Method for operating a steering system of an at least partially autonomously operable vehicle, electronic steering system, and vehicle

Abstract

The invention relates to a method for operating a steering system (2) of a vehicle (1), wherein - the steering system (2) is operated in an autonomous steering mode in which steering processes are carried out autonomously, or in a manual steering mode in which steering processes are carried out by a user (3), - the user (3) is identified when the steering system (2) is operated in the autonomous steering mode, and user information is established on the basis of the identified user (3), comprising: - establishing an assessment result by assessing a potential, immediately imminent steering intervention by the user (3) on the basis of the at least one item of user information, and - operating the steering system (2) by preconfiguring a steering controller (11) on the basis of the established assessment result, as a result of which the steering system (2) is prepared for a potential, immediately imminent manual steering intervention by the user (3) while in the autonomous steering mode. The invention also relates to an electronic steering system (2) and to a vehicle (1).

Description

[0001] 24-0598 PIF

[0002] 1

[0003] Method for operating a steering system, a vehicle that can be operated at least partially autonomously, electronic steering system and vehicle

[0004] The present invention relates to a method for operating a steering system of a vehicle that is at least partially autonomous, wherein the steering system is operated in an autonomous steering mode, in which steering maneuvers of the vehicle are carried out autonomously, or in a manual steering mode, in which steering maneuvers of the vehicle are carried out by a user of the vehicle by means of a steering element of the steering system. The user of the vehicle is detected by a detection device when the steering system is operated in an autonomous steering mode, and based on the detected user, at least one piece of useful information concerning the user is determined by an electronic evaluation unit.

[0005] Furthermore, the invention relates to an electronic steering system for a vehicle that can be operated at least partially autonomously.

[0006] The invention also relates to a vehicle with a corresponding electronic steering system.

[0007] Autonomous vehicles can be controlled either by vehicle guidance systems or by a user, i.e., a driver. Steering maneuvers can be automated using an autonomous steering system. Depending on the vehicle's autonomy level, for example, according to autonomy level 2 or 3 of the SAE J3016 standard, the vehicle itself or the user can decide whether to use autonomous or manual steering mode.

[0008] In an autonomous steering mode, often referred to as "hand-off operation," the steering controller, for example, must be designed to be very rigid in order to quickly compensate for disturbances such as potholes or crosswinds. This ensures that the target trajectory for autonomous driving can be established quickly and reliably. 24-0598 PIF

[0009] 2

[0010] For example, DE 10 2020 127 049 A1 discloses a method for detecting driver intervention in an autonomous steering system. This can involve performing a steering wheel position such as extending or retracting the steering wheel.

[0011] Furthermore, WO 2022 / 218950 A1 specifies a method for switching between autonomous and manual driving of a vehicle, in which an interior camera monitors the driver for an intention to hand over and an intention to take over control. If an intention to hand over control is detected, the steering wheel is moved away from the driver and the vehicle switches to autonomous driving. If an intention to take over control is detected, the steering wheel is moved towards the driver's hands and the vehicle switches to manual driving.

[0012] Furthermore, US patent 2017 / 0344838 A1 discloses a system for receiving image data from one or more sensors of a moving platform such as a vehicle and wherein one or more objects are detected from the image data, the one or more objects possibly representing the extremities of a user.

[0013] However, a disadvantage of current systems is that the driver cannot easily intervene in autonomous driving mode. If the driver attempts to use the steering wheel during autonomous driving, the system must first be able to do so, and the stiffness of the controller must be reduced. During this time, the steering wheel is very stiff and unpleasant to use, making steering maneuvers very difficult or even impossible for a short period, as the driver has to work against the steering system's control. Only after the control system's stiffness has been reduced does the driver regain the usual steering feel. Whether the driver has their hands on the steering wheel is determined by a capacitive sensor, for example, in the steering wheel, and / or by evaluating the driver's steering torque.

