WO2018211033A1 - Système d'assistance au conducteur avec détection de présence des mains avec différenciation de l'application d'une seule main ou des deux mains sur le volant de direction - Google Patents

Système d'assistance au conducteur avec détection de présence des mains avec différenciation de l'application d'une seule main ou des deux mains sur le volant de direction Download PDF

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Publication number
WO2018211033A1
WO2018211033A1 PCT/EP2018/062987 EP2018062987W WO2018211033A1 WO 2018211033 A1 WO2018211033 A1 WO 2018211033A1 EP 2018062987 W EP2018062987 W EP 2018062987W WO 2018211033 A1 WO2018211033 A1 WO 2018211033A1
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WO
WIPO (PCT)
Prior art keywords
steering wheel
driver
hands
automated
assistance system
Prior art date
Application number
PCT/EP2018/062987
Other languages
German (de)
English (en)
Inventor
Hermann Künzner
Original Assignee
Bayerische Motoren Werke Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bayerische Motoren Werke Aktiengesellschaft filed Critical Bayerische Motoren Werke Aktiengesellschaft
Publication of WO2018211033A1 publication Critical patent/WO2018211033A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
    • B62D1/04—Hand wheels
    • B62D1/046—Adaptations on rotatable parts of the steering wheel for accommodation of switches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0095—Automatic control mode change

Definitions

  • the invention relates to driver assistance systems, in particular a
  • Driver assistance system for automated driving with at least automated lateral guidance.
  • automated driving can be understood as meaning driving with automatic longitudinal or lateral guidance or autonomous driving with automated longitudinal and lateral guidance to act a time-limited driving in the context of parking or maneuvering.
  • Automated driving includes automated driving with any degree of automation an assisted, semi-automated, highly automated or
  • TAF semi-automated driving
  • VAF fully automated driving
  • Degree of automation complies with SAE levels 1 to 4 of the SAE J3016 standard (SAE - Society of Automotive Engineering).
  • SAE J3016 For example, Highly Automated Driving (HAF) Level 3 complies with the SAE J3016 standard.
  • SAE level 5 is the highest in the SAE J3016
  • SAE level 5 Automation level not included in the definition of BASt.
  • SAE level 5 is driverless driving, which allows the system to automatically handle all situations like a human driver throughout the journey; a driver is generally no longer required.
  • a switching element such as a push button, lever or paddle must be operated to activate the function.
  • An automated longitudinal guide can be activated when the accelerator pedal is released, as for example in DE 102 61 624 A1
  • a hands-on detection device To detect the release of a steering wheel to activate an automated lateral guide a hands-on detection device is used, which can determine whether the hands are present or not on the steering wheel.
  • hands-on detection devices can generally be used to detect sufficient driver attention.
  • such hands-on detection devices are used to ensure that the driver has his hands on the steering wheel in a driver assistance system with at least automatic lateral guidance (for example, a lane departure warning system) in order to quickly take over the lateral guidance if required.
  • Transverse guide also allows driving without hands on the steering wheel, it can be provided that the driver to take over the
  • Takeover request must be the driver then grab the steering wheel; This is also detected by means of a hands-on detection device.
  • a capacitive sensor can be used, wherein z. B. the capacity of a steering wheel arranged in the conductive layer is determined relative to a reference potential.
  • a resistive sensor can be used; Here, for example, two layers of film in the steering wheel are kept at a distance. When the hands touch the steering wheel, the foil layers touch each other, so that the resistance between the two foil layers changes.
  • a large number of further approaches are known, for example by means of a piezoelectric sensor system (see EP 2 028 078 A1), by impressing a mechanical signal on the steering device and measuring the reflection (s.
  • the driver should be able to ensure that when releasing the steering wheel, the automated lateral guidance has a sufficient quality. Since the quality of the transverse guide can be reduced, z. As by sticking traces in the construction area, shadows, sensor contamination is not necessarily visible to the driver when you release the steering wheel, which quality of the lateral guidance of the driver has to expect.
