Method, control device and computer program for communicating an event to a driver of a vehicle, vehicle, and computer-readable medium

Abstract

The invention relates to a method, to a control device and to a computer program for communicating an event to a driver of a vehicle. The invention also relates to a vehicle and to a computer-readable medium. The electric pedal assembly (100) has the pedal (110), which can be pivotably attached to the vehicle and which is designed to be actuated by a foot of a driver of the vehicle, and a pedal actuation unit (120), which is operatively connected to the pedal (110) and which is designed to produce a movement of the pedal (110). The method according to the invention has the steps of receiving an event signal which is representative of the event to be communicated and transmitting a communication signal to the pedal actuation unit (120) in order to communicate the event to the driver. The communication signal causes the pedal actuation unit (120) to move the pedal (110) in such a way that the event is communicated to the driver.

Description

[0001] Description

[0002] Method, control device and computer program for communicating an event to a driver of a vehicle, as well as vehicle and computer-readable medium

[0003] The present invention relates to a method, a control device and a computer program for communicating an event to a driver of a vehicle by means of a pedal of an electric pedal arrangement of the vehicle, as well as a vehicle and a computer-readable medium, in particular for a so-called brake-by-wire pedal or a drive-by-wire accelerator or power pedal.

[0004] Electric pedal assemblies that lack a mechanical connection to the respective actuating elements, such as the brake unit or throttle valve, may become increasingly important in the future. With such electric pedal assemblies, such as an electric brake or accelerator pedal, a functional check before use is essential to ensure the driver can perform all the desired functions of the electric pedal assembly.

[0005] Exemplary prior art is known from CN 104 442 382 A, DE 10 2016 220 385 A1 , US 10 434 876 B2, WO 2014 / 072 111 A2, US 9 582 025 B2 and US 9 827 811 B1.

[0006] The present invention is essentially based on the objective of efficiently and easily informing the driver of a vehicle about events.

[0007] This problem is solved by a method according to claim 1, a control device according to claim 11, a pedal arrangement according to claim 13, a vehicle according to claim 14, a computer program according to claim 15, and a computer-readable medium according to claim 16. Advantageous embodiments are specified in the dependent claims.

[0008] The present invention is essentially based on the idea of ​​using an electric pedal assembly present in a vehicle, comprising a pedal and a pedal actuation unit operatively connected to the pedal and configured to move the pedal and detect pedal movements to recognize and register a driver request, such as a request to accelerate or brake the vehicle, to inform the driver of the vehicle about events occurring. In particular, when such an event occurs, such as an impending collision, a detected traffic sign, or driver fatigue, the driver can be informed of and alerted to this event by means of an active movement of the pedal.This can be done, for example, by generating a predetermined movement pattern of the pedal, such as a forward and backward movement of the pedal.

[0009] Consequently, according to a first aspect of the present invention, a method for communicating an event to a vehicle driver by means of a pedal of an electric pedal assembly of the vehicle is disclosed. The electric pedal assembly comprises the pedal, which is pivotably mounted on the vehicle and is designed to be actuated by the driver's foot, and a pedal actuation unit connected to the pedal and designed to cause movement of the pedal. The method according to the invention comprises receiving an event signal representative of the event to be communicated and sending a communication signal to the pedal actuation unit to communicate the event to the driver. The communication signal causes the pedal actuation unit to move the pedal in such a way as to communicate the event to the driver.

[0010] By sending the notification signal to the pedal actuation unit, which then actively moves the pedal, the driver can be actively alerted to the event and informed of it in a simple way.

[0011] According to a preferred embodiment, the event signal is representative of at least one of the following events to be communicated: communication about the vehicle status and / or communication about the vehicle environment and / or communication about the geographical vehicle position and / or communication about the driver status.

[0012] Preferably, the vehicle status message indicates that certain vehicle functions are activated or deactivated, such as the parking brake, the vehicle's auto-hold function, the anti-lock braking system (ABS), traction control (ASR), electronic stability program (ESP), and / or the selected driving mode, such as recuperation mode, Eco mode, or Sport mode. Furthermore, the reported vehicle status may indicate that the vehicle is in limp mode due to another detected technical defect, such as insufficient tire pressure in one of the vehicle's tires or a low charge level in the traction battery.Furthermore, the reported vehicle condition may indicate that at least one occupant in the vehicle is not properly buckled up, that one of the vehicle flaps, such as a vehicle door, a front flap, a tailgate, a fuel filler flap or a loading flap, is not properly closed, that a trailer is coupled or that the passenger airbag is deactivated due to a child seat installed on the passenger seat.

