Method for operating a motor vehicle, control mechanism, motor vehicle

Abstract

The present invention relates to a method for operating a motor vehicle (1), the motor vehicle (1) having at least one operating mechanism (2, 3, 4) operable by a driver for presetting a braking, acceleration and / or steering demand, the operating mechanism (2, 3, 4) being associated with at least one first sensor (5) for detecting the operation of the operating mechanism (2, 3, 4), and the method comprising monitoring the operating mechanism (2, 3, 4) and / or the first sensor (5) for malfunctions. [Solution] If a malfunction of the operating mechanism (2, 3, 4) and / or the first sensor (5) is detected, it is intended to activate at least partial autonomous driving operation of the vehicle (1) and perform at least one autonomous driving operation depending on the value of at least one pre-set parameter associated or associable with the vehicle (1).

Description

[Technical Field]

[0001] The present invention relates to a method for operating a motor vehicle, the motor vehicle having at least one operating mechanism operable by a driver for presetting a braking, acceleration and / or steering request, the operating mechanism being associated with at least one first sensor for detecting operation of the operating mechanism, and the method comprising monitoring the operating mechanism and / or the first sensor for malfunctions.

[0002] Furthermore, the present invention relates to a control mechanism for a motor vehicle and to a motor vehicle. [Background technology]

[0003] It is known from the prior art that the actuation of a driver-operable control mechanism for a motor vehicle is detected by a sensor associated with the control mechanism. When the driver operates the control mechanism, the driver's braking or acceleration request is recognized depending on this. For example, brake systems are known that include an electromechanical brake booster that, together with a vehicle assistance system, in particular an electronic stability program (ESP), forms a redundant "brake-by-wire" system in which there is no mechanical connection from the control mechanism to the brake system. The braking request is transferred, for example, depending on the actuation of the control mechanism, to an electromechanical actuator that is configured to implement a pressure boost in the brake system.

[0004] Similarly, methods for determining malfunctions of operating mechanisms and / or sensors are known. For example, Patent Document 1 discloses a method for determining the state of a pedal operating system of a vehicle, which determines whether the operating pedal is in a normal operating state or in a fault state depending on two sensor signals. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] German Patent Application Publication No. 102018113865 Summary of the Invention

[0006] The method according to the present invention, which includes the features of claim 1, is characterized in that, if a malfunction of the operating mechanism and / or the first sensor is determined, at least a partial autonomous driving operation of the vehicle is activated and at least one autonomous driving maneuver is performed depending on the value of at least one preset parameter associated with or relatable to the vehicle. This advantageously ensures safe continued operation of the vehicle when the operation of the operating mechanism can no longer be unambiguously identified and executed due to a failed operating mechanism and / or a failed sensor. In particular, the autonomous driving operation is activated automatically, i.e., without the driver's intervention. Preferably, this driving operation is activated continuously, and handover of control to the driver is prevented. This means that an emergency trajectory, such as a vehicle stop control, is not required to bring the vehicle to a safe standstill as quickly as possible and hold it there. The vehicle continues to operate normally, at least for the time being, in at least a partial autonomous driving operation. In particular, handover of control of the vehicle to the driver is not performed unless it is determined that the malfunction has been resolved. In the event of such a malfunction, the vehicle can only be operated in autonomous driving operation, which is safe and advantageous. Particularly advantageously, if a malfunction is detected, an appropriate notification is sent to the driver, for example on a display device addressed to the driver, in particular the notification containing information about the functioning of at least partially autonomous driving and / or instructions to the driver for checking and resolving the malfunction, for example a request to go to a repair shop.

[0007] According to a further advantageous embodiment of the present invention, the operating mechanism is provided with at least one second sensor for redundant detection of the operation, and the sensor signals of the sensors are monitored for malfunctions, particularly by comparing them with each other. Redundant detection of the operation of the operating mechanism has the advantage that, even if one of the sensors fails, it is always guaranteed that the corresponding driver input information is reliably recognized. Preferably, the operation of the operating mechanism is detected by one or two sensors, such as an angle sensor, a distance sensor, a pressure sensor, or a force sensor, arranged on the operating mechanism, and at least partial autonomous driving operation is only activated if one of these sensors fails. Advantageously, if all sensors fail or are defective, control only needs to be taken away from the driver.