  • the driver can lock the steering wheel The beginning of the automated lateral guidance still continues. However, it results in a higher operating effort for the selection and the actuation of the switching element; In addition, the switching element is only limited blind operation.
  • Claim can form its own and independent of the combination of all features of the independent claim invention, the subject of an independent claim, a
  • a first aspect of the invention relates to a driver assistance system for automated driving with at least automated lateral guidance.
  • This is, for example, a driving system for assisted, semi-automated, highly automated or fully automated driving.
  • the driver assistance system includes a hands-on detection device. for detecting the concern of the hands on the steering wheel of a motor vehicle, in particular a passenger car.
  • the steering wheel is preferably a steering wheel with a ring-like steering wheel rim, which is connected with spokes with a baffle pot.
  • this is not mandatory.
  • the hands-on detection device comprises a sensor for detecting the concern of the hands on the steering wheel.
  • the hands-on sensor system may be, for example, a capacitive, resistive, piezoelectric or any other type of sensor that is integrated, for example, in the steering wheel itself.
  • the hand-on sensor system may be partially or completely outside the steering wheel.
  • the hands-on detection device comprises an evaluation unit, which is coupled to the sensor system, for indicating a present hand-plant state from a plurality of hand-plant states which can be differentiated from the device with regard to the hands being placed on the steering wheel.
  • the plurality of distinguishable handset states include at least the following distinguishable states: a concern of only a single hand on the steering wheel;
  • the hands-on detection device is thus able to distinguish between an overlying hand and two resting hands. It may even be provided that for the condition that only one only hand on the steering wheel rests, it can be specified whether the left or the right hand rests on the steering wheel.
  • a first partial sensor for detecting the concern of the left hand on the steering wheel and a second partial sensor separate from the first partial sensor for detecting the concern of the right hand on
  • the first part sensor is preferably integrated in the left half of the steering wheel, whereas the second part sensor is integrated in the right half of the steering wheel.
  • the sub-sensors are preferably of the same sensor type, for example, capacitive or resistive.
  • a first measuring signal relating to the first partial sensor and a second measuring signal relating to the second partial sensor are individually evaluated and, based on the two measuring signals, it is decided whether only a single hand rests on the steering wheel or both hands rest on the steering wheel.
  • capacitive partial sensors for example, two non-electrically connected separate sensor mats are integrated in the steering wheel in the left and right half of the steering wheel, wherein in the evaluation unit a signal characteristic of the capacitance of the first sensor master and a characteristic of the capacitance of the second sensor signal signal to Detection of the hand-plant state are evaluated.
  • Each sub-sensor may comprise further arranged at different locations of the steering wheel sub-sensors, so that, for example, the position of the respective hand on the steering wheel rim can be determined.
  • an integrated in the steering wheel first sensor for.
  • a capacitive sensor uses a camera.
  • it is a camera arranged in the driver's cockpit from the driver's point of view behind the steering wheel (arranged, for example, in the region of the instrument cluster), which is directed at the driver.
  • the driver assistance system is set up, starting from a
  • the activation of the transverse guidance already takes place when only one hand is removed from the steering wheel.
  • the driver can immediately feel the control behavior of the transverse guidance and is willing to intervene in unsatisfactory construction of the automation, and can also - with stable lateral guidance - let go and drive freehand.
  • the transverse guide (and possibly also the longitudinal guide) by an operable blind operation to the Driver assistance system to be passed, the driver before the
  • Structure of a stable vehicle management can continue to intervene.
  • the automated lateral guidance is also activated when it is determined that both hands are removed from the steering wheel.
  • the starting state, from which the transverse guidance is activated can also be, for example, a state in which the transverse guidance (possibly also the longitudinal guidance) is in the standby state (ie in the standby state) after the transverse guidance has been deactivated by an operator action but has been placed in a standby state.
  • the initial state, from which the transverse guidance can be activated by unilaterally releasing the steering wheel can also be, for example, a state in which an optionally present longitudinal guidance is already active, for example because the transverse guidance has already been placed in the standby state, however, the longitudinal guide has been retained. It is beneficial if the user interface of the
  • Driver assistance system comprises an output component for offering automated driving with at least automated lateral guidance to the driver.