[0014] Thus, one object of the present invention is to be able to detect at an early stage an intention of the driver of a vehicle that can be operated at least partially autonomously to take over a manual steering operation, in order to then be able to provide the steering system for the driver in a situation-appropriate manner.

[0015] This problem is solved by a method, an electronic steering system, and a vehicle according to the independent patent claims. Meaningful further developments arise from the dependent patent claims. 24-0598 PIF

[0016] 3

[0017] One aspect of the invention relates to a method for operating a steering system of a vehicle that is at least partially autonomously operable, wherein

[0018] - in particular, the steering system is operated in an autonomous steering mode, in which steering operations of the vehicle are carried out autonomously, or in a manual steering mode, in which steering operations of the vehicle are carried out by a user of the vehicle by means of a steering element of the steering system,

[0019] - in particular, the user of the vehicle is detected by a detection device when the steering system is operated in autonomous steering mode, and

[0020] - in particular, based on the recorded user, at least one piece of user information concerning the user is determined by an electronic evaluation unit, showing:

[0021] - in particular, determining an assessment result by the electronic evaluation unit by assessing a potential, imminent manual steering intervention by the user using the steering element based on at least one piece of user information, and

[0022] - in particular, operating the steering system by pre-configuring a steering control of the steering system, with which a steering behavior of the steering element can be adapted, based on the specific assessment result, thereby preparing the steering system for a potential, imminent manual steering intervention by the user during the autonomous steering mode.

[0023] The proposed method allows users, such as drivers of at least partially autonomous vehicles, to take manual steering actions at any time and according to their wishes, even during autonomous driving, particularly when steering is performed autonomously. This is achieved by preparing or adapting the steering system so that users can perform the desired steering maneuvers without being hindered by an incorrectly configured steering control system.

[0024] The proposed method allows for the early detection and, in particular, prediction of whether the user intends to make manual steering interventions despite the autonomous steering mode, due to their state of mind or a current situation. This contrasts with the 24-0598 PIF.

[0025] 4

[0026] The prior art, in which the steering is only adjusted upon contact or actual steering maneuvers, can be improved with the present invention by pre-configuring, or pre-conditioning, the steering control and thus the steering system at an earlier stage. This allows the user to make their desired steering adjustments or steering interventions without delay or significant effort, and without being hindered by an incorrectly set steering control.

[0027] In other words, by monitoring and recording the user, a process that can be carried out continuously, a prediction can be made as to whether the user is about to manually intervene in the steering. The system can predict whether the user intends to perform a steering intervention using the steering element in the immediate future. Consequently, the steering system can be pre-conditioned or prepared at a point when the user has not yet grasped, reached for, or is holding the steering element.Thus, based on an early prediction of the user's intention, the system can make appropriate preparations to the steering system, so that when the steering element is actually operated, the steering behavior of the steering element is adapted in such a way that the user can carry out their desired steering operations manually in the simplest way without great effort or without great counter-torque.

[0028] Based on the assessment, i.e., the determination of the assessment result, a probability can be determined as to whether the user actually intends to intervene in the steering process. For example, various threshold values ​​can be set when determining the probability of intention. These can be defined according to the circumstances. In particular, pre-configuration can be carried out if a threshold of 60%, or especially above 70%, is exceeded with regard to the probability.

[0029] By detecting a potential future override of the currently autonomously operated steering system at an early stage, the user can be provided with the familiar steering feel immediately or directly upon grasping the steering element, which may be a steering wheel. Should this not be the case, for example, as described in 24-0598 PIF, the system can be quickly reactivated.

[0030] 5. If this is the case, particularly with current technology, the driver could be confused or, in the worst case, frightened, as they can only intervene minimally or not at all in the driving process by steering. This could lead to serious, safety-critical traffic situations.