[0013] In a further advantageous embodiment of the method according to the invention, the vehicle environment information includes information about the vehicle's near-field and / or long-field environment, such as impending collisions with objects in the vehicle's surroundings, for example, when changing lanes onto a highway, and / or information about the road surface condition, such as potholes, the coefficient of friction of the road surface, or unevenness of the road surface, and / or information about detected traffic signs and traffic light states. For example, the driver can be informed of a change from a red phase to a green phase of a traffic light if it is detected that the driver does not actively press the accelerator pedal within a predetermined time period after such a change in the traffic light signal.

[0014] In a further preferred embodiment of the method according to the invention, the communication regarding the vehicle's geographical position includes information on traffic zones in which the vehicle is currently located, such as residential streets, school districts, and / or environmental zones, and / or information on errands the driver has to complete in the vicinity of the vehicle's geographical position, such as visiting a doctor, and / or information on upcoming navigation instructions, such as an upcoming turn to reach the desired destination. Consequently, in addition to acoustic and visual cues about the vehicle's geographical surroundings, the driver can also be informed of such an event haptically via the pedal already present in the vehicle.

[0015] Advantageously, the driver status message includes a message indicating driver fatigue and / or unconsciousness, a message indicating the need for a break, and / or a message indicating a massage function for the driver's foot and / or leg. In particular, upon detecting increased driver fatigue, the haptic feedback via the pedal can either rouse the driver or alert them that a break is necessary. It is also conceivable, according to the invention, to apply force to the pedal, thereby stimulating the foot and leg in such a way as to provide either a massage function or muscle stimulation, which can increase driving comfort, especially on long journeys. Furthermore, the driver can also receive haptic feedback via the pedal during autonomous operation of the vehicle and / or when the vehicle is parked.In a further advantageous embodiment of the method according to the invention, a pedal force sensor is also arranged on the pedal, which is configured to generate a pedal force signal that is representative of a force exerted externally on the pedal. In such a preferred embodiment, the method according to the invention further comprises receiving a pedal force signal from the pedal force sensor and determining that a driver's foot is at least partially touching the pedal, at least partially based on the received pedal force signal. The transmission of the message signal to the pedal actuation unit only occurs once it has been determined that a driver's foot is at least partially touching the pedal.

[0016] Conversely, if it is determined that the driver's foot is not currently touching the pedal, haptic feedback via the pedal actuation unit, to which the message signal is sent, will not be provided, as such haptic feedback, which requires contact between the pedal and the driver, would be pointless.

[0017] In a particularly advantageous embodiment of the method according to the invention, the communication signal is further configured to cause the pedal actuation unit to move the pedal according to a predetermined movement pattern. The predetermined movement pattern has a predetermined amplitude and / or a predetermined amplitude range relative to the maximum pivoting movement of the pedal and / or a predetermined movement speed of the pedal and / or a predetermined movement acceleration of the pedal and / or a predetermined duration and / or a predetermined number of repetitions of the movement pattern. Furthermore, it may be preferred to provide a sequence of predetermined movement patterns. This allows the information content of the haptic feedback to the driver to be at least partially increased.For example, a short pedal movement can inform the driver of an upcoming left turn, whereas a short and a long pedal movement, with respect to the pedal's travel path, can inform the driver of an upcoming right turn. In a particularly preferred embodiment, the predetermined movement pattern is a movement of the pedal by a predetermined fraction of its maximum pivoting motion in a first direction and back again.

[0018] Preferably, the predetermined movement pattern is selected depending on the event being communicated. This means that a message about the vehicle's status will have a different movement pattern than a message about the vehicle's surroundings. Similarly, a message about the vehicle's geographic position will have a different movement pattern than a message about the driver's status. Thus, by moving the pedal according to a predetermined pedal pattern, the driver can be alerted to and informed about a specific event. The mapping of the event to the movement pattern can be implemented, for example, in the form of a lookup table in which each detected event is assigned a predetermined movement pattern. The mapping of the predetermined movement patterns can be provided by the vehicle manufacturer or can be created by the vehicle's driver at their own discretion.

