Method and device for controlling a steering means of a motor vehicle during an automated driving manoeuvre

Abstract

A device for controlling a movable steering means of a motor vehicle during the carrying out of an automated driving manoeuvre with automated transverse control is described, in which the steering means is automatically movable between a first state and a second state. The device is designed to cause the steering means to be in the first state during the carrying out of the automated driving manoeuvre and to predict that, at the end position of the driving manoeuvre, the driver of the motor vehicle will get into the motor vehicle or out of the motor vehicle. The device is also designed, in response to the prediction, to cause the steering means to remain in the first state at the end position of the driving manoeuvre.

Description

[0001] Method and device for controlling a steering means of a motor vehicle during an automated driving maneuver

[0002] The invention relates to a method and a corresponding device designed to control the steering means, in particular the steering wheel, of a motor vehicle in connection with the execution of an automated driving maneuver.

[0003] A vehicle can have one or more driving functions, in particular driver assistance functions, each of which is designed to automatically guide the vehicle longitudinally and / or laterally when carrying out an automated driving maneuver, e.g., an automated parking maneuver. Furthermore, the vehicle can have a steering means, in particular a steering wheel, which enables the driver of the vehicle to manually steer the vehicle laterally. The steering means can be designed to assume an extended state in which the steering means faces the driver's position of the vehicle so that the steering means can be manually operated by the driver, and a retracted state in which the steering means is arranged away from the driver's position, thereby increasing the space available to the driver (e.g., for getting in or out).

[0004] This document deals with the technical task of achieving particularly comfortable and efficient control of a movable steering device when carrying out an automated driving maneuver.

[0005] The problem is solved by each of the independent claims. Advantageous embodiments are described, among other things, in the dependent claims. It should be noted that additional features of a patent claim dependent on an independent patent claim can form a separate invention, independent of the combination of all features of the independent patent claim, without the features of the independent patent claim or only in combination with a subset of the features of the independent patent claim, which invention can be made the subject of an independent claim, a divisional application, or a subsequent application. This applies equally to technical teachings described in the description, which can form an invention independent of the features of the independent patent claims.

[0006] According to one aspect, a device for controlling a movable steering means (in particular a steering wheel) of a motor vehicle during the execution of an automated driving maneuver with automated lateral guidance is described. The steering means can be moved automatically (by an electric motor) between a first state and a second state. In the second state, the steering means can be arranged closer to the driver's position of the motor vehicle than in the first state. The second state can, for example, be an extended state, and the first state can be a retracted state. Alternatively or additionally, the first state can correspond to an exit position of the steering means, and the second state can correspond to a steering position of the steering means.

[0007] The device is configured to ensure that the steering means remains in the first (retracted) state during the (entire) execution of the automated driving maneuver. The driving maneuver can be started at a starting position and ended at an end position. Between the starting position and the end position, the steering means can remain permanently in the first state. This allows the automated driving maneuver to be performed comfortably and safely.

[0008] The device is further configured to predict (during the execution of the driving maneuver, and in particular before reaching the end position) that the driver of the motor vehicle will get into or out of the motor vehicle at the end position of the driving maneuver (immediately after completion of the automated driving maneuver).

[0009] The device can be configured to determine the type of automated driving maneuver from a plurality of different driving maneuver types. Examples of driving maneuver types include: a parking maneuver; a parking maneuver; and / or a pre-recorded driving maneuver. Based on the type of automated driving maneuver, it can be reliably predicted that the driver of the vehicle will enter or exit the motor vehicle at the end position of the driving maneuver.

[0010] Alternatively or additionally, the device can be configured to determine that the initial position or the final position of the automated driving maneuver is located in a parking space for motor vehicles. Based on this determination, it can be reliably predicted that the driver of the motor vehicle will enter or exit the motor vehicle at the final position of the driving maneuver.

