Process and device to enable or disable an automatic driving function

• US 9,298,184 B2
• Filed: 10/30/2014
• Issued: 03/29/2016
• Est. Priority Date: 10/30/2013
• Status: Active Grant

• Current Assignee: Volkswagen AG
• Original Assignee: Volkswagen AG
• Inventors: Bartels, Arne, Kleen, Andro, Dornieden, Bernd
• Primary Examiner(s): Pipala, Edward J
• Application Number:
  US14/528,393
• Publication Number:
  US 20150120124A1
• Time in Patent Office: 516 Days
• US Class Current: 1/1
• CPC Class Codes: B60K 28/066 actuating a signalling device B60K28/063 takes precedence
• CPC Class Codes: B60W 2040/0863 due to erroneous selection or response of the driver
• CPC Class Codes: B60W 2050/0016 State machine analysis
• CPC Class Codes: B60W 2050/0072 Controller asks driver to take over
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2540/225 Direction of gaze
• CPC Class Codes: B60W 2540/229 Attention level, e.g. attentive to driving, reading or sleeping
• CPC Class Codes: B60W 50/082 Selecting or switching between different modes of propelling
• CPC Class Codes: B60W 50/10 Interpretation of driver requests or demands
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B60W 60/0051 from occupants to vehicle
• CPC Class Codes: B60W 60/0053 from vehicle to occupant
• CPC Class Codes: B60W 60/0059 Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa

Abstract

A method and apparatus for activating or deactivating an automatic driving function of a technical system for assisting the driver of a motor vehicle, referred to as pilot below, based on system states of the pilot and between which predefined transitions are possible on the basis of predefined conditions.

Claims

1. A method for activating or deactivating an automatic driving function of a technical vehicle piloting system that assists a driver of a motor vehicle, the pilot system having states between which predefined transitions are possible based on predefined conditions, including at least three system states of pilot not ready, pilot ready but inactive, and pilot active, the method comprising:

in response to a request of the driver, transitioning from the ready but inactive pilot state to the pilot active state;

in response to a request of the driver, transitioning from the pilot active state to the ready but inactive pilot state;

in response to a driver braking measure, a steering measure and/or a kick-down measure by the driver, transitioning from the pilot active state to the pilot not ready state;

in response to a driver braking measure, steering and/or acceleration measure and/or exceeding predefined limit values with respect to vehicle behavior and/or driving behavior, transitioning from the ready but inactive pilot state to the pilot not ready state; and

in response to predefined pre-requisites for system readiness having been met, transitioning from the pilot not ready state to the ready but inactive pilot state,

wherein the vehicle pilot system further comprises the further system state of escalating driver warning in which the driver is requested to readopt his driver behavior caused by the automatic driving function or to assume vehicle guidance, and

wherein the vehicle pilot system further comprises the further system state of minimal risk maneuver, which is used to change the vehicle to a minimal risk state using a suitable driving maneuver.

2. The method of claim 1, wherein the request from the driver is based on detection of the driver actuating an operating unit.

3. The method of claim 1,

wherein the method further comprises, in response to a determination that the predefined pre-requisites for maintaining the pilot active state are no longer present, transitioning from the pilot active state to the escalating driver warning state.

4. The method of claim 3, wherein the predefined prerequisites are determined based on system limits of the pilot and/or by the non-compliance with a driver behavior required by a pilot active state.

5. The method of claim 3, the method further comprises transitioning from the escalating driver warning state to the pilot active state in response to the driver adapting his driving behavior to the driver behavior determined by the pilot active state within a predefined warning time.

6. The method of claim 3, further comprising transitioning from the escalating driver warning state to the pilot not ready state in response to the driver assuming vehicle guidance.

7. The method of claim 6, wherein the vehicle pilot system further comprises a transition from the escalating driver warning system state to the minimal risk maneuver state being carried out if the driver does not assume the vehicle guidance within a predefined warning time, and a transition from the minimal risk maneuver system state to the pilot not ready system state is performed in response to detection that the vehicle has been changed to a minimal risk state.

8. The method of claim 1, wherein actuation of the accelerator pedal in the pilot active state causes a transition to the pilot ready but inactive state, the transition causing a return to the pilot active state in response to detection that the accelerator pedal is no longer actuated.

9. The method of claim 1, wherein the pilot system has two superordinate system states including a pilot switched on system state and a pilot switched off system state, and a transition of switch on pilot and a transition of switch off pilot being possible between the two system states of pilot switched off and pilot switched on.

10. The method of claim 1, wherein the pilot system comprises at least one of the following automatic driving functions:

semi-automatic driving, highly automatic driving, fully automatic driving, autonomous driving, semi-automatic parking, highly automatic parking, fully automatic parking, and autonomous parking.

11. An apparatus that assists a driver of a motor vehicle, the apparatus including a vehicle pilot system being configured to have states between which predefined transitions are possible based on predefined conditions, the states including at least three system states of pilot not ready, pilot ready but inactive state, and pilot active state, the apparatus being further configured to:

transition from a ready but inactive pilot state to the pilot active state in response to a request of the driver;

transition from the pilot active state to the ready but inactive pilot state in response to a request of the driver;

transition from the active pilot state to the pilot not ready state in response to a driver braking measure, a steering measure and/or a kick-down measure by the driver;

transition from the ready but inactive pilot state to the pilot not ready state in response to a driver braking measure, steering and/or acceleration measure and/or exceeding predefined limit values with respect to vehicle behavior and/or driving behavior; and

transition from the pilot not ready state to the ready but inactive pilot sate in response to predefined pre-requisites for system readiness having been met,

wherein the vehicle pilot system further comprises the further system state of escalating driver warning in which the driver is requested to readopt his driver behavior caused by the automatic driving function or to assume vehicle guidance, and

wherein the vehicle pilot system further comprises the further system state of minimal risk maneuver, which is used to change the vehicle to a minimal risk state using a suitable driving maneuver.

12. The apparatus of claim 11, further comprising,

a controller that generates control signals for the steering, braking and propulsion actuators,

a device that switches the pilot system on/off,

a device that receives driver inputs,

a device monitors driver behavior,

a device that outputs information to the driver,

an environment monitoring means,

a device that determines vehicle parameters, and

a navigation device including a digital map.