[0019] According to a further aspect of the present invention, a control device is disclosed which is configured to perform a method according to the invention for communicating an event to a driver of a vehicle by means of a pedal of an electric pedal arrangement of the vehicle.

[0020] In a preferred embodiment, the control device according to the invention has a first control device section for performing the step of receiving the event signal and a second control device section for performing the step of sending the message signal.

[0021] According to a further aspect of the present invention, a pedal arrangement for a vehicle is disclosed, comprising a pedal pivotably mounted on the vehicle, designed to be actuated by the foot of a driver of the vehicle, a pedal actuation unit operatively connected to the pedal and designed to move the pedal, and a control device according to the invention.

[0022] According to a further aspect of the present invention, a vehicle with a pedal arrangement according to the invention is disclosed.

[0023] According to a further aspect of the present invention, a computer program is disclosed which includes instructions which, when executed by a computing unit, cause the computing unit to execute a method according to the invention for communicating an event to a driver of the vehicle by means of a pedal of an electric pedal arrangement of the vehicle.

[0024] According to a further aspect of the present invention, a computer-readable medium is disclosed on which the computer program according to the invention is stored.

[0025] Further advantages and features of the present invention will become apparent to the person skilled in the art by carrying out the teaching described herein and by examining the single accompanying drawing, in which:

[0026] Fig. 1 shows a schematic representation of an electric pedal arrangement according to the invention with one pedal for a vehicle, and

[0027] Fig. 2 shows an exemplary flowchart of a method according to the invention for communicating an event to a driver of the vehicle by means of the pedal of the electric pedal arrangement of Fig. 1.

[0028] Within the scope of the present disclosure, an “electric”

[0029] A "pedal arrangement" is defined as a pedal that is mechanically decoupled from the corresponding vehicle components. The pedal can be a brake pedal, an accelerator pedal (such as a gas pedal or electric pedal), a clutch pedal, or a parking brake pedal. In particular, an electric pedal arrangement according to the present disclosure eliminates mechanical coupling devices, such as cables, hydraulic systems, pneumatic systems, or the like, which establish a mechanical coupling between the pedal and the respective vehicle component. The pedal can preferably be a so-called break-by-wire brake pedal, in which the pedal movement is converted into an electrical signal that is provided to the actuator for the brake shoes, which in turn generates the desired braking force.

[0030] Fig. 1 shows a schematic representation of an electric pedal assembly 100 according to the invention, comprising a pedal 110 for a vehicle. In addition to the pedal 110, the electric pedal assembly 100 includes a pedal actuation unit 120 (see dashed line in Fig. 1) operatively connected to the pedal 110, which is configured to adjust the position of the pedal 110 between a predetermined first end position and a predetermined second end position. The predetermined first and second end positions of the pedal 110 describe, in particular, the mechanical end positions of the pivotable pedal 110. Thus, the maximum pivoting range of the pedal 110 is defined by the predetermined first end position and the predetermined second end position.

[0031] However, it is self-evident to the expert that the actuation range of pedal 110 can also be smaller than the maximum swivel range of pedal 110. By appropriately controlling the pedal actuation unit 120, the actuation range of pedal 110 can be adjusted as desired, so that the end positions of the actuation swivel range differ from the predetermined first and second end positions. The pedal actuation unit 120 can apply such a large pedal actuator force to pedal 110 when it is in an end position of the actuation swivel range that the driver gets the feeling that the end position has been reached at that pedal position. Likewise, the pedal actuation unit 120 can adjust the pedal actuation feel according to a driver's preference.

[0032] The pedal 110 has a pedal element 112 which is pivotably mounted on a pedal attachment 111. The pivoting movement of the pedal 110, in particular of the pedal element 112, is indicated by arrow 113 in Fig. 1. The pedal 110 is also equipped with a pedal force sensor 114, which is configured to generate a pedal force signal that is representative of a force exerted externally on the pedal 110. For example, the pedal force sensor 114 can detect the force exerted by a driver's foot 10 on the pedal 110, in particular on the pedal element 112.