[0011] Alternatively or additionally, the device can be configured to determine that the end position of the automated driving maneuver is located in an entry or exit zone for one or more occupants of the motor vehicle. The entry or exit zone can be located, for example, in a parking lot and / or in a parking garage and / or at an airport or shopping center and / or in front of a hotel. Based on this determination, it can be reliably predicted that the driver of the motor vehicle will enter or exit the motor vehicle at the end position of the driving maneuver.

[0012] Alternatively or additionally, the device can be configured to determine whether or not the driver is located at the driver's position of the motor vehicle during the execution of the automated driving maneuver. Based on this determination, it can be reliably predicted that the driver of the motor vehicle will enter or exit the motor vehicle at the end position of the driving maneuver.

[0013] Alternatively or additionally, the device can be configured to use one or more environmental sensors of the motor vehicle to determine sensor data relating to the environment of the motor vehicle at the final position. Based on the sensor data, it can then be reliably predicted that the driver of the motor vehicle will enter or exit the motor vehicle at the final position of the driving maneuver.

[0014] For example, it can be predicted that the driver of the motor vehicle will get into or out of the motor vehicle at the end position of the driving maneuver if

[0015] • the driver is located at the driver position and the end position is a parking space for motor vehicles; and / or

[0016] • the driver is not located at the driver's position (but outside the motor vehicle), and the starting position is a parking space for motor vehicles. The device is further configured, in response to the prediction that the driver of the motor vehicle will enter or exit the motor vehicle at the end position of the driving maneuver, to cause the steering means to remain in the first state at the end position of the driving maneuver. This allows the comfort and efficiency of an automated driving maneuver to be further increased.

[0017] The device can be configured, in particular based on sensor data from one or more environmental sensors of the motor vehicle, to detect that the driving maneuver must be interrupted at an intermediate position and cannot be carried out automatically up to the final position. In response to the detection, the steering means can be automatically transferred to the second (extended) state at the intermediate position of the driving maneuver.

[0018] Alternatively or additionally, the device can be designed to cause the steering means to be automatically transferred to the second (extended) state at the end position of the driving maneuver if it is predicted that

[0019] • the driver of the motor vehicle will neither get into nor out of the motor vehicle at the end position of the driving manoeuvre; and / or

[0020] • the driver of the motor vehicle will take over manual lateral control of the motor vehicle at the end position of the driving maneuver.

[0021] This can further increase the comfort of an automated driving maneuver.

[0022] According to a further aspect, a (road) motor vehicle (in particular a passenger car or a truck or a bus or a motorcycle) is described which comprises the device described in this document. According to one aspect, a method for controlling a movable steering means of a motor vehicle during the execution of an automated driving maneuver with automated lateral guidance is described, wherein the steering means is automatically movable between a first state and a second state. The method comprises causing the steering means to be in the first (retracted) state during the execution of the automated driving maneuver. Furthermore, the method comprises predicting that the driver of the motor vehicle will get into or out of the motor vehicle at the end position of the driving maneuver.The method further comprises, in response to the predicting, causing the steering means to remain in the first (retracted) state at the end position of the driving maneuver.

[0023] It should be noted that the aspects described in connection with the device, in particular the claims described in connection with the device, are also to be applied to the method as corresponding method features.

[0024] According to another aspect, a software (SW) program is described. The SW program can be configured to be executed on a processor (e.g., on a vehicle control unit) and thereby to carry out the method described in this document.

[0025] According to a further aspect, a storage medium is described. The storage medium can comprise a software program configured to be executed on a processor and thereby to carry out the method described in this document.

[0026] It should be noted that the methods, devices, and systems described in this document can be used both alone and in combination with other methods, devices, and systems described in this document. Furthermore, any aspects of the methods, devices, and systems described in this document can be combined in a variety of ways. In particular, the features of the claims can be combined in a variety of ways. Furthermore, features listed in parentheses are to be understood as optional features.

[0027] The invention will be described in more detail below using exemplary embodiments.

