Method of operating a driver assistance system of a motor vehicle

• US 9,159,235 B2
• Filed: 03/04/2014
• Issued: 10/13/2015
• Est. Priority Date: 03/04/2013
• Status: Active Grant

• Current Assignee: Conti Temic Microelectronic GmbH (Continental AG)
• Original Assignee: Conti Temic Microelectronic GmbH (Continental AG)
• Inventors: Hegemann, Stefan, Stephan, Tobias, Fischer, Marc
• Primary Examiner(s): Cheung, Calvin
• Assistant Examiner(s): SHUDY, ANGELINA M
• Application Number:
  US14/196,027
• Publication Number:
  US 20140249722A1
• Time in Patent Office: 588 Days
• Field of Search: 701/1, 701/41, 701/93, 701/300, 701/301, 701/302
• US Class Current: 1/1
• CPC Class Codes: G06F 7/00 Methods or arrangements for processing data by operating upon the order or content of the data handled logic circuits H03K19/00
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A driver assistance system includes a sensor that detects objects and/or characteristics of objects in the surroundings of a motor vehicle, and an object recognition unit that evaluates data from the sensor to produce object information, and determines a confidence value indicating the probability of accuracy thereof. If the confidence value is greater than a minimum threshold but less than a predefined threshold, then the system displays the object information to the driver, who confirms or rejects it, e.g. by actuating or not actuating an operating element. Upon confirmation by the driver, the system begins or continues to perform a driver assistance function based on the object information. Upon rejection by the driver, the system does not perform or discontinues the driver assistance function based on the object information. If the confidence value exceeds the predefined threshold, then the system autonomously performs the driver assistance function.

Claims

1. A method of operating a driver assistance system of a motor vehicle, said system having at least one surroundings sensor, a processing circuit, an output device connected to said processing circuit and configured to produce an output perceivable by the driver of said motor vehicle, and an input device connected to said processing circuit and configured to register an input from a driver of said motor vehicle, wherein said method comprises the steps:

a) using said at least one surroundings sensor, detecting objects in a surrounding environment of said motor vehicle and producing sensor signals indicative of said detected objects;

b) in said processing circuit, evaluating said sensor signals and producing a respective object information including an identification and/or an object characteristic of at least one respective target object among said detected objects;

c) in said processing circuit, determining a respective confidence value representing a probability of accuracy for said identification and/or said object characteristic of said at least one target object respectively;

d) in said processing circuit, comparing said respective confidence value to a prescribed threshold;

e) if said respective confidence value in said step d) falls below said prescribed threshold then producing as said output from said output device a driver information comprising said respective object information; and

f) after said step e), using said processing circuit, checking an input status of said input device, and if said input status indicates confirmation of said respective object information by the driver then performing or continuing to perform a driver assistance function of said driver assistance system based on said respective object information.

2. The method according to claim 1, wherein said step f) further comprises, if said input status of said input device indicates non-confirmation of said respective object information by the driver then discontinuing or not performing said driver assistance function based on said respective object information.

3. The method according to claim 1, further comprising, after said step c), an additional step comprising comparing said respective confidence value to a minimum threshold and proceeding to said step d) only if said respective confidence value exceeds said minimum threshold.

4. The method according to claim 1, further comprising, before said step d), a further step of checking whether an already-active driver assistance function of said driver assistance system is already being performed based on said respective object information or based on other object information regarding a different target object among said detected objects.

5. The method according to claim 4, wherein said step d) is carried out with a first active-system threshold value as said prescribed threshold if said further step determined that said already-active driver assistance function is already being performed, said step d) is carried out with a second inactive-system threshold value as said prescribed threshold if said further step determined that no said already-active driver assistance function is already being performed, and said first active-system threshold value is less than said second inactive-system threshold value.

6. The method according to claim 4, wherein if said further step determined that no said already-active driver assistance function is already being performed and said respective confidence value in said step d) falls below said prescribed threshold, then further comprising beginning to perform said driver assistance function based on said respective object information even before said input status of said input device indicates said confirmation of said respective object information by the driver.

7. The method according to claim 6, wherein if said step f) determined that said input status indicates said confirmation then continuing to perform said driver assistance function, and if said step f) determined that said input status indicates non-confirmation of said respective object information by the driver then discontinuing said driver assistance function that had been begun.

