Method for supporting a driver of a vehicle during an automated driving mode with limitation of a seat setting of a driver's seat, computing device and assistance system

Abstract

The invention relates to a method for supporting a driver (6) of a vehicle (1) during an automated driving mode, comprising the steps of: adjusting a seat setting of a driver's seat (8) of the vehicle (1) according to a detected first operating action; limiting the seat setting of the driver's seat (8) to a predefined take-over range if the operation of the vehicle (1) in the automated driving mode is detected, wherein, proceeding from a seat setting within the take-over range, a take-over of control of the vehicle (1) by the driver (6) is possible, wherein, in order to limit the seat setting, the seat setting is enabled only as long as a second operating action performed by the driver (6) is detected, and wherein the driver (6) touches a second operating element (12) of the vehicle (1) with at least one hand (15) during the second operating action. At the same time, interior monitoring can ensure that the driver (6) of the vehicle (1) sits in the driver's seat properly during the seat setting and the performance of the second operating action. The invention also relates to a corresponding computing device, and to a storage medium, an assistance system and a vehicle.

Description

[0001] Method for assisting a driver of a vehicle during an automated driving mode with limitation of a seat adjustment of a driver's seat, computing device and assistance system

[0002] The present invention relates to a method for assisting a driver of a vehicle during an automated driving mode. Furthermore, the present invention relates to a computing device for assisting a driver of a vehicle during an automated driving mode. Furthermore, the present invention relates to a computer-readable storage medium, an assistance system, and a vehicle with such an assistance system.

[0003] In this case, the focus is particularly on assistance systems or driver assistance systems that enable automated driving or an automated driving mode to assist the driver in driving the vehicle. The terms "automated driving" or "automated driving mode" are understood in this document to mean 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.

[0004] The term "automated driving" or "automated driving mode" encompasses automated driving with any degree of automation. Examples of levels of automation are 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. In assisted driving (SAE Level 1), the system performs 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. As with assisted driving, the driver must continuously monitor the system.In conditionally automated driving (SAE Level 3), the system assumes longitudinal and lateral control in certain driving situations without the driver having to constantly monitor the system; however, the driver must be able to assume control of the vehicle within a certain period of time upon request from the system. In highly automated driving (SAE Level 4), the system assumes control of the vehicle in certain driving situations, even if the driver does not respond to a request for intervention, 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.

[0005] In an automated driving mode according to Level 3 and higher, the driver or user should be able to adjust the seat setting to enable a relaxed or resting position. However, since the driver must be able to take over control of the vehicle again within a certain time, especially in a Level 3 system, the ability to take over must be ensured according to the regulations. For example, UN Regulation No. 157 "Automated Lane Keeping Systems" requires that the driver may only assume suitable driving positions or seating positions ("appropriate driving position"). Therefore, without suitable technical measures or driver monitoring, seat adjustment of the driver's seat is not possible during an automated driving mode according to Level 3 and higher. Therefore, homologation capability according to the regulations cannot be guaranteed.

[0006] Vehicles are known from the state of the art in which the driver's seat adjustment is deactivated during Level 3 automated driving mode. However, this reduces the customer benefit and the value of the function. During automated driving mode, it must be ensured or identified that the driver is in the appropriate driving position and is therefore capable of taking over. However, due to individual seating and / or steering wheel positions, no fixed value can be defined for a possible driver's seat adjustment. The individual driver must still be capable of taking over, regardless of their leg length and / or arm length.

[0007] In this context, WO 2021 / 155982 A1 discloses a system for a vehicle with a driver assistance system for automated driving. The system comprises an adjustment module for an electric seat adjustment of a driver's seat. Furthermore, the system comprises a control module configured to maintain a seat adjustment of the driver's seat within a range during automated driving operation of the vehicle or to limit it to a range suitable for enabling the driver to take over control of the vehicle. During automated driving operation, for example, the seat adjustment of the driver's seat can be maintained within a range when the seat adjustment reaches or approaches a threshold. For example, the driver can be detected using an interior sensor system, such as an interior camera. Based on the detected data, a driver's height, arm length, leg length, etc., can be determined.and based on this, the threshold is set individually for the driver.