[0028] Figure 1 shows exemplary components of a vehicle; and

[0029] Figure 2 is a flowchart of an exemplary method for controlling a movable steering means.

[0030] As stated at the beginning, this document deals with increasing the comfort and efficiency of an automated driving maneuver of a vehicle. In this context, Fig. 1 shows an exemplary vehicle 100 with one or more environmental sensors 102, each configured to collect sensor data (also referred to as environmental data) relating to the surroundings of the vehicle 100. Exemplary environmental sensors 102 include a camera, a radar sensor, a lidar sensor, an ultrasonic sensor, etc.

[0031] A (control) device 101 of the vehicle 100 can be configured to evaluate the environmental data, e.g., to detect one or more objects (e.g., other vehicles and / or an obstacle) in the environment of the vehicle 100. The device 101 can further be configured to effect automated longitudinal and / or transverse guidance of the vehicle 100 based on the environmental data, in particular based on the one or more detected objects. For this purpose, one or more longitudinal and / or transverse guidance actuators 103 (e.g., a drive motor, a braking device, and / or a steering device) of the vehicle can be controlled. The device 101 of the vehicle 100 can thus be configured to provide an automated driving function in which the vehicle 100 is automatically guided longitudinally and / or transversely. For example, as part of the driving function, an automated driving maneuver, e.g.,a parking maneuver into a parking space or a parking maneuver out of a parking space.

[0032] The vehicle 100 includes a steering means 104, in particular a steering wheel, which enables the driver of the vehicle 100 to steer the vehicle 100. The steering means 104 can be configured such that the steering means 104 can be moved between a retracted state and an extended state. The retracted state is generally referred to in this document as the first state, and the extended state is generally referred to in this document as the second state.

[0033] In the second (extended) state, the steering means 104 faces the driver's position of the vehicle 100, where the driver is located. Thus, the driver can operate the steering means 104 with one or both hands to steer the vehicle 100 (and thus manually effect the lateral guidance of the vehicle 100). On the other hand, in the first (retracted) state, the steering means 104 faces away from the driver's position and is thus farther away from the driver's position than in the second (extended) state. For example, in the first (retracted) state, the steering means 104 can be recessed into the dashboard of the vehicle 100. The steering means 104 in the first (retracted) state enables the driver to comfortably enter and exit the vehicle 100.

[0034] The device 101 is preferably configured to cause the steering means 104 to be in the first (retracted) state during the execution of an automated driving maneuver (with automated lateral guidance). The automated driving maneuver can be performed while the driver is in the driver position (e.g., during operation of a parking assistant) or while the driver is located outside the vehicle 100 (e.g., during operation of a remote parking function).

[0035] An automated driving maneuver typically has a starting position and an ending position. For example, a parking maneuver begins at a starting position outside a parking space and ends at a ending position inside the parking space. On the other hand, an automated parking maneuver begins at a starting position inside a parking space and ends at a ending position outside the parking space.

[0036] The device 101 can be configured to predict whether at the end position of an automated driving maneuver

[0037] • the steering means 104 should be transferred to the second (extended) state, since the steering means 104 is required for the manual lateral guidance of the vehicle 100; or

[0038] • the steering means 104 should remain in the first (retracted) state, in particular to enable the driver to comfortably enter or exit the vehicle 100.

[0039] This can be predicted, for example, based on a property of the end position. If the end position is located in a parking space, it can be assumed that the driver will exit the vehicle 100 after performing the automated driving maneuver. The steering means 104 can then remain in the first (retracted) state.

[0040] Alternatively or additionally, based on the type of automated driving maneuver, it can be predicted whether the steering means 104 should remain in the first (retracted) state at the end position of the driving maneuver or should be transferred to the second (extended) state. For example, during a parking maneuver, it can be predicted that the steering means 104 should remain in the first (retracted) state. On the other hand, during a parking maneuver (in which the driver is located at the driver's position), it can be predicted that the steering means should be extended to enable the driver to assume manual lateral steering. In another example, during a parking maneuver (in which the driver is located outside the vehicle), it can be predicted that the steering means 104 should remain in the retracted state (to enable the driver to comfortably enter the vehicle 100).

