomous driving functionality may no longer be provided to the driver within that section.

[0042] An event may be, for example, a wrong-way driver on a highway travel path 200 on which the vehicle 100 is traveling. In the case of a wrong-way driver, surrounding traffic does not behave normally, and the automated driving function may not be configured to handle oncoming traffic on the highway. In some cases, a quick evasive maneuver may need to be performed to avoid a possible collision. For this reason, a relatively large blocking radius 221 is assigned to an event of the type "wrong-way driver," since the information 111 about the event may be outdated and the wrong-way driver may not be able to be accurately located. Early handover of driving responsibility to the driver may improve the safety of the vehicle 100.

[0043] 3 shows a flowchart of a (possibly computer-implemented) method 300 for controlling automated driving functions of a (motorized) vehicle 100. The automated driving functions can be configured to cause the vehicle 100 to drive longitudinally and / or laterally at least partially or fully automated (e.g., per SAE Level 3).

[0044] The method 300 comprises detecting 301 a (dynamic) blocking event located ahead in the direction of travel of the vehicle 100. The blocking event can be recognized, for example, based on the received data 111, in particular based on the received RTTI data.

[0045] Furthermore, the method 300 includes determining 302 a spatial extent 221 of the blocking range 225 for the detected blocking event, in particular a length or radius of a perimeter around the blocking event location 210, depending on the event type of the detected blocking event. The event type can be determined, for example, based on the received data 111. The event type can be based on a predefined quantity and / or list of event types. The spatial extent 221 can be determined (for example, by the vehicle external unit 110 and / or by the device 101 of the vehicle 100) based on a predefined assignment function.

[0046] The method 300 further includes causing 303 that the automated driving functions are not available (at least partially, preferably completely) in the blocked area 225. To this end, it is possible to cause the driving functions to be blocked from operating within the blocked area 225. It is also possible to cause the driving functions to be deactivated either upon reaching the blocked area 225 or (if the vehicle 100 is already in the blocked area 225) immediately (after a handover period for handing over the driving role to the driver of the vehicle 100).

[0047] The measures described herein can result in a particularly safer and more comfortable operation of automated driving functions.

[0048] The invention is not limited to the embodiments shown, and it should be noted that the specification and drawings are intended to illustrate, by way of example only, the principles of the proposed methods, devices and systems.

Claims

1. A device (101) for controlling automated driving functions of a vehicle (100), the device (101) comprising: - to detect a blocking event ahead in the direction of travel of said vehicle (100), - determining the spatial extent (221) of a blocking range (225) for the detected blocking event depending on the event type of the detected blocking event; and - the automated driving function is not enabled in the blocking range (225) An apparatus (101) comprising:

2. The device (101) - to identify the location (210) of the detected blocking event, - determining the spatial extent (221) of a partial area (220) in front of the position (210) of the detected blocking event in the direction of travel and / or the spatial extent (221) of a partial area (220) in rear of the position (210) of the detected blocking event in the direction of travel depending on the event type of the detected blocking event; - determining a blocking range (225) for the detected blocking event based on the subrange (220) before and / or the subrange (220) after the position (210) of the detected blocking event; 2. The apparatus (101) of claim 1, wherein said apparatus is configured to:

3. 3. The device (101) according to claim 1 or 2, characterized in that the spatial extent (221) of the blocking range (225) includes the length of the blocking range (225) in the direction of travel or corresponds to the length of the blocking range (225) in the direction of travel.

4. The device (101) of any one of claims 1 to 3, characterized in that the device (101) is configured to identify the spatial extent (221) of the blocking range (225) for the detected blocking event using an assignment function that indicates, for a plurality of different event types, the spatial extent (221) of the blocking range for each blocking event of the event type.

5. the event type of the detected blocking event is one of a plurality of different predefined event types; - Different event types - the precision with which the location (210) of the blocking event for each event type can be determined; and / or - the severity of the adverse effects that a blocking event of each event type may have on the vehicle (100), the occupants of the vehicle (100) and / or other traffic participants; differ from each other in terms of said device (101) - the spatial extent (221) of said blocking range (225) increases with decreasing precision of the event type, and / or - the spatial extent (221) of said blocking range (225) increases with increasing severity of the event type; The system is configured to determine a spatial extent (221) of the blocking range (225) for the detected blocking event depending on the event type of the detected blocking event. An apparatus (101) according to any one of claims 1 to 4.

6. the event type of the detected blocking event is one of a plurality of different predefined event types; A number of different predefined event types, in particular - at least one event type for the weather conditions at the location (210) of the roadway (200), in particular rain, fog, sleet or snowfall; and / or - at least one event type for a person at a location (210) on the path (200), and / or - at least one event type for an object located at a position (210) of the path (200), and / or - at least one event type for the roadway condition at the location (210) of the roadway (200), in particular holes or an icy roadway or a lack of road markings; and / or at least one event type for a natural disaster, in particular a landslide, at the location (210) of the roadway (200), and / or - at least one event type regarding other traffic participants traveling in the wrong direction of travel The device (101) according to any one of claims 1 to 5, characterized in that it comprises:

7. The device (101) - receiving data (111) about said event type, and - identifying said blocking event based on said received data (111); 7. The device (101) according to any one of claims 1 to 6, characterized in that it is configured

8. 8. The device (101) according to claim 7, characterized in that the data (111) comprises real-time traffic information (RTTI) data and / or V2X, in particular vehicle-to-vehicle or vehicle-to-road notifications.

9. The device (101) - outputting a takeover request to the driver of the vehicle (100) before reaching the identified blocking range (225) for the detected blocking event, and deactivating the automated driving functions at the beginning of the identified blocking range (225); and / or - to prevent the automated driving functions from being operable as long as the vehicle (100) is within the specified blocking range (225) for the detected blocking event, and / or - outputting a takeover request to the driver of the vehicle (100) (especially if the vehicle (100) is already within the specified blocking range (225) for the detected blocking event) and deactivating the automated driving functions after a predefined handover period has elapsed; 9. The device (101) according to any one of claims 1 to 8, characterized in that it is configured

10. A method (300) for controlling automated driving functions of a vehicle (100), the method (300) comprising: - detecting (301) a blocking event ahead in the direction of travel of said vehicle (100); - determining (302) the spatial extent (221) of a blocking range (225) for the detected blocking event depending on the event type of the detected blocking event; and - preventing the automated driving function from being enabled (303) in the blocking range (225); A method (300) comprising:

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