Driving assistance system and driving assistance method for the automated driving of a vehicle

Abstract

The present disclosure relates to a driving assistance system (100) for the automated driving of a vehicle (10), comprising an input module (110) which is configured to receive a driver input for activating an automated cruise control; and a driving module (120) for the automated cruise control, wherein the driving module (120) is configured to accelerate the vehicle (10) with a maximum acceleration (aMax), and wherein the driving module (120) is furthermore configured to temporarily accelerate the vehicle (10) with a set acceleration (aSet) which is lower than the maximum acceleration (aMax) when the driver input for activating the automated cruise control is received.

Description

[0001] Driver assistance system and driver assistance method for automated driving of a vehicle

[0002] The present disclosure relates to a driver assistance system for automated driving of a vehicle, a vehicle having 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 disclosure relates to dynamic adaptation in automated driving.

[0003] State of the art

[0004] Adaptive cruise control (ACC) is often used in vehicles today. Adaptive cruise control is a cruise control system that takes the distance to a vehicle ahead into account as an additional feedback and control variable. With adaptive cruise control, the position and speed of the vehicle ahead are determined using a sensor, and the speed and distance are adaptively controlled using engine and braking intervention.

[0005] When a driver activates automatic cruise control, the vehicle may accelerate sharply, which can be perceived as unpleasant. This may prompt the driver to deactivate automatic cruise control. Deactivating automatic cruise control can negatively impact road safety, as automatic cruise control often offers greater safety than manual driving.

[0006] Disclosure of the invention

[0007] It is an object of the present disclosure 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 maximize the service life of the driver assistance system and thus increase road safety. In particular, it is an object of the present disclosure to increase user comfort of the driver assistance system.

[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 disclosure, a driver assistance system for automated driving of a vehicle, in particular a motor vehicle, is specified. The driver assistance system comprises an input module configured to receive a driver input for activating automated cruise control; and a driving module for the automated cruise control, wherein the driving module is configured to accelerate the vehicle with a maximum acceleration, and wherein the driving module is further configured to temporarily accelerate the vehicle with a set acceleration that is smaller than the maximum acceleration when the driver input for activating automated cruise control is received.

[0010] The input module and the drive module can be implemented in a single software and / or hardware module. Alternatively, the input module and the drive module can each be implemented in separate software and / or hardware modules.

[0011] According to the invention, after activation of the automated cruise control, the maximum acceleration or maximum acceleration request is initially limited for a limited time. The reduced acceleration after activation prevents excessive acceleration and jerky movements, thus improving user comfort. As a result, the driver is given no reason to deactivate or not use the driver assistance system due to unpleasant experiences, thus maximizing the service life of the driver assistance system and thus increasing road safety.

[0012] The input module may comprise a touch-sensitive input module, such as a touch panel or touch pad, and / or a tactile input module, such as a switch (e.g. push switch and / or rotary switch) or other mechanically actuatable key elements.

[0013] The term “activation of automated cruise control” refers to the start of actual control of the vehicle speed up to the set speed, possibly taking into account a vehicle ahead.

[0014] The term "acceleration," as used in the present disclosure, refers to a positive acceleration of the vehicle, i.e., an increase in vehicle speed. The term "maximum acceleration," as used in the present disclosure, refers to a permissible maximum acceleration specified in the system. The maximum acceleration can, for example, be specified by the manufacturer or can be adjustable by a driver. Furthermore, the maximum acceleration can be flexibly determined and / or adjusted by the system, for example, depending on a current vehicle speed and / or a speed difference between the current vehicle speed and a set speed.

[0015] Preferably, the setting acceleration is 90% or less, 80% or less, 70% or less, 60% or less, or 50% or less of the maximum acceleration.

[0016] Preferably, the driving module is configured to accelerate the vehicle at maximum acceleration when the automated cruise control is (already) activated and a speed change is commanded. This allows the automated cruise control to initially operate at the set acceleration and then, for example, at maximum acceleration starting at a certain time after activation.