[0041] The device 101 can thus be configured to predict whether

[0042] • the driver of the vehicle 100 wants to get into or out of the vehicle 100 at the end position (and thus the steering means 104 should remain in the first (retracted) state at the end position); or

[0043] • the driver of the vehicle 100 wants to manually take over the lateral guidance of the vehicle 100 at the end position (and thus the steering means 104 should be transferred to the second (extended) state at the end position).

[0044] The device 100 can further be configured to cause the steering means 104 to be in the respectively predicted state at the end of the automated driving maneuver (ie, that the steering means 104 remains in the first (retracted) state at the end of the automated driving maneuver or is transferred to the second (extended) state.

[0045] During an (automated) parking maneuver, it can thus be predicted whether the maneuver will end with a parked position. During a parking maneuver, it can be assumed that the end position is a parked position. The steering wheel 104 can then be caused to move immediately and / or automatically into the exit position (i.e., into the first (retracted) state) or to remain there. During a parking maneuver, it can be assumed that it is not a parked position. The steering wheel 104 can then be caused to move into the driving position (i.e., into the second (extended) state).

[0046] During a preprogrammed and / or recorded maneuver, a check can be made (based on the sensor data from one or more environmental sensors 102) to determine whether one or more obstacles exist at the final position in front of or behind the vehicle 100. If this is the case, a parking position is assumed (and the steering wheel 104 is left in the exit position). If no obstacles are present, a parking position is not assumed (and the steering wheel 104 is moved to the driving position).

[0047] If the predicted end parking position cannot be reached during a parking process (e.g. due to an obstacle), then a parking position is typically not assumed (and the steering wheel 104 is to be moved to the driving position).

[0048] During a remote driving maneuver (e.g., operated by the smartphone of the user located in the driver's position), the steering wheel 104 is preferably positioned in the exit position throughout the entire maneuver. If, at the end of the parking maneuver (i.e., at the end position), the driver does not terminate the drive readiness but instead reengages a gear D or R, the steering wheel 104 can then be moved to the drive position.

[0049] Fig. 2 shows a flowchart of a (possibly computer-implemented) method 200 for controlling a movable steering means 104 (in particular a steering wheel) of a motor vehicle 100 during the execution of an automated driving maneuver with automated lateral guidance of the motor vehicle 100. The method 200 can be executed by a control device 101 of the motor vehicle 100. The steering means 104 can be moved automatically between a first (retracted) state and a second (extended) state. The method 200 comprises causing 201 the steering means 104 to be in the first (retracted or retracted) state during the execution of the automated driving maneuver. The steering means 104 is preferably in the first state during the entire driving maneuver (from the initial position to the final position).

[0050] Furthermore, the method 200 includes predicting 202 (before reaching the end position) that the driver of the motor vehicle 100 will enter or exit the motor vehicle 100 at the end position of the driving maneuver. For this purpose, it can be checked whether the end position or the initial position of the driving maneuver is located in a parking space for motor vehicles. Furthermore, it can be checked whether the driver is located in the driver position or not (and possibly located outside the motor vehicle) during the execution of the driving maneuver.

[0051] The method 200 further includes, in response to the prediction 202, causing 203 the steering means 104 to remain in the first state at the end position of the driving maneuver. This allows the comfort of the vehicle 100 to be efficiently increased with respect to the execution of automated driving maneuvers.

[0052] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and figures are intended only to illustrate the principle of the proposed methods, devices, and systems by way of example.