[0031] The steering system is an electronic system capable of operating in various steering modes. These include fully autonomous, semi-autonomous, and manual modes. The steering system is used to control the vehicle. To execute autonomous steering maneuvers, the system may include additional components such as control units and actuators. As previously mentioned, the steering element is a steering handle or steering wheel, which allows the driver to manually intervene in the driving process through manual steering inputs.

[0032] The detection device can be an electronic detection system, which may, for example, include several individual sub-sensors. The detection device can therefore consist of several individual detection units, which may be distributed within and / or on the vehicle. To best predict the driver's intentions, comprehensive and, in particular, continuous user detection is advantageous. The detection device can process or digitize the collected information accordingly, so that, with at least one piece of user information or several pieces of such user information, a

[0033] Information can be transmitted to the electronic evaluation unit. The electronic evaluation unit can be an electronic

[0034] It is a computing device or an evaluation system.

[0035] The assessment result can be determined, for example, in the vehicle or separately from the vehicle, such as in a backend or on a central server. Appropriate communication links between the respective units can be used for this purpose.

[0036] As mentioned earlier, the assessment result, which is determined by the system, can be used to predict driver intention. This can be taken into account when assessing potential, imminent, or future manual steering interventions. For example, a system-based prediction can be made here. (See 24-0598 PIF for more information.)

[0037] 6. Based on user information or further electronic evaluation of the information provided, a certain probability determination may be carried out in order to determine to what extent or how high the probability is that the user will make a steering intervention himself in the near future.

[0038] With the aid of a steering system control unit, corresponding control signals can be generated based on the assessment results, allowing the steering control to be adapted accordingly. The steering control can be a control system, specifically a steering angle control. This steering control can specify whether the steering element is set to a state in which autonomous steering maneuvers are primarily performed, or whether manual steering is the primary action. Accordingly, the control stiffness or resistance of the steering element can be defined. For this purpose, a pre-configuration can be carried out early on through assessment or prediction, so that the steering system can be prepared in advance for the impending manual steering intervention.Therefore, system-side adjustments to the control system do not need to be made only when the user directly intervenes in the steering, as these could already be preset in advance.

[0039] For example, it is conceivable that the pre-configuration performed could be communicated to the driver via an acoustic output and / or a haptic output and / or a visual output, so that the driver is informed that everything is already prepared on the system side, allowing him to carry out the manual interventions.

[0040] For example, the proposed method could be a computer-implemented method.

[0041] In one embodiment, the steering control is preconfigured by adapting at least one steering control setting to a reference setting of the manual steering mode based on the specific assessment result. For example, depending on the assessment and thus the assessment result, one or more settings, such as adjustment parameters or steering wheel parameters, can be adapted or set. (See 24-0598 PIF.)

[0042] 7. Reference information such as the reference setting is used. The reference setting allows the steering control, currently in autonomous steering mode, to be at least partially preconfigured to predefined settings for manual steering mode. Depending on the probability of manual steering intervention, for example, a number of settings can be adjusted. Several parameters can be adapted to manual steering. In particular, the setting can be adjusted to minimize the control stiffness when manual steering is initiated.

[0043] By adjusting the steering control settings, the steering system can optionally operate in an intermediate mode, which is a combination of manual and autonomous steering modes. This means that while the driving process is currently carried out by autonomous steering, the steering system is already prepared so that manual steering interventions by the user can be made, at least temporarily, in the near future.

[0044] In one embodiment, the steering system adapts the steering behavior based on at least one adjusted setting of the steering control unit, reducing the force required by the user to perform manual steering maneuvers. This prevents the driver or user from having to exert excessive force to make steering corrections. In effect, the steering stiffness, and thus the steering control unit's stiffness, is reduced before the driver actually places their hands on the steering wheel. This allows the user to perform their usual steering maneuvers, as the system has already made the necessary adjustments.