  • the output component is, for example, an indicator in the vehicle cockpit, in particular an indicator in the instrument cluster or a steering wheel display, or a head-up display.
  • the offer may also be made acoustically (eg a simple signal tone or a voice output) and / or haptically (eg via the steering wheel or over the seat).
  • the driver assistance system is set up to offer automated driving with at least automated lateral guidance to the driver via the output component.
  • a driving function becomes automated driving with at least automated lateral guidance (eg highly automated driving, semi-automated driving or only a lane departure warning function without longitudinal guidance) offered to the driver after it has been established that this driving function is now available (for example in the case of highly automated driving after the vehicle reaches a stretch of road) has been released for highly automated driving).
  • a textual output may be displayed on the screen with the content: "Highly automated driving available. For the more active please release the steering wheel with at least one hand ".
  • the system checks whether the driver accepts the offered driving function for automated driving via the acceptance component. For this purpose, it is checked whether the driver has taken a hand off the steering wheel - with the other hand on the steering wheel - to determine a driver-side assumption of the offered automated driving (if necessary, one or more further criteria for acceptance must be met, eg the accelerator pedal is released). In response to the driver's acceptance of the offer, the offered driving function for automated driving is activated by the system.
  • driver assistance system is set up to notify the driver of the necessary operating action for accepting the offered driving function via the output component.
  • the offer of driving function can also be implicit as part of the communication on the
  • Driving function and the notification of the necessary operation are preferably carried out on the same output element of the output component (for example, on the same screen); however, this is not mandatory.
  • an automated lateral guidance (and possibly also an automated longitudinal guidance) can be deactivated again by applying the hands to the steering wheel.
  • the hands-on detection device recognizes that both hands rest against the steering wheel, and in response the automated lateral guidance is deactivated (possibly also an automated longitudinal guidance disabled). The activation of the transverse guidance is thus already at
  • Crossing is also disabled by overriding the automated lateral guide.
  • the steering torque applied by the driver is measured, for example, and the transverse guidance is deactivated when a threshold value is exceeded.
  • Driver insight detection device with which can be detected whether the driver looks at the traffic situation ahead of the vehicle.
  • an integrated in the cockpit interior camera can be used.
  • a deactivation of an active transverse guidance can also be triggered, for example, when the driver (instead of both hands) already applies only a single hand to the steering wheel, if it has been determined by means of the driver's vision detection device that the driver is looking at the preceding traffic situation.
  • the driver assistance system issues a takeover request to the driver with which the system prompts the driver to take over the longitudinal and / or transverse guidance of the vehicle.
  • a system for automated driving generally points
  • a takeover request can be issued, in particular, if an automated route, in particular highly automated driving, designated route section ends.
  • the system will issue a takeover request to the driver. It is then checked whether the driver applies both hands to the steering wheel. If this is the case, an acknowledgment of the acceptance request can be determined.
  • the acknowledgment of a takeover request with detection of the concern of both hands on the steering wheel makes sense against the background that the false positive detection risk of acknowledging a takeover request by detecting the concern of both hands is less than by Detecting the concern of a single hand.
  • the takeover request could be accidentally acknowledged with an item or the foot.
  • the acknowledgment of a takeover request by concerns of both hands can be recognized much more reliable.
  • a driver assistance system with at least automated lateral guidance could also issue a hands-on request to the driver, which is then acknowledged by applying both hands to the steering wheel. This can be detected via the hands-on detection device.
  • a hands-on request prompts the driver to put their hands on the steering wheel without the driver actually having to steer (this makes the driver's driving system). The driver can then intervene quickly, if the situation requires it.