[0017] In some embodiments, the speed change can be commanded by another driver input. For example, the driver can increase the set speed by activating the input module. In further embodiments, the speed change can result from the driving situation and without any driver intervention, for example, if a vehicle in front traveling slower than the set speed leaves the lane and the (ego) vehicle accelerates to the set speed due to the now clear roadway.

[0018] Preferably, the driver assistance system further comprises a timer module. The timer module can be configured to start a timer when the driver input for activating the automated cruise control is received. In some embodiments, the driving module can be further configured to accelerate the vehicle at the set acceleration until the started timer has reached a predetermined time value, and to accelerate the vehicle at the maximum acceleration after the timer has reached the predetermined time value. Thus, the automated cruise control can first be implemented with the set acceleration and then, starting a certain time after activation or after the timer has expired, with the maximum acceleration.

[0019] In some embodiments, the timer module may be configured to increment or decrement the timer. For example, the timer may increment (e.g., from zero) to the predetermined time value. Alternatively, the timer may decrement (e.g., from another predetermined time value) to the predetermined time value (e.g., zero).

[0020] Preferably, a timer period between start (e.g. zero or the further predetermined time value) and end (the predetermined time value) is in the range of 0.5 to 5 minutes, 0.5 to 3 minutes, 0.5 to 2 minutes, or 0.5 to 1 minute.

[0021] Preferably, the driver assistance system further comprises an analysis module configured to determine whether the received driver input for activating the automated cruise control was intentional (or conscious) or unintentional (or unconscious).

[0022] In some embodiments, the driving module may be further configured to accelerate the vehicle at the maximum acceleration if the analysis module determines that the received driver input for activating the automated cruise control was intentional; and to accelerate the vehicle at the set acceleration if the analysis module determines that the received driver input for activating the automated cruise control was unintentional. This can prevent the driver from being surprised by a strong acceleration event in the event of an unintentional and possibly unnoticed activation of the automated cruise control.

[0023] Preferably, the analysis module is configured to determine, based on driver behavior, whether the received driver input for activating the automated cruise control was intentional or unintentional. The driver behavior can provide direct and / or indirect indications as to whether the driver activated the automated cruise control intentionally or unintentionally.

[0024] The driver assistance system preferably comprises a driver monitoring module configured to detect the driver and provide detection data indicating the driver behavior. For this purpose, the driver monitoring module may comprise at least one sensor configured to detect the driver and provide the detection data. The at least one sensor may be an optical sensor, such as a camera, in particular an interior camera. Optionally, the driver monitoring module may comprise at least one light source. In some embodiments, the light source may be an infrared light source, and the at least one sensor may be an infrared sensor, such as an infrared camera.

[0025] The analysis module can be configured to evaluate the detection data provided by the at least one sensor, such as image data. By evaluating the detection data, e.g., using a trained neural network, driver behavior can be detected or determined with respect to an intentional or unintentional activation of the automated cruise control.

[0026] Preferably, the driving module is configured to adjust the set acceleration based on a current vehicle speed and / or a difference between the current vehicle speed and a set speed. The speed-dependent, flexible adjustment of the set acceleration enables the provision of maximum occupant comfort. Preferably, the driving module is configured to adjust the maximum acceleration based on a current vehicle speed and / or a difference between the current vehicle speed and a set speed. The speed-dependent, flexible adjustment of the maximum acceleration enables the provision of maximum occupant comfort.

[0027] The driver assistance system is configured for automated driving. In this document, the term "automated driving" refers to driving with automated longitudinal and / or lateral guidance. Automated driving can, for example, involve extended driving on the highway or limited-time driving while parking. The term "automated driving" encompasses automated driving with any degree of automation. Examples of levels of automation include assisted, partially automated, conditionally automated, highly automated, and fully automated driving (each with an increasing degree of automation). The five levels of automation mentioned above correspond to SAE levels 1 to 5 of the SAE J3016 standard (SAE - Society of Automotive Engineering) as of April 30, 2021.