[0008] The object of the present invention is to show a solution how the comfort for the driver can be increased in an automated driving mode of the type mentioned above while complying with the safety requirements.

[0009] This object is achieved according to the invention by a method, a computing device, a computer-readable storage medium, an assistance system, and a vehicle having the features according to the independent claims. Advantageous developments of the present invention are specified in the dependent claims.

[0010] A first aspect relates to a method for assisting a driver of a vehicle during an automated driving mode. The method comprises detecting operation of the vehicle in the automated driving mode. Furthermore, the method comprises detecting a first operating action performed by the driver of the vehicle. The method further comprises adjusting a seat setting of a driver's seat of the vehicle depending on the detected first operating action. Furthermore, the method comprises limiting the seat setting of the driver's seat to a predetermined takeover range if operation of the vehicle in the automated driving mode is detected, wherein, starting from a seat setting within the takeover range, it is possible for the driver to take over control of the vehicle.It is intended that, in order to limit the seat adjustment in the takeover area, the seat adjustment is only possible as long as a second operating action performed by the driver is detected, wherein the driver touches a second operating element of the vehicle with at least one hand during the second operating action.

[0011] The method can be carried out using a computing device, which can be formed, for example, by at least one electronic control unit of the vehicle. For example, the computing device can have at least one processor on which a computer program is executed to carry out the method. The method can be used in particular during an automated driving mode or during automated driving of the vehicle. It is preferably provided that the method is used during conditionally automated driving according to SAE Level 3. The method can also be used in an automated driving mode according to SAE Level 4 or 5. The computing device can first be used to check whether the vehicle is being operated in the automated driving mode. For example, the computing device can be used to detect or query activation of an automated driving mode according to Level 3.

[0012] Furthermore, the computing device can detect or check whether a first operating action is performed by the driver of the vehicle. This first operating action is associated with adjusting the driver's seat. In particular, the driver can actuate a first operating element during the first operating action. For example, the first operating element can comprise one or more seat adjustment switches or other operating elements. However, it can also be provided that the driver performs a voice input or a corresponding gesture during the first operating action.

[0013] As a result of the first operating action, the driver's seat can generally be adjusted or adapted during normal vehicle operation. For example, the seat depth can be adjusted. Furthermore, the seat length, seat height, and / or seat inclination can be adjusted. Furthermore, the seat can be adjusted to adjust the backrest angle and / or headrest height. Furthermore, the seat can be adjusted to adjust the backrest headrest, the lumbar support, and / or the backrest width.

[0014] If it is now detected that the vehicle is in automated driving mode, the setting or adjustment of the driver's seat can be limited to the predetermined takeover range. This means that the seat adjustment is limited, for example, compared to a seat adjustment in manual operation of the vehicle. During automated driving mode, the driver's seat adjustment cannot be carried out without restrictions, but is limited to the takeover range. The seat adjustment can therefore only be carried out within the takeover range. The takeover range is defined in such a way that the driver can take over control of the vehicle at any time without restrictions, starting from a seat adjustment within the takeover range. The takeover range corresponds in particular to the specification of the "appropriate driving position" according to UN Regulation No. 157.Based on the seat adjustment of the driver's seat in the takeover area, the driver can, for example, reach the steering wheel or a steering handle without restriction and / or reach the accelerator pedal and / or the brake pedal with his legs.

[0015] In order to limit the seat adjustment to the takeover range, the present invention provides that the driver's seat adjustment is only enabled as long as the driver performs a second operating action. The seat adjustment is therefore only enabled depending on the first operating action if the second operating action is also detected at the same time. In particular, the second operating action differs from the first operating action. During the second operating action, the driver can touch and / or actuate a second operating element with at least one hand. The second operating action can be defined in such a way that it can only be performed from a seat position in which it is guaranteed or possible for the driver to take over control of the vehicle.In other words, according to the invention, the second operating action is predetermined in such a way that it can only be carried out by the driver if he is in a seating position capable of taking over.