[0045] For example, reference values ​​regarding the average force required for manual steering inputs can be considered. These can be adapted to the individual user, allowing for personalized settings and steering control. This enables improved, more efficient manual steering by the user. 24-0598 PIF

[0046] 8

[0047] In one embodiment, it is further provided that, based on the specific assessment result, a potential future point in time for switching from autonomous steering mode to manual steering mode is determined or predicted, whereby this potential future point in time is taken into account when operating the steering system. Based on monitoring and, in particular, analyzing the user's readiness to take over steering the vehicle, it is therefore possible to determine or predict when this could potentially occur. Accordingly, the steering control can then be adapted to the respective situation.Should this point in time be some distance away, the pre-configuration can either be carried out now or immediately before it, so that until then the steering system can operate as intended in autonomous steering mode without pre-configuration. This allows the system to react appropriately to the situation and, in particular, to the driver's intentions and takeover intentions.

[0048] In one embodiment, the system further provides for the detection of the user's posture and / or the position of at least one of the user's hands within the vehicle interior and / or the movement of that hand within the vehicle interior. The detected posture, position, and / or movement of the user's hand are represented by at least one piece of user information. This allows for efficient user monitoring and system-based analysis of the user's intention to manually intervene in the steering. The detection system can capture a wide variety of user-related information.This can be done continuously, in particular to detect the movement and / or position of one or both of the user's hands. This also allows the system to determine whether at least one or both of the user's hands are moving towards the steering element. Should such an approach of one or both hands be detected, the system can recognize early on that the driver is about to take over the steering and the pre-configuration can be carried out accordingly. 24-0598 PIF.

[0049] 9

[0050] For example, the detection device may include sensors, cameras, radar sensors, LIDAR sensors and / or infrared sensors, which may be distributed in and / or on the vehicle, especially in the vehicle interior, in order to obtain as much information as possible about the user.

[0051] In particular, the system can detect the direction of movement of at least one of the user's hands. Depending on the direction of this movement within the vehicle interior, the system can determine whether the user intends to steer the vehicle or is engaged in other activities inside.

[0052] In one embodiment, it is further provided that the electronic evaluation unit is supplied with environmental information concerning the vehicle's surroundings and / or vehicle information. Based on this environmental and / or vehicle information, the potential, imminent manual steering intervention of the user is assessed. This additional information, i.e., these input variables, allows for a better assessment, and in particular a better prediction, of the user's intention. With the aid of the environmental and / or vehicle information, the current situation concerning the vehicle and / or the traffic situation can be specifically evaluated, determined, and analyzed. This information significantly influences whether or not the user wishes to make steering interventions in response to a current, critical traffic situation.Similarly, due to a vehicle situation such as a malfunction, the user can be instructed to resume driving. This additional information can be used to determine the assessment result more efficiently. Thus, the steering control and therefore the steering system can be adjusted or pre-configured to suit the situation and, in particular, the specific circumstances.

[0053] Environmental information may have been collected by the vehicle itself or provided by external units. Vehicle information may be provided and, in particular, transmitted by in-vehicle monitoring systems, such as the electronic evaluation unit. 24-0598 PIF

[0054] 10

[0055] In one embodiment, it is further provided that the electronic evaluation unit is supplied with a takeover request information, representing a takeover request issued to the user by a vehicle system. Based on this takeover request information, the potential for the user to immediately resume driving is assessed. If the vehicle is in autonomous driving mode, current traffic situations and / or hardware- or software-based malfunctions in a vehicle component may cause the vehicle system to notify the user acoustically, visually, and / or haptically that the user should at least partially resume driving.This information can therefore be additionally taken into account when predicting the user's intention, allowing for a more accurate determination of the assessment result and enabling the steering system to be adapted more appropriately to the situation.

[0056] The vehicle system can be a driver assistance system or a vehicle guidance system, with which the vehicle can be operated at least partially autonomously or fully autonomously.

[0057] In other words, in addition to detecting whether the driver moves their hands towards the steering element, the information from the vehicle system to the driver regarding taking over the steering activity can also be evaluated in order to make an even better prediction about the driver's activity, i.e., about the user's intention.