[0008] It is particularly advantageous to control the steering system, braking system, and / or drive unit of a motor vehicle depending on the actuation of the actuation mechanism. Such an actuation mechanism advantageously ensures that the steering, acceleration, and / or deceleration requests of the motor vehicle driver are reliably recognized. Preferably, the actuation mechanism is part of a steer-by-wire, brake-by-wire, and / or drive-by-wire system, i.e., has no mechanical connection to the steering system, braking system, and / or drive unit. In particular, the actuation is detected as a function of the displacement distance and / or spatial position of the actuation mechanism. In particular, the actuation mechanism is configured as an actuation surface, pedal, joystick, or steering wheel. Preferably, the actuation surface is configured to transmit the acceleration and / or deceleration requests to the braking system and / or drive unit. For this purpose, in particular, the actuation force of the actuation surface is determined. The actuation surface is preferably at least substantially fixed or has no travel, i.e., it cannot be displaced or, if displaced, is at least slightly displaceable. Preferably, the pedal is a gas pedal, a brake pedal, or a combined driving pedal, which are equally configured to output acceleration and deceleration requests to the brake system and / or the drive unit. This type of output and control provides particularly pronounced advantages of the method according to the present invention. It is particularly advantageous to configure the joystick to output both acceleration and deceleration requests, and in particular, alternatively or additionally, steering requests. For this purpose, the displacement, angle of movement, and / or speed of the joystick or pedal actuation are detected. Preferably, the acceleration or deceleration request is recognized, in particular depending on the direction of joystick movement, and either the drive unit or the brake system is controlled accordingly. For example, the driver's request to decelerate the vehicle is set via the joystick. In response to this movement, in particular in response to the speed or angle of movement, a signal is sent to a component of the vehicle's brake system, for example, to a controllable actuator, which then increases the brake pressure accordingly, as described above.

[0009] According to an advantageous further configuration of the present invention, it is contemplated that driving operations are enabled at SAE Level 3 (automated), Level 4 (highly automated), or Level 5 (fully automated), and that driving operations can be disabled again or are disabled only after it is determined that the malfunction has been eliminated, and / or control of the faulty operating mechanism and / or further operating mechanisms is taken away from the driver. By disabling or allowing a disablement only after the malfunction has been eliminated, safe continued operation of the vehicle is advantageously ensured. Taking control via an operating mechanism advantageously ensures that the driver does not disrupt the autonomous driving operation and thus cannot intervene in the control of the vehicle, potentially endangering the safe continued operation of the vehicle. Instead of taking control, at least sensor signals representing the driver's desire to operate the corresponding operating mechanism are not taken into account. Depending on the type of malfunction, it is advantageous to take control of not only the faulty operating mechanism but also further operating mechanisms from the driver. For example, if a malfunction of the brake pedal or a sensor attached to the brake pedal is detected, the system not only takes away control of the brake pedal from the driver, but also of the gas pedal, or at least no longer takes into account the driver's request signal for such operation. The driver can then only steer or set a steering request for the steering wheel, while the partially autonomous driving operation consists of automatically accelerating or decelerating the vehicle. This advantageously prevents the driver from setting a speed that is too high, for example, even though the driver's request for braking would not be recognized at all due to the malfunction.

[0010] It is particularly advantageous for the parameters to include the severity and / or type of malfunction. This has the advantage that the driving and operation behaviors are always adapted to the driving situation resulting from the malfunction. In the case of multiple errors, particularly in two operating mechanisms and / or in sensors associated therewith, a higher level of automation is selected than in the case of a single error. If neither a braking request nor an acceleration request using, for example, the brake pedal and gas pedal can be recognized, a fully autonomous driving behavior is selected, in which the driver can no longer intervene in the control of the vehicle, in particular a steering request. Preferably, in the case of only a single error, such as a gas pedal malfunction, the driver is given the option of selecting from various driving behaviors and various interaction levels (i.e., the extent to which the driver can still intervene in the control of the vehicle), depending on the severity and / or type of malfunction. In the case of multiple errors, as mentioned above, a fully autonomous driving behavior is automatically set, particularly for safety reasons, and the driver cannot select or influence this in this case.