[0016] By requiring a second operator action for adjusting the driver's seat, it can be ensured that the driver's seat can only be adjusted within the takeover range. Furthermore, it is not necessary for driver information, such as body measurements, to be known or determined. This ensures safety during automated driving mode while allowing the driver to enjoy the comfort of seat adjustment.

[0017] Preferably, a touch of a steering wheel of the vehicle as the second operating element is detected as the second operating action. In other words, during the second operating action, the driver can touch the steering wheel or generally a steering handle of the vehicle with at least one hand. The steering wheel of the vehicle or the steering handle of the vehicle represents the second operating element. For example, a touch of a steering wheel rim of the steering wheel can be detected as the second operating action. In order to be able to detect touch of the steering wheel, sensors of the steering wheel can be used, for example, which are used in so-called hands-on detection. Capacitive sensors can preferably be used, which can detect that the steering wheel is touched with a hand. It can also be provided that touch of the steering wheel is detected with the aid of a camera or interior camera of the vehicle.

[0018] Touching the steering wheel with one hand is not interpreted by the assistance system as a takeover action by the driver. For the assistance system to take over the driving task and thus deactivate the function, two conscious operating actions must be detected. Touching the steering wheel with one hand can be the first operating action detected. The second operating action required for takeover is touching the steering wheel with the other hand or touching the pedals. If operating the seat adjustment is detected as the first operating action, this rules out the possibility of the driver unintentionally taking over the driving task. If touching the pedals is detected as an additional third operating action, it can be assumed that the driver has consciously taken over the driving task.

[0019] If the driver has to touch the steering wheel during the second operating action, it can be reliably guaranteed that the driver can only adjust the driver's seat as far as they can also touch the steering wheel. This provides a simple and reliable way of ensuring that the seat adjustment can only be made within the takeover range. In a left-hand drive vehicle, for example, the driver can perform the first operating action with their left hand and the second operating action with their right hand. During the first operating action, the driver can use their left hand to operate the first control element for seat adjustment, which can be located, for example, on the driver's seat itself or near a driver's door. The driver can then touch the steering wheel with their right hand while adjusting the seat. The reverse applies to a right-hand drive vehicle.

[0020] In a further embodiment, an actuation and / or touching of an operating element on the steering wheel can be detected as the second operating element as the second operating element. The steering wheel can preferably be designed as a so-called multifunction steering wheel and have several operating elements in the form of buttons, operating surfaces, rotary controls, shift paddles, or the like. The second operating action, during which the seat adjustment is enabled, can be provided by the driver touching or actuating such an operating element on the steering wheel. This also ensures that the driver can only adjust the driver's seat as far as they can continue to touch the steering wheel.

[0021] Furthermore, it is advantageous if a touch of a control element in an area of ​​a dashboard of the vehicle is detected as the second control action. The control element in the area of ​​the dashboard can be a button, a control panel or the like. For example, the second control element can be assigned to an operating and display unit in the instrument panel. The second control element should preferably be implemented by an operating surface on a touch-sensitive screen. If the driver touches or actuates a control element in the area of ​​the dashboard, he can usually only enable the seat adjustment to such an extent that the seat adjustment only takes place within the takeover range.

[0022] In a further embodiment, an output is given to the driver if the first operating action is detected but not the second operating action during the automated driving mode. If the operation of the vehicle in the automated driving mode is detected and at the same time it is detected that the driver performs the first operating action to adjust the seat but does not perform the second operating action, the driver can be informed that the seat adjustment is only possible as long as the second operating action is also performed. This output to the driver can be visual, acoustic and / or haptic. The output can also include a reference to the second operating element or the output can describe the second operating element. If the second operating element is implemented by an operating surface on a touch-sensitive screen, a display can be displayed, for example, "Touch here to adjust the seat".In this way, the driver can be assisted with seat adjustment in automated driving mode.