[0033] The pedal actuation unit 120, which is operatively connected to the pedal 110, consists of a pedal actuator 122. The actuator 122 is configured to exert a pedal actuator force on the pedal 110, corresponding to the pedal actuator operating parameters such as electrical voltage and / or electrical current and / or rotor position and / or characteristics of the pedal actuator 112 itself, such as resistances, inductances, or temperature, to move the pedal 110. For this purpose, the pedal actuation unit 120 also includes a gear unit 124, which comprises a spindle 123. The spindle 123 is configured to move a spindle element 125 translationally when rotated (see arrow 127 in Fig. 1). An actuating element 121 is attached to the spindle element 125 and is coupled to the pedal 110 on the opposite side.The mechanics of the electric pedal arrangement 100 are thus achieved by a translational drive of the spindle element 125 by the pedal actuator 122, which is converted into a pivoting movement (see arrow 113 in Fig. 1) of the pedal 110 due to the joints on the spindle element 125 and the pedal 110.

[0034] The pedal actuation unit 120 further comprises power electronics 126 and a pedal actuation control unit 128. The pedal actuation control unit 128 is designed, in particular, to control the operation of the pedal actuation unit 120, especially the pedal actuator 122. The pedal actuation unit 120 may also have a return mechanism (not shown) designed to return the pedal 110 to a predetermined initial position in a force-free state, such as when the vehicle is deactivated. The return mechanism may, for example, be in the form of a spring-damper system. The return mechanism may also be designed to adjust the initial position of the pedal 110 as desired, so that it defines an end position of the pedal's actuation range. This end position of the pedal's actuation range, as the initial position, is in turn adjustable according to the driver's preference.

[0035] The pedal assembly 100 of Fig. 1 further comprises a pedal position sensor 130, which is configured to generate a pedal position signal that is representative of the actual position of the pedal 100 between the predetermined first end position and the predetermined second end position. The pedal position sensor 130 can, for example, be an angle sensor that detects the angle between the fastening element 111 and the pedal element 112, from which the actual position of the pedal 110 can be determined. Alternatively or additionally, a linear position sensor can be provided to detect the linear position of the spindle element 125, from which the position of the pedal 110 can be derived.Alternatively or additionally, an angle sensor can be provided to detect the angle between the spindle 123 and the actuating element 121 or to detect the angle between the actuating element 121 and the pedal element 112, from which the pedal position can then be derived. Alternatively or additionally, parameters of the pedal actuator 122, such as the motor position of the pedal actuator 122, can also be taken into account to determine the pedal position.

[0036] The pedal assembly 100 further comprises a first limiting element 140, which is configured to mechanically limit the movement of the pedal 110 beyond the predetermined first end position. In particular, when the pedal 110 is moved towards the first limiting element 140, the latter can come into contact with the pedal 110 and thus mechanically limit any further movement of the pedal 110. Similarly, the pedal assembly 100 has a second limiting element (not shown), which is configured to mechanically limit the movement of the pedal 110 beyond the predetermined second end position. In particular, when the pedal 110 is moved towards the second limiting element 140, the latter can come into contact with the pedal 110 and thus mechanically limit any further movement of the pedal 110.

[0037] The pedal assembly 100 of Fig. 1 further comprises a control device 160, which is designed to control the pedal actuation unit 120. The control device 160 can communicate with the pedal actuation control 128. Alternatively, the pedal actuation control 128 can be integrated into the control device 160.

[0038] The control device 160 can have several control device sections, such as a first control device section 161 that can receive an event signal, a second control device section 162 that can send a message signal to the pedal actuation unit 120, a third control device section 164 that can receive the pedal position signal from the pedal position sensor 130, a fourth control device section 166 for generating the message signal, and a fifth control device section 168 for receiving the pedal force signal from the pedal force sensor 114, which will be discussed in more detail below with reference to Fig. 2.

[0039] The control device 160 can include a processor or arithmetic unit and memory. Alternatively, the control device 160 can be the processor or arithmetic unit connected to the memory. The processor can be a central processing unit (CPU). The processor can also be another general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or another programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or the like. The general-purpose processor can be a microprocessor, or the processor can be any conventional processor or the like.