[0028] In assisted driving (SAE Level 1), the system provides longitudinal or lateral guidance in specific driving situations. In partially automated driving (SAE Level 2), the system assumes longitudinal and lateral guidance in specific driving situations, although the driver must continuously monitor the system, as with assisted driving. In conditionally automated driving (SAE Level 3), the system assumes longitudinal and lateral guidance in specific driving situations without the driver having to continuously monitor the system; however, the driver must be able to take over vehicle control within a certain time period when requested by the system. In highly automated driving (SAE Level 4), the system assumes vehicle control in specific driving situations even if the driver does not respond to a request to intervene, thus eliminating the driver as a fallback.In fully automated driving (SAE Level 5), the system can perform all aspects of the dynamic driving task under any road and environmental conditions that can also be mastered by a human driver.

[0029] Furthermore, the term "at least partially automated driving or maneuvering" is also understood in this document to include partially automated, conditionally automated, highly automated, and fully automated driving. In other words, the term "at least partially automated driving" refers to a level of automation up to and including SAE Level 2.

[0030] The driver assistance system is preferably configured for adaptive cruise control (ACC). Adaptive cruise control is a cruise control system that considers the distance to a vehicle ahead as an additional feedback and control variable. With adaptive cruise control, the position and speed of the vehicle ahead are determined using a sensor, and the speed and distance are adaptively controlled using engine and braking intervention.

[0031] According to a further independent aspect of the present disclosure, 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 disclosure.

[0032] The term "vehicle" includes cars, trucks, vans, buses, mobile homes, motorcycles, etc., used to transport people, goods, etc. In particular, the term includes motor vehicles used to transport people.

[0033] According to a further independent aspect of the present disclosure, a driver assistance method for automated driving of a vehicle, in particular a motor vehicle, is specified. The driver assistance method comprises receiving, by an input module, a driver input for activating automated cruise control; and performing the automated cruise control by a driving module, wherein the driving module is configured to accelerate the vehicle with a maximum acceleration, and wherein the driving module is further configured to temporarily accelerate the vehicle with a set acceleration that is less than the maximum acceleration when the driver input for activating automated cruise control is received.

[0034] The driver assistance method can implement the aspects of the driver assistance system described in this document for automated driving of a vehicle.

[0035] According to a further independent aspect of the present disclosure, 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.

[0036] According to a further independent aspect of the present disclosure, 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.

[0037] According to a further independent aspect of the present disclosure, software with program code is provided. The software is configured to carry out the driver assistance method for automated driving of a vehicle when the software runs on one or more software-controlled devices.

[0038] According to a further independent aspect of the present disclosure, a driver assistance system for automated driving of a vehicle is provided. The driver assistance system comprises one or more processors; and at least one memory connected to the one or more processors and containing instructions that can be executed by the one or more processors to carry out the driver assistance method for automated driving of a vehicle described in this document.

[0039] A processor or processor module is a programmable computing unit, i.e. a machine or an electronic circuit that controls other elements according to given instructions and thereby drives an algorithm (process).

[0040] Short description of the drawings

[0041] Embodiments of the disclosure are illustrated in the figures and are described in more detail below. They show:

[0042] Figure 1 schematically shows a vehicle with a driver assistance system for automated driving of a vehicle according to embodiments of the present disclosure,

[0043] Figure 2 shows a vehicle speed as a function of the maximum acceleration and set acceleration according to embodiments of the present disclosure, and

[0044] Figure 3 is a flowchart of a driver assistance method for automated driving of a vehicle according to embodiments of the present disclosure.

[0045] Embodiments of the disclosure

[0046] In the following, unless otherwise stated, the same reference symbols are used for identical and equivalent elements.

[0047] Figure 1 schematically shows a vehicle 10 with a driver assistance system 100 for automated driving according to embodiments of the present disclosure. Figure 2 shows a vehicle speed v over time t as a function of the maximum acceleration aMax and set acceleration aSet according to embodiments of the present disclosure.

[0048] In automated driving, the longitudinal and / or lateral guidance of the vehicle 10 is automatic. The driver assistance system 100 thus assumes vehicle guidance. To this end, the driver assistance system 100 controls the drive 20, the transmission 22, the (e.g., hydraulic) service brake 24, and the steering 26 via intermediate units (not shown).

[0049] 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, vehicle 10 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 ultrasonic sensors, and / or one or more cameras.