[0023] During the second operating action, it can also be detected whether at least one of the driver's feet is in a defined area of ​​the footwell, whereby the driver is able to press the accelerator pedal and / or the brake pedal with their foot from this area. It can also be detected that the vehicle's accelerator pedal or brake pedal is operated during the second operating action. During the second operating action, it may be necessary, for example, for the driver to touch the accelerator pedal or the brake pedal with one foot to ensure that the seat adjustment remains within the takeover range. It can also be provided that the function of the accelerator pedal or the brake pedal is briefly deactivated for this purpose.

[0024] The selection of the second operating action or the selection of the second operating element can be predetermined depending on the position or arrangement of the second operating element in the vehicle. For example, the second operating element can vary depending on the vehicle model. The second operating element can in particular have a minimum distance from the first operating element. In principle, the second operating element can be selected such that the second operating element can be safely touched in a sitting position in the takeover area without additional movement by the driver. For example, operating elements on the driver's seat, operating elements in the area of ​​the driver's door, an operating element for adjusting the steering wheel and / or an operating element in the area of ​​the roof lining can be excluded as a second operating element.

[0025] In a further embodiment, to limit the seat adjustment to the takeover range, an additional check is made to determine whether a distance of a body part of the driver falls below a predetermined maximum distance. In other words, an additional check can be made to determine whether the driver is sitting correctly in the driver's seat during the seat adjustment and the execution of the second operating action.

[0026] For example, it can be checked whether the driver's back is below a predetermined maximum distance from the backrest of the driver's seat. In particular, it can be checked whether the driver's back is resting against the backrest during the second operating action. This can prevent the driver from, for example, tilting the backrest far back without his back resting against the backrest when adjusting the backrest. The distance of the driver's back to the backrest of the driver's seat can be determined using an interior camera in the vehicle. Furthermore, the distance of the driver's back to the backrest can be determined using a sensor in the driver's seat. To check whether the driver's back is resting against the driver's seat, the belt tension can also be checked.

[0027] It can also be checked whether the driver is sitting correctly on the driver's seat cushion. Data from the interior camera, data from sensors in the seat, data from a seat occupancy sensor, or similar sources can be used here. This prevents the driver from being in the correct position while the driver's seat is being adjusted, but rather sitting only in the front area of ​​the seat. By checking the driver's seat position during the driver's seat adjustment, it can be ensured that the driver's seat can only be adjusted within the control range.

[0028] A further aspect relates to a computing device for assisting a driver of a vehicle during an automated driving mode. The computing device is configured to detect operation of the vehicle in an automated driving mode. Furthermore, the computing device is configured to detect a first operating action performed by the driver of the vehicle. Furthermore, the computing device is configured to adjust a seat setting of a driver's seat of the vehicle depending on the detected first operating action.

[0029] Furthermore, the computing device is configured to limit the seat adjustment of the driver's seat to a predetermined takeover range if the operation of the vehicle in the automated driving mode is detected, wherein, starting from a seat adjustment within the takeover range, the driver can take over control of the vehicle. In order to limit the seat adjustment to the takeover range, the computing device is also configured to only enable the seat adjustment as long as the computing device detects a second operating action performed by the driver, wherein the driver touches a second operating element of the vehicle with at least one hand during the second operating action.

[0030] A further aspect of the invention relates to a computer program comprising instructions which, when executed by a computing device, cause the computing device to execute a method according to the invention and the advantageous embodiments thereof. Furthermore, the invention relates to a computer-readable storage medium comprising instructions which, when executed by a computing device, cause the computing device to execute a method according to the invention and the advantageous embodiments thereof.

[0031] The computing device can have at least one programmable processor. The computing device can be formed by at least one electronic control unit of the vehicle. For example, a control unit of the assistance system, which is also used to provide the automated driving function, can be used. Alternatively, a control unit used to control the adjustment of the driver's seat can be used. However, a separate control unit can also be used.