8. The method according to claim 4, wherein if said further step determined that said already-active driver assistance function is already being performed and said respective confidence value in said step d) falls below said prescribed threshold, then if said step f) determined that said input status indicates said confirmation then continuing to perform said already-active driver assistance function, and if said step f) determined that said input status indicates non-confirmation of said respective object information by the driver then discontinuing said already-active driver assistance function.

9. The method according to claim 1, wherein said respective object information includes a plurality of object characteristics of said respective target object and/or said step b) comprises producing a plurality of said respective object informations respectively for a plurality of said respective target objects, said driver information produced as said output in said step e) comprises said plural object informations and/or said plural object characteristics, in said step f) said input status indicates confirmation of at least a particular selected one of said plural object informations that has been selected by the driver via said input device and/or confirmation of at least a particular selected one of said plural object characteristics that has been selected by the driver via said input device, and in said step f) said driver assistance function is based on said particular selected object information and/or said particular selected object characteristic.

10. The method according to claim 1, wherein if said respective confidence value in said step d) equals or exceeds said prescribed threshold, then further comprising automatically performing or continuing to perform said driver assistance function of said driver assistance system based on said respective object information.

11. The method according to claim 1, wherein said driver assistance system comprises a lane recognition system, said object information includes a detected lane course of a roadway lane determined by said processing circuit in said evaluating in said step b), and in said step f) if said input status indicates confirmation of said detected lane course by said driver then said detected lane course is used as a correct recognized lane course in said object information as a basis of said driver assistance function.

12. The method according to claim 11, wherein said driver assistance function is a lane departure warning function, a lane departure avoidance function, a lane keeping assistant function, or a lane changing assistant function, which is performed based on said correct recognized lane course.

13. The method according to claim 1, wherein said driver assistance system comprises an adaptive cruise control system which can perform an object following control as said driver assistance function, said target object is one of said detected objects that is traveling ahead of said motor vehicle in a same roadway lane as said motor vehicle, and said driver assistance function of said step f) is said object following control to follow said target object.

14. The method according to claim 1, wherein said driver assistance system comprises an adaptive cruise control system which is performing an object following control to follow a previously recognized object, said target object is a new recognized object among said detected objects that is traveling ahead of said motor vehicle, and if said input status in said step f) indicates said confirmation by the driver of said respective object information regarding said new recognized object then said step f) comprises discontinuing said object following control to follow said previously recognized object and instead performing an object following control to follow said new recognized object.

15. The method according to claim 1, wherein said driver assistance system comprises a lane recognition assistant system that can perform a lane related function selected from a lane recognition function, a lane departure warning function, a lane departure avoidance function, a lane changing assistant function and/or a lane keeping assistant function as said driver assistance function, said driver information comprises a display of a detected lane course, if said input status indicates confirmation of said detected lane course by the driver then said step f) comprises performing or continuing said lane-related function based on said detected lane course, and if said input status indicates non-confirmation of said detected lane course by the driver then said step f) comprises discontinuing said lane-related function.

16. The method according to claim 1, wherein said driver assistance system is able to perform plural different driver assistance functions, said driver information produced in said step e) further comprises an indication of at least one particular proposed function among said plural different driver assistance functions, and if said input status further indicates confirmation of said proposed function, then said step f) comprises performing or continuing to perform said proposed function based on said respective object information.

17. The method according to claim 1, further comprising switching said driver assistance system to a safe condition if said input status indicates that said input device has not been actuated by the driver during a prescribed time duration.

18. The method according to claim 1, further comprising emitting a warning to the driver if said input status indicates that said input device has not been actuated by the driver during a prescribed time duration.

19. A method of operating a driver assistance system of a motor vehicle with at least one driver assistance function, in which objects and or object characteristics of recognized objects in the detection zone of surroundings sensors of the driver assistance system have a confidence value (P) allocated thereto, which indicates the probability of the existence of the detected object and/or the probability of the proper allocation of the object characteristic to the recognized object, characterized in that

if the confidence value (P) of a detected object or at least one object characteristic of a recognized object falls below a prescribed threshold value (S_A, S_I), then a driver information is produced by a display unit,

the driver information contains the informations regarding the detected object and/or at least one object characteristic of the recognized object,

by actuation of an operating arrangement, the detected object and/or the at least one object characteristic of the recognized object is confirmable by the driver, and

upon a confirmation of the detected object and/or the at least one object characteristic of the recognized object by the driver, then the driver assistance system performs the at least one driver assistance function on the basis of the confirmed object and/or the confirmed object characteristic of the recognized object, or if the driver assistance function is already being performed then this driver assistance function is further performed.