  • a takeover request the driver is asked not only to take his hands on the steering wheel, but the steering of the vehicle and
  • a hands-on request could be issued, for example, when it is a semi-automated or assisted hands-on driving, in which the driver is basically the driver
  • a hands-on request could also be issued if the system switches from a hands-off driving mode in which the driver does not need to have his hands on the steering wheel to a hands-on driving mode where the driver turns off
  • the hands-on detection device acknowledgment of a takeover request or hands-on request by both hands can also be provided that an acknowledgment by applying a single hand to the steering wheel is possible, if by means of a appropriate
  • the driver assistance system can be a driver assistance system for partially automated or assisted driving with at least
  • the automated transverse guidance during which the driver's attention is checked during semi-automated or assisted driving. For example, if sufficient driver attention is missed, for example, because it has been determined that the driver has removed his hands from the steering wheel, the driver may be asked to put his hands on the steering wheel. Unless he complies with this hands-on request, the automated driving function can be stopped by the system.
  • the attention of the driver can be determined by the fact that both hands rest on the steering wheel.
  • the driver's attention can be detected relatively reliably, since hardly accidentally both hands are on the steering wheel. If necessary, additional additional requirements may be checked to decide whether the driver is alert.
  • the attention request of the system can be met even if only a single hand rests on the steering wheel, if it has been determined by means of a driver's vision detection device that the driver looks ahead to the traffic situation ahead.
  • the transverse guidance can be activated by releasing the steering wheel with only a single hand while remaining another hand on the steering wheel, whereas a takeover request of the system by Grasping the steering wheel with both hands (instead of just a single hand) can be acknowledged.
  • a method of detecting the hands on the steering wheel involves the steps of:
  • a second aspect of the invention relates to a method for activating an automated lateral guidance of a driver assistance system of a
  • Motor vehicle comprising the steps: - starting from a driving state without activated automated
  • Transverse guide determining that the driver has taken a hand off the steering wheel - with the other hand on the steering wheel remaining -
  • the method according to the invention according to the second aspect of the invention corresponds to the advantageous exemplary embodiments described above or described in the patent claims of the driver assistance system according to the invention according to the first aspect of the invention.
  • FIG. 1 shows a first embodiment of a hands-on detection device
  • FIG. 2 shows a second embodiment of a hands-on detection device
  • Fig. 3 shows a first embodiment of the operation of a
  • FIG. 4 shows a second exemplary embodiment for the functioning of a
  • a first embodiment of a hands-on detection device for a steering wheel 1 is shown schematically.
  • the hands-on detection device comprises a first part sensor 2a, which is integrated in the left half of the steering wheel rim, and a second part
  • Partial sensor 2b which is integrated in the right half of the steering wheel rim. at The partial sensors 2a and 2b are, for example, two capacitive sensor mats.
  • the first sub-sensor 2a is electrically connected to a first sub-evaluating unit 3a configured to determine whether the driver touches the steering wheel in the sensor area of the sub-sensor 2a with the left hand, for example, by measuring a quantity characteristic of the capacity Touching the monitored by the respective part sensor steering wheel area is subject to change.
  • the second sub-sensor 2b is electrically connected to a second sub-evaluation unit 3b configured to determine whether the driver touches the steering wheel 1 in the sensor area of the sub-sensor 2b with the right hand, for example, by measuring a magnitude characteristic of the capacity.
  • the preferably digital output signal 5 of the evaluation unit 4 indicates which of the manual installation states 2H, 1H, OH is present, and can be evaluated by a driver assistance system.
  • a conventional sensor 20 integrated in the steering wheel 1 is used, by means of which it is determined in an evaluation unit 30 whether at least one hand on the steering wheel is applied. At first, no distinction can be made as to whether a single hand or two hands are resting on the steering wheel.
  • the video signal is used in the vehicle cockpit from the driver's point of view behind the steering wheel arranged camera 60. This is arranged, for example, in the area of the instrument combination.
  • the evaluation unit 40 Based on the video signal of the camera 60, it is decided in the evaluation unit 40 whether - in the case of detecting the concern of at least one hand on the steering wheel by means of the first sensor - exactly one hand or two hands rest on the steering wheel.
  • the preferably digital output signal 5 indicates whether only a single hand rests on the steering wheel 1, both hands rest on the steering wheel 1 or no hand on the steering wheel 1 is applied.