[0032] A further aspect relates to an assistance system for a vehicle, which has a computing device. Furthermore, the assistance system is configured to enable an automated driving mode of the vehicle. For this purpose, the assistance system can accordingly control the longitudinal and lateral guidance of the vehicle. The assistance system can accordingly comprise environmental sensors for monitoring the surroundings of the vehicle. The assistance system can also receive information or data describing the operation of the first control element and / or the second control element. The assistance system can also comprise components for adjusting the driver's seat. Furthermore, the assistance system can comprise an output device for providing an output to the driver.

[0033] A vehicle according to the invention comprises an assistance system according to the invention. The vehicle is designed, in particular, as a passenger car.

[0034] The preferred embodiments presented with reference to the method according to the invention and their advantages apply accordingly to the computing device according to the invention, to the assistance system according to the invention, to the vehicle according to the invention, to the computer program according to the invention and to the computer-readable storage medium according to the invention.

[0035] Further features of the invention emerge from the claims, the figures, and the description of the figures. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the figures and / or shown alone in the figures, can be used not only in the respective specified combination, but also in other combinations or on their own, without departing from the scope of the invention.

[0036] The invention will now be explained in more detail using preferred embodiments and with reference to the accompanying drawings.

[0037] Fig. 1 is a schematic representation of a vehicle having an assistance system for operating the vehicle in an automated driving mode; and Fig. 2 is a schematic representation of a driver of the vehicle, who is located in a driver's seat.

[0038] Fig. 1 shows a schematic representation of a vehicle 1, which in this case is designed as a passenger car, in a plan view. The vehicle 1 comprises an assistance system 2, by means of which an automated driving mode of the vehicle 1 can be enabled. The assistance system 2 comprises a control unit 3 by means of which a steering system, a drive motor and / or a braking system of the vehicle 1 can be controlled in order to take over the longitudinal and lateral guidance of the vehicle 1. This is illustrated schematically in the present case by the arrow 4. In addition, corresponding data from environmental sensors of the vehicle 1 can be received by means of the control unit 3. By means of the assistance system 2, in particular, automated ferry operation or automated driving of the vehicle according to SAE Level 3 and higher can be enabled.

[0039] In addition, the vehicle 1 comprises a computing device 5, which can be formed, for example, by another electronic control unit, a processor, or the like. The computing device 5 can detect that the vehicle 1 is operating in the automated driving mode. For this purpose, the computing device 5 can query corresponding signals or the operating mode from the control unit 3. Furthermore, the computing device 5 can detect whether a first operating element 7 is operated or actuated by a driver 6 of the vehicle 1. By operating the first operating element 7, a setting of a driver's seat 8 can be changed. During the seat adjustment, at least one position of a seat cushion 9 and a backrest 10 can be adjusted. As a result of the first operating action, at least one adjusting device 11 of the driver's seat 8 can be controlled, which can have multiple electric motors.Furthermore, the vehicle 1 includes a second control element 12, which can be operated or touched by the driver 6. Furthermore, the vehicle 1 includes an interior camera 13, by means of which the driver 6 of the vehicle 1 can be recorded.

[0040] Fig. 2 shows a schematic representation of the driver 6, who is located in the driver's seat 8. The driver 6 is currently operating the first control element 7 for adjusting the driver's seat 8 with his left hand 14. In the present case, it is assumed that the vehicle 1 is operated in the automated driving mode. If the computing device 5 detects that the vehicle 1 is operating in this automated driving mode, the adjusting device 11 is activated by the computing device 5 and thus the adjustment of the driver's seat 8 is limited to a predetermined takeover range. The takeover range is defined such that the driver 6, starting from a seat adjustment in the takeover range, can reach a steering wheel 16 and at least one pedal 17 of the vehicle 1.

[0041] In this case, the driver 6 adjusts the driver's seat 8 from a starting position 18 to a more relaxed seating position during automated driving mode. To limit the seat adjustment to the takeover range, the seat adjustment of the driver's seat 8 is only possible as long as a hand 15 of the driver 6 touches or actuates the second control element 12, thus performing a second operating action.