Claims

Claims 1) Device (101) for controlling a movable steering means (104) of a motor vehicle (100) in the context of carrying out an automated driving maneuver with automated lateral guidance; wherein the steering means (104) is automatically movable between a first state and a second state; wherein the device (101) is configured - to cause the steering means (104) to be in the first state during the execution of the automated driving maneuver; - to predict that a driver of the motor vehicle (100) will get into or out of the motor vehicle (100) at an end position of the driving maneuver; and - in response to the prediction, to cause the steering means (104) to remain in the first state at the end position of the driving maneuver. 2) Device (101) according to claim 1, wherein the device (101) is arranged - to determine a type of automated driving maneuver from a plurality of different driving maneuver types; wherein the plurality of different driving maneuver types includes in particular, - a parking maneuver; - a parking manoeuvre; and / or - a pre-recorded driving maneuver; and - to predict, based on the type of automated driving maneuver, that the driver of the vehicle (100) will get into or out of the motor vehicle (100) at the end position of the driving maneuver. 3) Device (101) according to one of the preceding claims, wherein the device (101) is arranged - to determine that a starting position or the end position of the automated driving manoeuvre is located in a parking space for motor vehicles; and - to predict, based on the determination, that the driver of the motor vehicle (100) will get into or out of the motor vehicle (100) at the end position of the driving maneuver. 4) Device (101) according to one of the preceding claims, wherein the device (101) is arranged - to determine that the final position of the automated driving maneuver is located in an entry or exit zone for one or more occupants of the motor vehicle (100); and - to predict, based on the determination, that the driver of the motor vehicle (100) will get into or out of the motor vehicle (100) at the end position of the driving maneuver. 5) Device (101) according to one of the preceding claims, wherein the device (101) is arranged - to determine whether or not the driver is located at a driver position of the motor vehicle (100) during the execution of the automated driving maneuver; and - to predict, based on the determination, that the driver of the motor vehicle (100) will get into or out of the motor vehicle (100) at the end position of the driving maneuver. 6) Device (101) according to one of the preceding claims, wherein the device (101) is arranged - to determine sensor data relating to the environment of the motor vehicle (100) at the end position using one or more environment sensors (102) of the motor vehicle (100); and - to predict, on the basis of the sensor data, that the driver of the motor vehicle (100) will get into or out of the motor vehicle (100) at the end position of the driving maneuver. 7) Device (101) according to one of the preceding claims, wherein the device (101) is arranged - to detect, in particular on the basis of sensor data from one or more environmental sensors (102) of the motor vehicle (100), that the driving maneuver must be interrupted at an intermediate position and cannot be carried out automatically up to the final position; and - in response to the detection, to cause the steering means (104) to be automatically transferred to the second state at the intermediate position of the driving maneuver. 8) Device (101) according to one of the preceding claims, wherein the device (101) is arranged to cause the steering means (104) to be automatically transferred to the second state at the end position of the driving maneuver if it is predicted that - the driver of the motor vehicle (100) will neither enter nor exit the motor vehicle (100) at the end position of the driving maneuver; and / or - the driver of the motor vehicle (100) will take over the manual lateral guidance of the motor vehicle (100) at the end position of the driving maneuver. 9) Device (101) according to one of the preceding claims, wherein - the steering means (104) is arranged closer to a driver position of the motor vehicle (100) in the second state than in the first state; and / or - the second state is an extended state and the first state is a retracted state; and / or - the first state corresponds to an exit position of the steering means (104), and the second state corresponds to a steering position of the steering means (104). 10) Method (200) for controlling a movable steering means (104) of a motor vehicle (100) in the context of carrying out an automated driving maneuver with automated lateral guidance; wherein the steering means (104) is automatically movable between a first state and a second state; wherein the method (200) comprises, - causing (201) the steering means (104) to be in the first state during the execution of the automated driving maneuver; - predicting (202) that a driver of the motor vehicle (100) will enter or exit the motor vehicle (100) at an end position of the driving maneuver; and - in response to the prediction (202), causing (203) the steering means (104) to remain in the first state at the end position of the driving maneuver.

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