[0058] In one embodiment, it is further provided that, from the point at which the steering control of the steering system is preconfigured based on the specific assessment result, a check is performed to see whether the user grips the steering element with at least one hand within a predetermined time period. If this is the case, the system automatically switches from autonomous steering mode to manual steering mode. If this is not the case, the steering control of the steering system reverts to a default state with respect to autonomous steering mode. This prevents the steering control, and thus the steering system, from being prepared to implement manual steering interventions as quickly as possible, even if the user does not actually intend to do so. Therefore, if the user has changed their mind, for example, due to a current traffic situation, then 24-0598 PIF

[0059] 11. It is possible that the steering control has been unnecessarily preconfigured. To switch back to the intended autonomous steering mode, so that the steering system operates as intended in autonomous mode, it can be checked whether the user has actually performed the potentially imminent steering maneuver within a predetermined time period or time window. This can be determined, for example, by capacitive sensor elements in the steering element. If the user grips or holds the steering element with one or both hands within this time period, the system can automatically switch to manual steering mode. However, if this is not the case, the preconfigured settings of the steering control can be reset, restoring the default state of autonomous steering mode.

[0060] For example, it is also conceivable that after switching from autonomous to manual steering mode, the system could check again when the user no longer wishes to steer manually and wants to switch back to autonomous driving mode. If this is determined by the system based on user input and / or recorded user information, it can automatically switch back from manual to autonomous steering mode.

[0061] A further aspect of the invention relates to an electronic steering system for a vehicle capable of at least partial autonomous operation, comprising an electronic evaluation unit, wherein the electronic steering system is configured to perform a method according to the previous aspect or an advantageous embodiment thereof. This means that the steering system described above can perform the aforementioned method of the previous aspect. In particular, the electronic steering system is intended for use in vehicles capable of at least partial or full autonomous operation. In addition to the electronic evaluation unit, the electronic steering system may include further control units, regulation systems such as the steering control unit, the steering element, and / or further actuators.The steering system enables autonomous, semi-autonomous or manual steering operations to control the vehicle, especially during travel.

[0062] Another aspect of the invention relates to a vehicle with an electronic steering system according to the previous aspect or an advantageous further development thereof. Thus, the vehicle just described, which is at least a 24-0598 PIF

[0063] 12. The vehicle can be partially autonomously operated and equipped with the electronic steering system described above.

[0064] The vehicle in question could be, for example, a semi-autonomous, fully autonomous, and / or highly automated vehicle. In particular, the vehicle could be a passenger car, truck, bus, aircraft, or watercraft.

[0065] Advantageous embodiments of one aspect of the present invention are to be regarded as advantageous embodiments of all other aspects.

[0066] In particular, the electronic steering system and / or the vehicle may have technical means to carry out the aforementioned procedure in accordance with the first-mentioned aspect.

[0067] Further features of the invention will become apparent 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 in the figures alone, are not only usable in the combinations specified, but also in other combinations or on their own.

[0068] The invention will now be explained in more detail with reference to a preferred embodiment and the drawings.

[0069] The following figures show:

[0070] Fig. 1 shows a schematic side view of a vehicle that is at least partially autonomous and has an electronic steering system; and

[0071] Fig. 2 shows a schematic diagram of an embodiment for the early detection of a potential manual steering intervention by the driver of the vehicle from Fig. 1 and the resulting preconfiguration of the steering system. 24-0598 PIF

[0072] 13

[0073] Figure 1 shows an exemplary representation, particularly in side view, of a vehicle 1. The vehicle 1 is a vehicle that operates at least partially autonomously or is fully autonomous. In particular, the vehicle 1 can be a highly automated vehicle. The vehicle 1 can be designed to perform journeys or movement at least partially autonomously, i.e., automatically. For this purpose, the vehicle 1 can have driver assistance systems and / or vehicle control systems to perform corresponding autonomous driving maneuvers.