[0042] In this case, the second control element 12 is the steering wheel 16 of the vehicle 1. Touching the steering wheel 16 can be enabled by a corresponding steering wheel sensor, which is also used for so-called hands-on detection. The second control element 12 can also be a control element on the steering wheel or a control element in an area of ​​a dashboard of the vehicle 1.

[0043] The interior camera 13 can also be used to check whether the back 19 of the driver 6 rests against the backrest 10 of the driver's seat during the second operating action or while touching the second control element 12, or whether the back 19 is below a maximum distance from the backrest 10. This reliably ensures that the driver 6 can only adjust the driver's seat 8 within the takeover range during the automated driving mode.

[0044] List of reference symbols

[0045] Vehicle assistance system control unit arrow

[0046] Calculation device Driver First control element Driver's seat Seat cushion Backrest Adjustment device Second control element Interior camera Left hand Right hand

[0047] Steering wheel pedal starting position back

Claims

Claims 1. A method for assisting a driver (6) of a vehicle (1) during an automated driving mode, comprising the steps: - detecting operation of the vehicle (1) in the automated driving mode, - detecting a first operating action performed by the driver (6) of the vehicle (1), - adjusting a seat setting of a driver's seat (8) of the vehicle (1) depending on the detected first operating action, - limiting the seat adjustment of the driver's seat (8) to a predetermined takeover range if the operation of the vehicle (1) in the automated driving mode is detected, - wherein, starting from a seat adjustment within the takeover area, it is possible for the driver (6) to take over control of the vehicle (1), characterized in that - to limit the seat adjustment to the takeover range, the seat adjustment is only possible as long as a second operating action performed by the driver (6) is detected, - wherein the driver (6) touches a second operating element (12) of the vehicle (1) with at least one hand (15) during the second operating action.

2. Method according to claim 1, characterized in that as the second operating action a touch of a steering wheel (16) of the vehicle (1) is detected as the second operating element (12).

3. Method according to claim 1 or 2, characterized in that an actuation of an operating element (12) on the steering wheel (16) as the second operating element (12) is detected as the second operating action.

4. Method according to one of the preceding claims, characterized in that as the second operating action, a touch of an operating element (12) in an area of ​​a dashboard of the vehicle (1) is detected as the second operating element (12).

5. Method according to one of the preceding claims, characterized in that an output is given to the driver (6) if the first operating action but not the second operating action is detected during the automated driving mode.

6. Method according to one of the preceding claims, characterized in that in order to limit the seat adjustment to the takeover range, it is additionally checked whether a distance of a body part of the driver (6) from the driver's seat (8) falls below a predetermined maximum distance.

7. Computing device (5) for assisting a driver (6) of a vehicle (1) during an automated driving mode, wherein the computing device (5) is configured to - to detect operation of the vehicle (1) in the automated driving mode, - to record a first operating action performed by the driver (6) of the vehicle (1), - to adjust a seat setting of a driver's seat (8) of the vehicle (1) depending on the detected first operating action, - to limit the seat adjustment of the driver's seat (8) to a predetermined takeover range if the operation of the vehicle (1) in the automated driving mode is detected, - wherein, starting from a seat adjustment within the takeover range, it is possible for the driver (6) to take over control of the vehicle (1), characterized in that the computing device (5) is also designed to - to limit the seat adjustment to the takeover range, to only enable the seat adjustment as long as the computing device (5) detects a second operating action carried out by the driver (6), wherein the driver (6) touches a second operating element (12) of the vehicle (1) with at least one hand (15) during the second operating action.

8. A computer-readable storage medium comprising instructions which, when executed by a computing device (5), cause the computing device (5) to carry out a method according to one of claims 1 to 6.

9. Assistance system (2) for a vehicle (1), comprising a computing device (5) according to claim 7, wherein the assistance system (2) is configured to (1) to operate in an automated driving mode.

10. Vehicle (1), in particular a passenger car, comprising an assistance system (2) according to claim 9.

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