[0011] According to a further advantageous embodiment of the present invention, the fault state of at least one other component of the vehicle is monitored, and the parameter includes this fault state. Taking the fault state of the other components into account provides a particularly advantageous possibility for selecting one or more suitable autonomous driving maneuvers. For example, if it is determined that not only the brake pedal malfunctions but also the entire braking system malfunctions, an autonomous driving maneuver is implemented, particularly to ensure that the vehicle is stopped as quickly and at an appropriate location. On the other hand, if only the gas pedal malfunctions and no other components of the vehicle malfunction, at least partial autonomous driving operation is continuously activated, allowing the driver to set steering and braking demands themselves. In particular, if only a single error, such as a gas pedal malfunction, exists and no other components of the vehicle malfunction, the driver is given the option to select from various driving maneuvers and / or various interaction levels (i.e., the extent to which the driver can still intervene in the control of the vehicle) depending on the fault state of at least one other component. In the case of multiple errors, as described above, a fully autonomous driving operation is automatically established, particularly for safety reasons, and the driver cannot select or influence this in this case.

[0012] It is particularly advantageous to detect the current location information of the vehicle, and for the parameters to include the current location information. By taking the current location information into account, it is possible to obtain the advantage that the current position of the vehicle is also taken into account when determining a driving maneuver. In particular, a driving maneuver that is appropriate is determined depending on the current location information. Preferably, a driving maneuver is set to reliably stop the vehicle. In this case, taking the current location information into account is preferably excluded from appropriate locations. For example, it is determined that the vehicle should not be stopped in a tunnel, a construction site, or on the hard shoulder of a road, and a driving maneuver is correspondingly set to prevent this. Preferably, an appropriate location is determined depending on the current location information. For example, it is determined that the vehicle should be stopped in a parking lot, in particular the nearest parking lot.

[0013] According to an advantageous further configuration of the present invention, it is contemplated that surrounding and / or environmental information of the vehicle is detected, and the parameters include the surrounding and / or environmental information. Taking the surrounding and / or environmental information into consideration advantageously ensures that a particularly suitable driving maneuver is selected. For example, by evaluating sensor data from the vehicle's vehicle assistance systems, in particular the positions of other traffic participants around the vehicle, it is ensured that the autonomous driving operation does not put other traffic participants at risk. Particularly advantageously, the state of the roadway on which the vehicle is traveling and / or the weather conditions around the vehicle are evaluated. For example, if the roadway state and / or weather conditions are unfavorable, in particular if there is snow or ice, and a malfunction of, for example, the brake pedal is detected, a defensive driving maneuver, in particular a slower driving maneuver, is set compared to when the roadway state or weather conditions are favorable, for example, when the roadway state or weather conditions are dry.

[0014] It is particularly advantageous for the parameters to include settings of the vehicle assistance systems of the motor vehicle. Taking into account the settings of the vehicle assistance systems has the advantage of ensuring that the driver's wishes are taken into account. For example, the settings may pre-set specific preferences of the driver regarding at least partially autonomous driving operation, in particular regarding the automation level (levels 3 to 5). In this case, these preferences are taken into account when setting the default driving behavior.

[0015] According to a further advantageous embodiment of the present invention, it is provided that at least one travel destination, in particular a number of travel destinations, is preset for the vehicle or data of the travel destinations is retrieved, and the parameters include the travel destination or at least one of the plurality of travel destinations. This provides a particularly advantageous possibility for determining a suitable driving maneuver, which is selected to ensure that the preset or retrieved travel destination is reached. For example, at least one of the plurality of travel destinations can be the driver's home address, a repair shop, in particular the nearest repair shop depending on the vehicle's current location, and / or the address of a destination retrieved or preset by the driver.