[0050] The driver assistance system 100 of the present disclosure is configured for automated cruise control, in particular adaptive cruise control (ACC). Adaptive cruise control is a cruise control system that considers the distance to a vehicle ahead as an additional feedback and control variable during control. With adaptive cruise control, the position and speed of the vehicle ahead are determined using a sensor, and the speed and distance are adaptively controlled using engine and braking intervention.

[0051] The driver assistance system 100 comprises an input module 110 configured to receive a driver input for activating automated cruise control, and a driving module 120 for the automated cruise control, wherein the driving module 120 is configured to accelerate the vehicle 10 with a maximum acceleration aMax, and wherein the driving module 120 is further configured to temporarily accelerate the vehicle 10 with a set acceleration aSet that is less than the maximum acceleration aMax when or after the driver input for activating the automated cruise control is received.

[0052] The example in Figure 2 shows an acceleration of the vehicle 10 from a current vehicle speed vO to a set speed vSet with the set acceleration aSet and the maximum acceleration aMax. The set acceleration aSet can be, for example, 90% or less, 80% or less, 70% or less, 60% or less, or 50% or less of the maximum acceleration aMax.

[0053] In some embodiments, the driving module 120 can be configured to set the set acceleration aSet based on the current vehicle speed vO and / or a difference between the current vehicle speed vO and the set speed vSet. Additionally or alternatively, the driving module 120 can be configured to set the maximum acceleration aMax based on the current vehicle speed vO and / or the difference between the current vehicle speed vO and the set speed vSet. The speed-dependent, flexible setting enables the provision of maximum occupant comfort.

[0054] Preferably, the driving module 120 is configured to accelerate the vehicle 10 at the maximum acceleration aMax when the automated cruise control is (already) activated and a speed change is commanded. In some embodiments, the speed change can be commanded by another driver input. For example, the driver can increase the set speed vSet by actuating the input module 110. In further embodiments, the speed change can result from the driving situation and without any driver intervention, for example, if a vehicle in front that is slower than the set speed vSet leaves the lane and the (ego) vehicle 10 accelerates to the set speed vSet due to the now clear roadway. The driver assistance system 100 preferably further comprises a timer module 130.The timer module 130 can be configured to start a timer when the driver input for activating the automated cruise control is received. The driving module 120 can be configured to accelerate the vehicle 10 at the set acceleration aSet until the started timer has reached a predetermined time value, and to accelerate the vehicle 10 at the maximum acceleration aMax after the timer has reached the predetermined time value. Thus, the automated cruise control can first be implemented with the set acceleration aSet and then, starting a certain time after activation or after the timer has expired, with the maximum acceleration aMax.

[0055] In some embodiments, the timer module 130 may be configured to increment or decrement the timer. For example, the timer may increment (e.g., from zero) to the predetermined time value. Alternatively, the timer may decrement (e.g., from another predetermined time value) to the predetermined time value (e.g., zero). In some embodiments, a timer period between start (e.g., zero or the another predetermined time value) and end (the predetermined time value) may be in the range of 0.5 to 5 minutes, 0.5 to 3 minutes, 0.5 to 2 minutes, or 0.5 to 1 minute.

[0056] Preferably, the driver assistance system 100 further comprises an analysis module 140 configured to determine whether the received driver input for activating the automated cruise control was intentional (or conscious) or unintentional (or unconscious). In some embodiments, the driving module 120 may be further configured to accelerate the vehicle 10 with the maximum acceleration aMax if the analysis module 140 determines that the received driver input for activating the automated cruise control was intentional; and to accelerate the vehicle 10 with the set acceleration aSet if the analysis module 140 determines that the received driver input for activating the automated cruise control was unintentional.This can prevent the driver from being surprised by a sudden acceleration in the event of an unintentional and possibly unnoticed activation of the automated cruise control.

[0057] Preferably, the analysis module 140 is configured to determine, based on driver behavior, whether the received driver input for activating the automated cruise control was intentional or unintentional. The driver behavior can provide direct and / or indirect indications as to whether the driver activated the automated cruise control intentionally or unintentionally. The driver behavior can be detected, for example, using interior sensors such as cameras.