  • FIG. 3 the operation of an exemplary driver assistance system according to the invention with at least automated lateral guidance is shown in a highly simplified manner. For example, it is a
  • Lane keeping assistance function without longitudinal guidance The system preferably even supports a plurality of degrees of automation
  • the driver assistance system can be located in one of the illustrated system states:
  • Transverse guide is not activated, any existing longitudinal guidance is also not active;
  • the system offers the driver in system state 100 ("OFF") automated driving with at least automated lateral guidance via an output component of the
  • the offer of the driving function for automated driving may depend on whether the driver has previously operated an automation control element (eg an operating button). If the driver has not pressed the operation button, no driving function is offered for automated driving.
  • an automation control element eg an operating button
  • the driver can accept the offered driving function by one-handed release of the steering wheel with one hand while remaining another hand on the steering wheel.
  • the determination that the steering wheel has been released with one hand while the other hand is still on the steering wheel corresponds to a detected change in handset condition from 2H to 1H (see 2H-> 1H in state transition 200 from the system State 100 to system state 1 10 in FIG. 3).
  • the driver can also accept the offered driving function by both hands releasing the steering wheel.
  • the statement that the steering wheel was released with both hands for example, corresponds to a recognized Change of hand-plant state from 2H to OH (see 2H OH im
  • Transverse guide deflected If, in the state 1 10 with activated transverse guidance, the system determines that the driver is to take over the vehicle guidance, in particular the transverse guidance, an acceptance request is issued to the driver. This corresponds to the state transition 220 with the
  • the system After issuing the takeover request, the system is in a state 120 in which the driver must acknowledge the takeover request. For this purpose, the driver has to put both hands on the steering wheel in this embodiment again. If it has been determined that the driver has both hands on the steering wheel (see 0H-> 2H im
  • inventive driver assistance system shown with at least automated lateral guidance in a highly simplified manner.
  • inventive driver assistance system shown with at least automated lateral guidance in a highly simplified manner.
  • it is a system for highly automated driving (eg on the highway) or semi-automated driving or a system with
  • the driver assistance system can be in one of the illustrated states:
  • Transverse guide is not activated, any existing longitudinal guidance is also not active;
  • Standby state and is not active, but can be reactivated by releasing the steering wheel with at least one hand.
  • the lateral guidance is deactivated and transferred into a standby state 130 ("Q standby"), in which the lateral guidance without renewed actuation
  • Q standby a standby state 130
  • the button AUTO can be activated easily Alternatively or additionally, it can be provided that, when the deflection of the automated lateral guidance is detected Driver in the state 1 10 in the same way in the standby state 130 is changed.
  • any active automated longitudinal guide may also be disabled or maintained in alternative design.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Controls (AREA)

Abstract

Un aspect de l'invention concerne un système d'assistance au conducteur destiné à la conduite automatisée avec au moins un guidage transversal automatisé, comportant un dispositif de détection de présence des mains qui est apte à faire la différence entre l'application d'une main et l'application des deux mains sur le volant de direction. Le système d'assistance au conducteur est conçu pour constater, en partant d'un état sans guidage transversal automatisé et à l'aide du dispositif de détection de présence des mains, que le conducteur, qui a tout d'abord tenu le volant de direction avec les deux mains, a retiré une main du volant de direction alors que l'autre main est restée sur le volant de direction. Le guidage transversal automatisé est alors activé en réaction à cela. Selon l'invention, le guidage transversal automatisé peut de nouveau être désactivé sur constatation que les deux mains sont de nouveau posées sur le volant de direction.
PCT/EP2018/062987 2017-05-19 2018-05-17 Système d'assistance au conducteur avec détection de présence des mains avec différenciation de l'application d'une seule main ou des deux mains sur le volant de direction WO2018211033A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017208508.8A DE102017208508A1 (de) 2017-05-19 2017-05-19 Hands-On-Detektion mit Unterscheidung des Anliegens lediglich einer einzigen Hand und beider Hände am Lenkrad und darauf basierendes Fahrerassistenzsystem
DE102017208508.8 2017-05-19

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WO2018211033A1 true WO2018211033A1 (fr) 2018-11-22

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