[0040] The memory includes, but is not limited to, Random Access Memory (RAM), Read-Only Memory (ROM), Erasable Programmable Read-Only Memory (EPROM), or Portable Read-Only Memory (e.g., CD-ROM). The memory is configured to store associated program instructions and data.

[0041] With reference to Fig. 2, an exemplary flowchart of a method according to the invention for communicating an event to a driver of the vehicle by means of the pedal 110 of the electric pedal arrangement 100 of Fig. 1 is shown.

[0042] The procedure shown in Fig. 2 starts at step 200 and then proceeds to step 210, where it is checked whether a reportable event has occurred or is present. A reportable event could be, for example, a message about the vehicle status, a message about the vehicle's surroundings, a message about the vehicle's geographical position, or a message about the driver's status. A message about the vehicle status could, for example, be a message about whether the parking brake is engaged or disengaged. A message about the vehicle's surroundings could, for example, be an impending collision with an object, such as another vehicle, in the vehicle's vicinity.A notification regarding the vehicle's geographical position could, for example, be a notification about a specific traffic area in which the vehicle is currently located, such as a pedestrian zone where driving at walking speed is permitted. A notification regarding the driver's condition could, for example, be a current indication of any detected driver fatigue.

[0043] Accordingly, all of the vehicle's existing sensors can be used to generate and provide an event signal representative of an event that has occurred, based on their signals. This includes, in particular, cameras, ultrasonic sensors, radar sensors, LiDAR sensors, accelerometers, seat occupancy sensors, and any other sensors installed in the vehicle, each fulfilling a predetermined function.

[0044] The procedure shown in Fig. 2 remains at step 210 until such an event signal is received. As already explained, the event signal can be sent by an engine control unit, which evaluates the corresponding signals from the vehicle sensors to determine whether or not an event to be reported has occurred.

[0045] If, during step 210, it is determined that an event requiring notification has occurred, the method proceeds to step 220, in which a corresponding event signal is received by the control device 160, in particular by the first control device section 161. In Fig. 1, the reception of an event signal is indicated by a line extending into the control device 160, which represents a communication link between the control device 160, in particular the first control device section 161, and the motor control unit. It is self-evident to those skilled in the art that the control device 160 can also be integrated into the motor control unit.

[0046] In a subsequent step 230, the control device 160, in particular the fifth control device section 168, can receive a pedal force signal from the pedal force sensor 114. In a subsequent step 240, the pedal force signal is evaluated to determine whether a foot 10 is on the pedal 110 or not. If the pedal force signal indicates a pedal force value that exceeds a predetermined pedal force threshold, it can be assumed that a foot 10 of the driver is currently on the pedal 110, and consequently, the driver is interacting with the pedal 110. If, on the other hand, the pedal force signal indicates a pedal force value that does not exceed the predetermined pedal force threshold, this can be indicative of the fact that no foot 10 of the driver is currently on the pedal 110, and consequently, the process then proceeds to step 270 and is terminated.

[0047] If, therefore, step 240 determines that the driver's foot 10 is resting on pedal 110, the procedure proceeds to step 250, in which a predetermined movement pattern is determined, at least partially, based on the received event signal. In particular, a movement pattern can be determined depending on the event that occurred, which is familiar to the driver and can thus also provide the driver with an indication of the type of event. The assignment of the event to the movement pattern can, for example, be done in the form of a lookup table in which each recorded event is assigned a predetermined movement pattern.

[0048] In a subsequent step 260, the control device 160, in particular the fourth control device section 168, can generate and provide a message signal based on the motion pattern determined in step 250. Simultaneously or in a separate step, the generated message signal can be sent by the control device 160, in particular the second control device section 162, to the pedal actuation unit 120, which is configured to cause the pedal actuation unit 120 to move the pedal 110 according to the predetermined motion pattern, before the process is again terminated in step 270.

[0049] The movement pattern can include, in particular, predetermined amplitudes, predetermined ranges of motion, predetermined pedal speeds, predetermined pedal accelerations, etc. The duration, intensity, and / or repetitions of the pedal movements can also be characteristics of the movement pattern. For example, the driver of the vehicle can be notified of a predetermined event by short, vibration-like movements of pedal 110, such as when driver fatigue is detected. These short, vibration-like movements of pedal 110 can be designed to suggest a rest break to the driver or even to wake them up.