[0058] Figure 3 schematically shows a flowchart of a driver assistance method 300 for automated driving of a vehicle according to embodiments of the present disclosure. The driver assistance method 300 can be implemented by appropriate software that can be executed by one or more processors (e.g., a CPU).

[0059] The driver assistance method 300 comprises, in block 310, receiving, by an input module, a driver input for activating automated cruise control; and, in block 320, performing the automated cruise control by a driving module, wherein the driving module is configured to accelerate the vehicle with a maximum acceleration, and wherein the driving module is further configured to temporarily accelerate the vehicle with a set acceleration that is less than the maximum acceleration when the driver input for activating automated cruise control is received.

[0060] According to the invention, after activation of the automated cruise control, the maximum acceleration or maximum acceleration request is initially limited for a limited time. The reduced acceleration after activation prevents excessive acceleration and jerky movements, thus improving user comfort. As a result, the driver is given no reason to deactivate or not use the driver assistance system due to unpleasant experiences, thus maximizing the service life of the driver assistance system and thus increasing road safety.

[0061] 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 and their legal equivalents, such as further explanations in the description.

Claims

Patent claims 1. A driver assistance system (100) for automated driving of a vehicle (10), comprising: an input module (110) configured to receive a driver input for activating automated cruise control; and a driving module (120) for the automated cruise control, wherein the driving module (120) is configured to accelerate the vehicle (10) with a maximum acceleration (aMax), and wherein the driving module (120) is further configured to temporarily accelerate the vehicle (10) with a set acceleration (aSet) that is less than the maximum acceleration (aMax) when the driver input for activating automated cruise control is received.

2. Driver assistance system (100) according to claim 1, wherein the driving module (120) is configured to accelerate the vehicle (10) with the maximum acceleration (aMax) when the automated cruise control is activated and a speed change is instructed.

3. Driver assistance system (100) according to claim 1 or 2, further comprising a timer module (130), wherein the timer module (130) is configured to start a timer when the driver input for activating the automated cruise control is received, and wherein the driving module (120) is configured to: perform an acceleration of the vehicle (10) with the set acceleration (aSet) until the started timer has reached a predetermined time value, and perform an acceleration of the vehicle (10) with the maximum acceleration (aMax) after the timer has reached the predetermined time value.

4. Driver assistance system (100) according to one of claims 1 to 3, further comprising an analysis module (140) configured to determine whether the received Driver input to activate automated cruise control was intentional or unintentional, in particular based on driver behavior.

5. The driver assistance system (100) according to claim 4, wherein the driving module (120) is further configured to: accelerate the vehicle (10) at the maximum acceleration (aMax) if the analysis module (140) determines that the received driver input for activating the automated cruise control was intentional; and accelerate the vehicle (10) at the set acceleration (aSet) if the analysis module (140) determines that the received driver input for activating the automated cruise control was unintentional.

6. The driver assistance system (100) according to any one of claims 1 to 5, wherein the driving module (120) is configured to: set the set acceleration (aSet) based on a current vehicle speed (vO) and / or a difference between the current vehicle speed (vO) and a set speed (vSet); and / or set the maximum acceleration (aMax) based on a current vehicle speed (vO) and / or a difference between the current vehicle speed (vO) and a set speed (vSet).

7. Driver assistance system (100) according to one of claims 1 to 6, wherein the driver assistance system (100) is configured for adaptive cruise control.

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

9. Driver assistance method (300) for automated driving of a vehicle (10), comprising: Receiving (310), by an input module (110), a driver input for activating an automated cruise control; and Carrying out (320) the automated cruise control by a driving module (120), wherein the driving module (120) is configured to accelerate the vehicle (10) with a maximum acceleration (aMax), and wherein the driving module (120) is further configured to temporarily accelerate the vehicle (10) with a set acceleration (aSet) that is less than the maximum acceleration (aMax) when the driver input for activating the automated cruise control is received.

10. A storage medium comprising a software program configured to be executed on one or more processors and thereby to execute the driver assistance method (300) according to claim 9.

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