Method for at least partially automated driving in a vehicle

• US 10,444,753 B2
• Filed: 01/27/2016
• Issued: 10/15/2019
• Est. Priority Date: 03/27/2015
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Boos, Ronald
• Primary Examiner(s): Dunn, Alex C
• Application Number:
  US15/559,515
• Publication Number:
  US 20180120838A1
• Time in Patent Office: 1,357 Days
• CPC Class Codes: B60W 2540/215 Selection or confirmation of options
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B60W 60/0053 from vehicle to occupant
• CPC Class Codes: B60W 60/0057 Estimation of the time available or required for the handover
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa

Abstract

In a method for at least partly automated driving in a vehicle, termination of the automated driving function and at least partial transfer of vehicle control to the driver is carried out only after expiration of a takeover time span that is ascertained from the actuation by the driver of a device communicating with the vehicle. The device can be a mobile device.

Claims

1. A method for automated driving in a vehicle, in which a driving system carries out one or more driving functions in automated fashion, the method comprising:

operating the vehicle in an automated fashion using an automated driving function;

while the vehicle operates using the automated driving function, prompting a driver by the driving system;

after the prompting, ascertaining, by the driving system, a takeover time span based on an actuation of a device communicating with the vehicle by the driver, wherein the device is a mobile device that communicates with the vehicle wirelessly or via a connecting cable; and

only after expiration of the takeover time, terminating, by the driving system, the automated driving function;

wherein for ascertaining the takeover time span, different actuations of the device by the driver are assigned different actuation weighting factors, the actuation weighting factor assigned to the actuation of the device being taken into account in ascertaining the takeover time span.

2. The method as recited in claim 1, wherein for the case in which a minimum operating time span, during which the vehicle is still driving in the automated fashion using the automated driving function, is shorter than the takeover time span, a warning signal is generated.

3. The method as recited in claim 2, wherein:

(i) the warning signal is displayed to the driver, and/or (ii) the warning signal results in a limitation of a permissible actuation of the device.

4. The method as recited in claim 2, wherein the minimum operating time span is calculated on the basis of at least one of (i) sensorially ascertained vehicle state variables, and (ii) environmental information.

5. The method as recited in claim 1, wherein the actuation weighting factors are stored on the device and are reused in the context of a future partly, highly, or fully automated journey.

11. The method as recited in claim 1, wherein the mobile device is a smartphones, or a mobile telephone, or a tablet, or a smartwatch.

12. The method as recited in claim 1, wherein the mobile device communicates with the vehicle wirelessly via Bluetooth.

13. The method as recited in claim 2, wherein based on the warning signal, a range of functionality of the device is limited.

14. The method as recited in claim 2, wherein based on the warning signal, data entry on the device is blocked.

15. The method as recited in claim 2, wherein based on the warning signal, a braking system of the vehicle is pre-filled with hydraulic brake fluid.

6. A closed- or open-loop control device for at least partly automated driving in a vehicle, in which a driving system carries out one or more driving functions in automated fashion, the control device designed to:

operate the vehicle in an automated fashion using an automated driving function;

while the vehicle operates using the automated driving function, prompt a driver by the driving system;

after the prompt, ascertain, by the driving system, a takeover time span based on an actuation of a device communicating with the vehicle by the driver, wherein the device is a mobile device that communicates with the vehicle wirelessly or via a connecting cable; and

only after expiration of the takeover time, terminate, by the driving system, the automated driving function;

wherein for ascertaining the takeover time span, different actuations of the device by the driver are assigned different actuation weighting factors, the actuation weighting factor assigned to the actuation of the device being taken into account in ascertaining the takeover time span.

16. The control device as recited in claim 6, wherein the mobile device is a smartphones, or a mobile telephone, or a tablet, or a smartwatch.

17. The control device as recited in claim 6, wherein for the case in which a minimum operating time span, during which the vehicle is still driving in the automated fashion using the automated driving function, is shorter than the takeover time span, a warning signal is generated, and wherein based on the warning signal, a range of functionality of the device is limited.

18. The control device as recited in claim 17, wherein based on the warning signal, data entry on the device is blocked.

19. The control device as recited in claim 6, wherein the actuation weighting factors are stored on the device and are reused in the context of a future partly, highly, or fully automated journey.

20. The control device as recited in claim 6, wherein based on the warning signal, a braking system of the vehicle is pre-filled with hydraulic brake fluid.

7. A driving system in a vehicle for partly, highly, or fully automated driving, in which a driving system carries out one or more driving functions in automated fashion, the driving system having a closed- or open-loop control device, the control device designed to:

operate the vehicle in an automated fashion using an automated driving function;

while the vehicle operates using the automated driving function, prompt a driver by the driving system;

after the prompt, ascertain, by the driving system, a takeover time span based on an actuation of a device communicating with the vehicle by the driver, wherein the device is a mobile device that communicates with the vehicle wirelessly or via a connecting cable; and

only after expiration of the takeover time, terminate, by the driving system, the automated driving function;

wherein for ascertaining the takeover time span, different actuations of the device by the driver are assigned different actuation weighting factors, the actuation weighting factor assigned to the actuation of the device being taken into account in ascertaining the takeover time span.

8. A vehicle for partly, highly, or fully automated driving, in which a driving system carries out one or more driving functions in automated fashion, having a driving system with a closed- or open-loop control device, the control device designed to:

operate the vehicle in an automated fashion using an automated driving function;

while the vehicle operates using the automated driving function, prompt a driver by the driving system;

after the prompt, ascertain, by the driving system, a takeover time span based on an actuation of a device communicating with the vehicle by the driver, wherein the device is a mobile device that communicates with the vehicle wirelessly or via a connecting cable; and

only after expiration of the takeover time, terminate, by the driving system, the automated driving function;

wherein for ascertaining the takeover time span, different actuations of the device by the driver are assigned different actuation weighting factors, and wherein the actuation weighting factors are stored, the actuation weighting factor assigned to the actuation of the device being taken into account in ascertaining the takeover time span.

9. The vehicle as recited in claim 8, further comprising:

a communication interface for connecting the mobile device.

10. The vehicle as recited in claim 9, wherein the mobile device is a smartphone, or a mobile telephone, or a tablet, or a smartwatch.