[0016] Particularly advantageously, a suitable driving destination is selected from a number of driving destinations depending on the severity and / or type of malfunction, the fault state, current location information, surrounding information, environmental information, and / or settings of the vehicle assistance system, and multiple autonomous driving maneuvers are performed to reach the selected driving destination. This selection of a suitable driving destination provides a particularly advantageous possibility for the vehicle to continue operating. Preferably, the driving destination is selected from the driver's home address, repair shop, or destination address, taking into account the current location information, and is located closest to the vehicle's current location. In particular, setting and arriving at the driving destination depend on the severity and / or type of malfunction, as described above. For example, the vehicle may be automatically controlled to the nearest repair shop by performing a suitable driving maneuver in autonomous driving operation. Furthermore advantageously, the driver is provided with a means for selecting from at least two, and in particular multiple, potentially suitable driving destinations depending on at least one of the parameters. Alternatively, as described above, for safety reasons, the suitable driving destination is precisely set and aimed at without the driver being able to select or influence it.

[0017] A control mechanism for a motor vehicle according to the invention is characterized in that it is provided in particular for carrying out the method according to the invention, from which the advantages already mentioned are obtained.

[0018] A motor vehicle according to the invention, which has the features of claim 13, is characterized in that it comprises at least one operating mechanism operable by the driver and at least one first sensor, and is provided with a control mechanism according to the invention, thereby achieving the advantages already mentioned.

[0019] Further advantageous features and feature combinations are apparent from the foregoing and the claims.The invention will now be explained in more detail with the aid of the drawings. [Brief explanation of the drawings]

[0020] [Figure 1] FIG. [Figure 2] FIG. 1 illustrates a method for operating a vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0021] 1 shows a motor vehicle 1, which in this embodiment has a first operating mechanism 2, for example, configured as a brake pedal, a second operating mechanism 3, for example, configured as an accelerator or gas pedal, and a third operating mechanism 4, for example, configured as a steering wheel. The operating mechanisms 2, 3, and 4 are each configured to be operated by the driver of the motor vehicle 1.

[0022] Each of the operating mechanisms 2, 3, 4 is in this embodiment associated with a first sensor 5 and a second sensor 6 for redundant detection of the operation of the operating mechanisms 2, 3, 4, as indicated by the corresponding double arrows. For the sake of clarity, only one of these sensors 5, 6 is shown in Figure 1. Depending on the detected operation of the operating mechanisms 2, 3, 4, the braking system 7, the drive unit 8, and the steering system 9 of the vehicle 1 are controlled.

[0023] The motor vehicle 1 further comprises at least one control mechanism, in particular a number of control mechanisms 10, and components, in particular a number of components 11, which are in particular associated with the brake system 7, the drive unit 8 or the steering system 9, respectively, as indicated by the dashed arrows.

[0024] The control mechanism 10 is formed in particular to monitor the operating mechanisms 2, 3, 4, sensors 5, 6 and / or components 11 for malfunctions, as indicated by the arrows, and to control the brake device 7, drive unit 8 and steering device 9 depending on the operation of the operating mechanisms 2, 3, 4.

[0025] An advantageous method for operating the vehicle 1 will now be described with reference to Figure 2. For this purpose, Figure 2 shows the method on the basis of a flow chart. In particular, this method advantageously ensures that continued safe operation of the vehicle 1 is ensured when operation of the operating mechanisms 2, 3, 4 can no longer be unambiguously determined and realized due to a failure of the operating mechanisms 2, 3, 4 and / or a failure of the sensors 5, 6.

[0026] The method begins in step S1 by monitoring the operating mechanisms 2, 3, 4 and sensors 5, 6 for malfunctions. If a malfunction is detected, the method proceeds with step S2.

[0027] In step S2, at least one parameter associated or associateable with the vehicle 1 is determined. The parameters include, in particular, the severity and / or type of malfunction, the fault state of at least one of the other components 11, current location information of the vehicle 1, surrounding information of the vehicle 1, environmental information of the vehicle 1, settings of vehicle assistance systems of the vehicle 1, and / or at least one driving destination of the vehicle 1.

[0028] Now, in step S3, the at least partially autonomous operation of the vehicle 1 is activated and at least one autonomous driving maneuver is performed depending on the values ​​of the parameters determined in step S2, in particular taking into account the values ​​of at least two of said parameters, in particular all of said parameters, or correspondingly at least one suitable driving maneuver as described above or a number of suitable driving maneuvers.

[0029] For example, the autonomous driving system selects one suitable driving destination from multiple driving destinations depending on at least one of multiple parameters, and performs multiple autonomous driving operations to reach the selected driving destination, preferably by taking control of a malfunctioning operating mechanism 2, 3, 4, particularly all of the operating mechanisms 2, 3, 4, from the driver.