[0074] To perform such autonomous driving maneuvers, vehicle 1 requires a suitable electronic steering system 2. This steering system 2 enables autonomous or manual steering operations. The steering system can be operated in either an autonomous or a manual steering mode. Other steering modes are also conceivable. In autonomous steering mode, vehicle 1's steering operations are automated, i.e., autonomously. This means that in such a steering system 2, a user 3 of vehicle 1, such as the driver, does not need to intervene, as this is done automatically by the system. In manual steering mode, the steering system 2 can be operated in such a way that user 3 can perform the steering operations. For this purpose, user 3 can independently perform the corresponding steering operations using a steering element 4 of the steering system 2.This steering element 4 is in particular a steering wheel or other element for carrying out manual steering operations or steering instructions.

[0075] When the steering system 2 is in autonomous steering mode, the user 3 can be continuously monitored and / or recorded. A recording device 5 can be used for this purpose. This recording device 5 can have several individual sensor elements, which can be distributed within and / or on the vehicle 1. In particular, individual sensors can be arranged in the vehicle interior 6 of the vehicle 1 in such a way that the user 3 can be monitored as continuously as possible while driving, especially during autonomous driving. For example, one of these units of the recording device can be a driver observation camera of the vehicle 1. With the help of the recording device 5, the user 3 can be recorded in such a way that at least one piece of user information, or several pieces of such user information, are provided to and, in particular, transmitted to an electronic evaluation unit 7 of the steering system 2. 24-0598 PIF

[0076] 14. With the help of the detection device 5, for example, the posture of user 3 and / or the position of at least one hand 8 of user 3 and / or the movement of hand 8 and / or the direction of movement of hand 8 can be detected. These are just a few examples of the possibilities for monitoring user 3 using sensory capabilities. The primary focus here is monitoring whether user 3 intends to intervene in the steering. When the autonomous steering mode is active, the steering system 2 is primarily configured to be optimally adapted for autonomous operation. Should user 3 nevertheless intervene in the steering, at least temporarily, during this autonomous operation due to an unforeseen situation or other circumstance—for example, because user 3 feels unsafe due to a traffic situation—the steering system 2 should be prepared accordingly.

[0077] In other words, the system performs a prediction and / or assessment to determine whether user 3 intends to make a potential, imminent, i.e., immediately future, manual steering intervention. Since the steering characteristics in such an autonomous steering mode are not in a state that facilitates manual steering intervention, appropriate measures must be taken. For this purpose, the system can generate an assessment result, particularly through the electronic evaluation unit 7. This is done by assessing a potential, imminent manual steering intervention by user 3 based on at least the user information. In other words, a prediction is made regarding such a potential steering intervention.To perform this efficiently and, in particular, as accurately as possible, additional input variables can be considered alongside the user information already mentioned. For example, environmental information concerning an environment 9 and / or vehicle information concerning vehicle 1 can be provided to evaluation unit 7. This information allows for the current analysis of the situation concerning the vehicle and / or within the vehicle and / or a traffic situation, enabling a determination of whether, based on current circumstances, user 3 has a reason to intervene manually.

[0078] Another way to determine this assessment result more precisely is to consider the system-generated takeover request information issued to user 3. This is 24-0598 PIF.

[0079] 15

[0080] The takeover request information is a system-generated request or instruction to user 3 to resume driving tasks of vehicle 1, at least temporarily. This information allows the steering system 2 to recognize whether and, if so, why user 3 intends to or needs to make a manual steering intervention. Thus, the system can determine, through these various possibilities, whether and when user 3 intends to or could make a steering intervention. Consequently, a prediction of user 3's intention to intervene in the steering process or behavior can be made. Based on this prediction, and especially on the specific assessment result, the steering system 2 can operate or adapt appropriately to the situation.For this purpose, a steering control L of the steering system 2, by means of which the steering behavior of the steering element 4 can be adjusted, can be preconfigured, preconditioned and / or adapted. This allows the steering system 2 to be prepared for a potentially imminent steering intervention by the user 3 and, in other words, to be given advance warning. Software and / or hardware preconfigurations can be carried out so that, in the event of an actual steering intervention by the user 3, the steering behavior is adjusted without making steering difficult or even impossible.