[0050] The inventive method allows the driver to be haptically informed via the pedal when an event occurs and is detected, for example, to be warned of an imminent danger, such as a collision with another vehicle or an object in the vehicle's blind spot. It is also possible to provide the driver with haptic feedback about such an event via the pedal and even to relax the driver's muscles by applying force to the driver's leg.

Claims

Patent claims 1. Method for communicating an event to a driver of a vehicle by means of a pedal (110) of an electric pedal assembly (100) of the vehicle, wherein the electric pedal assembly (100) comprises the pedal (110) which is pivotably mounted on the vehicle and is designed to be actuated by a foot of a driver of the vehicle, and a pedal actuation unit (120) operatively connected to the pedal (110) and designed to cause movement of the pedal (110), wherein the method comprises: Receiving an event signal that is representative of the event to be reported, and Sending a communication signal to the pedal actuation unit (120) to communicate the event to the driver, wherein the communication signal causes the pedal actuation unit (120) to move the pedal (110) in such a way as to communicate the event to the driver.

2. The method of claim 1, wherein the event signal is representative of at least one of the following events to be communicated: Information on the vehicle's condition, and / or information on the vehicle's surroundings, and / or information on the vehicle's geographical position, and / or information on the driver's condition.

3. The method of claim 2, wherein the communication regarding the vehicle condition comprises: Notification that vehicle functions are activated or deactivated, such as the parking brake, the vehicle's auto-hold function, an anti-lock braking system (ABS), an anti-slip regulation (ASR), an electronic stability program (ESP) and / or the vehicle's driving program.

4. The method of claim 2, wherein the communication about the vehicle environment comprises: Notification of the vehicle's near-field and / or long-field environment, such as impending collisions with objects in the vehicle's vicinity, and / or Notification of road conditions, and / or Information about traffic signs and traffic lights.

5. The method of claim 2, wherein the communication includes the geographical vehicle position: Notification regarding traffic districts, such as play streets, school districts and / or environmental zones, and / or Notification of tasks that the driver has to complete in the vicinity of the vehicle's geographical position, and / or Message regarding navigation announcements.

6. The method of claim 2, wherein the communication about the driver's condition includes: Notification of driver fatigue, and / or Notification of the need for a break, and / or Communication of a massage function for the foot and / or leg of the driver by applying force to the pedal (110) via the pedal actuation unit (120).

7. A method according to any of the preceding claims, wherein a pedal force sensor (114) is further arranged on the pedal (110) which is configured to generate a pedal force signal that is representative of a force exerted externally on the pedal (110), wherein the method further comprises: Receiving a pedal force signal from the pedal force sensor (114), and Determine that one of the driver's feet is at least partially touching the pedal (110), at least partially based on the received pedal force signal, the message signal is only sent to the pedal actuation unit (120) when it has been determined that a foot of the driver is at least partially touching the pedal (110).

8. Method according to one of the preceding claims, wherein the communication signal is further configured to cause the pedal actuation unit (120) to move the pedal (110) according to a predetermined movement pattern.

9. Method according to claim 8, wherein the predetermined movement pattern is a movement of the pedal (110) by a predetermined proportion of the maximum pivoting movement of the pedal (110) in a first direction and back again.

10. Method according to claim 8, wherein the predetermined movement pattern is selected depending on the event to be communicated.

11. Control device (160) configured to perform the steps of the method according to one of the preceding claims.

12. Control device (160) according to claim 11, comprising: a first control device section (161) for Performing the step of receiving the event signal, and a second control device section (162) for performing the step of sending the message signal.

13. Pedal arrangement (120) for a vehicle, comprising: a pedal (110) which can be pivotally mounted on the vehicle and which is designed to be operated by the foot of a driver of the vehicle, one that is operatively connected to the pedal (110) Pedal actuation unit (120) configured to move the pedal (110) and a control device (160) according to one of claims 11 and 12.

14. Vehicle with a pedal arrangement (120) according to claim 13.

15. Computer program comprising instructions which, when executed by a computing unit, cause the computing unit to execute a method according to any one of claims 1 to 10.

16. Computer-readable medium on which the computer program according to claim 15 is stored.

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