[0030] In step S4, it is checked whether the malfunction has been resolved. If it is determined that the malfunction has not been resolved, the method returns to step S3 to continue autonomous driving operation, if necessary. However, if it is determined in step S4 that the malfunction has been resolved, autonomous driving operation may be disabled, for example, at the driver's request. At this point, the method waits until the driver requests that autonomous driving operation be disabled, or autonomous driving operation is automatically disabled.

[0031] The method ends with step S5 in which autonomous driving operation is disabled and control of the vehicle 1 is again fully handed over to the driver. [Explanation of symbols]

[0032] 1. Automobiles 2 Brake pedal (operating mechanism) 3 Accelerator pedal (operating mechanism) 4 Steering handle (operating mechanism) 5 First Sensor 6 Second Sensor 7 Brake system 8 Drive Unit 9. Steering device 10 Control Mechanism 11 Other components

Claims

1. 1. A method for operating a motor vehicle (1), the motor vehicle (1) having at least one driver-operable operating mechanism (2, 3, 4) for presetting a braking, acceleration and / or steering request, the operating mechanism (2, 3, 4) being associated with at least one first sensor (5) for detecting the operation of the operating mechanism (2, 3, 4), the method comprising monitoring the operating mechanism (2, 3, 4) and / or the first sensor (5) for malfunctions, the method comprising, if a malfunction of the operating mechanism (2, 3, 4) and / or the first sensor (5) is detected, activating at least partial autonomous driving operation of the motor vehicle (1) and performing at least one autonomous driving maneuver depending on the value of at least one preset parameter associated or associable with the motor vehicle (1).

2. 2. The method according to claim 1, characterized in that the operating mechanism (2, 3, 4) is provided with at least one second sensor (6) for redundant detection of operation, and the sensor signals of the sensors (5, 6) are monitored for malfunctions, in particular by comparing them with each other.

3. 3. The method according to claim 1, further comprising controlling a steering device (9), a braking device (7) and / or a drive unit (8) of the motor vehicle (1) depending on the operation of the operating mechanism (2, 3, 4).

4. 4. The method according to claim 1, further comprising activating driving operations according to SAE level 3 (automation), level 4 (high automation) or level 5 (full automation) and only deactivating driving operations again or deactivating driving operations once it has been determined that the malfunction has been eliminated and / or taking control of the defective operating mechanism (2, 3, 4) and / or further operating mechanisms (2, 3, 4) from the driver.

5. 5. The method according to claim 1, wherein said parameters include the severity and / or type of said malfunction.

6. 6. The method according to claim 1, further comprising monitoring a fault condition of at least one other component (11) of the motor vehicle (1) and wherein said parameters comprise said fault condition.

7. 7. A method according to any one of claims 1 to 6, characterized in that the current location of the motor vehicle (1) is detected and the parameters include the current location.

8. 8. The method according to claim 1, further comprising detecting surrounding and / or environmental information of the motor vehicle (1) and wherein the parameters comprise the surrounding and / or environmental information.

9. 9. The method according to any one of claims 1 to 8, characterized in that the parameters include settings of a vehicle assistance system of the motor vehicle (1).

10. 10. The method according to claim 1, further comprising presetting at least one travel destination, in particular a number of travel destinations, for the motor vehicle (1) or retrieving data of travel destinations, and wherein the parameters comprise the travel destination or at least one of the plurality of travel destinations.

11. 11. The method according to claim 5, further comprising selecting a suitable driving destination from a number of driving destinations depending on the severity and / or type of the malfunction, the fault state, the current location information, the surrounding information, the environmental information, and / or the settings of the vehicle assistance system, and performing a number of autonomous driving maneuvers to reach the selected driving destination.

12. A control mechanism (10) for a motor vehicle (1), characterized in that the control mechanism (10) is provided in particular for carrying out a method according to any one of claims 1 to 11.

13. A motor vehicle (1) comprising at least one operating mechanism (2, 3, 4) operable by a driver and at least one first sensor (5), characterized in that the motor vehicle (1) is provided with a control mechanism (10) according to claim 12.

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