[0081] The steering control system can be preconfigured by adjusting settings such as parameters to a reference setting for manual steering mode. This means that, despite the current autonomous steering mode, the steering system can still prepare to some extent for a potential switch to manual mode. Appropriate configurations can be made so that the switch can be executed as quickly as possible when user 3 intervenes. Furthermore, based on the assessment results and thus the prediction of user 3's intention, a potential future time can be determined or predicted. This time can then be used to predict when the system should switch from autonomous to manual steering mode.This allows the steering system to be operated individually and, in particular, more user-friendly, as it can be adapted to the specific circumstances. 24-0598 PIF.

[0082] 16

[0083] However, should it be determined that user 3 does not intend to intervene in the steering, the steering control 11 can be reset to its default state with regard to autonomous steering mode. To determine this, a time period can be observed from the moment the steering control 11 is set. During this period, it is checked whether user 3 grasps the steering element 4 with at least one hand within this time period, which could be, for example, between 2 and 5 seconds. Capacitive sensors within the steering element 4 can be used for this purpose. If, however, user 3 grasps or holds the steering element 4 within this time period, the system can be switched to manual steering mode.

[0084] Figure 2 below illustrates an exemplary procedure for operating the steering system 2.

[0085] In step S1, vehicle 1 is in autonomous motion, using a hands-off mode, i.e., an autonomous steering mode. This means that vehicle 1 is steered here without intervention from user 3.

[0086] In an optional step S2, user 3 can be continuously monitored. This can be done using the detection device 5. Furthermore, information can be provided by the vehicle itself or by external units. This information relates to the traffic situation and / or the vehicle's condition. In particular, environmental information, vehicle information, and / or information regarding the driver takeover request can be taken into account. For example, with the help of a driver observation camera in the detection device 5, it can be detected early if at least one hand 8 of user 3 is moved towards the steering wheel, i.e., the steering element 4.

[0087] In step S3, the provided information can be evaluated and analyzed accordingly. In other words, the system checks whether user 3 has a reason to intervene in the steering behavior. For example, it may happen that, due to lane departure during autonomous driving, the lane can no longer be detected by the system. The autonomous mode can then be at least partially aborted or deactivated, and user 3 must take over the corresponding driving tasks. User 3 can do this via an output unit, and in particular via a 24-0598 PIF.

[0088] 17

[0089] The display unit will be provided. Additionally, this information can, for example, be made available to the evaluation unit 7, in order to infer that user 3 is about to make steering interventions again.

[0090] In a subsequent optional step S4, the system may have detected that a steering intervention by user 3 is potentially imminent. Based on this, the steering control 11 can be preconditioned accordingly. This can mean that, based on the configured steering control, the steering behavior of the steering element 4 is adjusted in such a way that the force required by user 3 to perform the manual steering operation is reduced. If this were not done, as is the case, for example, in the prior art mentioned above, user 3 would have to exert very high steering forces to make steering corrections.Thus, even before user 3 grasps the steering element 4, the control stiffness of the steering control 11 can be reduced, making potential manual steering by user 3 easier and, in particular, more efficient. In other words, user 3 can perform the steering or, for example, the steering correction with the force they are accustomed to.

[0091] In a subsequent step S5, after user 3 has manually adjusted the steering, the system can return to the intended autonomous steering mode. This can be initiated by user 3 via a corresponding input, or the system will automatically detect that user 3 is no longer gripping or holding the steering element 4.

[0092] -0598 PIF

[0093] 18

[0094] Reference symbol list

[0095] Vehicle electronic steering system user

[0096] Steering element

[0097] Detection device, vehicle interior, electronic evaluation unit, user's hand, environment

[0098] Vehicle system steering control - S5 steps

Claims

24-0598 PIF 19 Patent claims 1. Method for operating a steering system (2) of a vehicle (1) that is at least partially autonomously operable, wherein - the steering system (2) is operated in an autonomous steering mode in which steering operations of the vehicle (1) are carried out autonomously, or in a manual steering mode in which steering operations of the vehicle (1) are carried out by a user (3) of the vehicle (1) by means of a steering element (4) of the steering system (2), - the user (3) of the vehicle (1) is detected by a detection device (5) when the steering system (2) is operated in autonomous steering mode, and - based on the recorded user (3), at least one piece of user information concerning the user (3) is determined by an electronic evaluation unit (7), characterized by - Determining an assessment result by the electronic evaluation unit (7) by assessing a potential, imminent manual steering intervention by the user (3) using the steering element (4) on the basis of at least one piece of user information, and - Operating the steering system (2) by pre-configuring a steering control (11) of the steering system (2), with which a steering behavior of the steering element (4) can be adapted, based on the determined assessment result, thereby preparing the steering system (2) for a potential, imminent manual steering intervention by the user (3) during the autonomous steering mode.

2. Method according to claim 1, characterized in that the steering control (11) is preconfigured by adapting at least one setting of the steering control (11) to a reference setting of the manual steering mode based on the determined assessment result.

3. Device according to claim 2, characterized in that 24-0598 PIF 20 Based on the adapted at least one setting of the steering control (11), the steering behavior of the steering element (4) is adapted in such a way that the force to be applied by the user (3) to carry out manual steering operations using the steering element (4) is reduced.

4. Method according to one of the preceding claims, characterized in that, based on the determined assessment result, a potential future time for switching from the autonomous steering mode to the manual steering mode is determined, wherein the determined potential future time is taken into account when operating the steering system (2).

5. Method according to one of the preceding claims, characterized in that a body posture of the user (3) and / or a position of at least one hand (8) of the user (3) in a vehicle interior (6) of the vehicle (1) and / or a movement of the at least one hand (8) of the user (3) in the vehicle interior (6) is detected by the detection device (5), wherein the detected body posture of the user (3) and / or the detected position of the at least one hand (8) of the user (3) and / or the detected movement of the at least one hand (8) of the user (3) is represented with the at least one user information.

6. Method according to one of the preceding claims, characterized in that environmental information relating to an environment (9) of the vehicle (1) and / or vehicle information relating to the vehicle (1) is provided to the electronic evaluation unit (7), wherein the potential, imminent manual steering intervention of the user (3) is assessed on the basis of the environmental information and / or the vehicle information.

7. Method according to one of the preceding claims, characterized in that the electronic evaluation unit (7) receives a takeover request information, with which a 24-0598 PIF 21 The vehicle system (10) of the vehicle (1) represents the takeover request issued to the user (3), and provides the user (3) with a potential, imminent manual steering intervention based on the takeover request information.

8. Method according to one of the preceding claims, characterized in that - from a point in time at which the steering control (11) of the steering system (2) is preconfigured on the basis of the specific assessment result, it is checked whether the user (3) grips the steering element (4) with at least one hand (8) within a specified period of time, - and if so, it automatically switches from autonomous steering mode to manual steering mode, - and if not, the steering control (11) of the steering system (2) is reset to a basic state of autonomous steering mode.

9. Electronic steering system (2) for a vehicle (1) that can be operated at least partially autonomously, comprising an electronic evaluation unit (7), wherein the electronic steering system (2) is configured to perform a method according to one of the preceding claims.

10. Vehicle (1) with an electronic steering system (2) according to claim 9.

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