Method and device for adapting a driving behavior of a semi, highly or fully automated vehicle

• US 10,829,110 B2
• Filed: 10/11/2018
• Issued: 11/10/2020
• Est. Priority Date: 10/26/2017
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Nienhueser, Dennis, Freienstein, Heiko, Banzhaf, Holger Andreas, Boerger, Joachim, Foltin, Johannes, Koehler, Markus, Schuetz, Markus, Mazzola, Markus, Schreiber, Miriam, Nagy, Nandor, Knoop, Steffen, Waeldele, Steffen, Schamm, Thomas, Kiess, Thomas, Swoboda, Hans-Christian
• Primary Examiner(s): Abrishamkar, Kaveh
• Application Number:
  US16/157,958
• Publication Number:
  US 20190126911A1
• Time in Patent Office: 761 Days
• Field of Search: None
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2400/00 Indexing codes relating to detected, measured or calculated conditions or factors
• CPC Class Codes: B60W 2540/049 Number of occupants
• CPC Class Codes: B60W 2540/223 Posture, e.g. hand, foot, or seat position, turned or inclined
• CPC Class Codes: B60W 2540/227 Position in the vehicle
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 2720/125 Lateral acceleration
• CPC Class Codes: B60W 2754/10 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/00 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
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/162 Speed limiting therefor
• CPC Class Codes: B60W 60/001 Planning or execution of driving tasks
• CPC Class Codes: B60W 60/0015 specially adapted for safety
• CPC Class Codes: G05D 1/0088 : characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00

Abstract

A method for adapting a driving behavior of a semi, highly or fully automated vehicle and includes the following steps: receiving passenger compartment data; ascertaining a safety state of at least one vehicle occupant which in particular represents an injury probability of the vehicle occupant in the event of an accident, based on the passenger compartment data; and adapting the driving behavior of the vehicle based on the safety state of the at least one vehicle occupant.

Claims

1. A method for a vehicle, the method comprising:

ascertaining, for at least one occupant of the vehicle and based on passenger compartment data, a probability that the at least one occupant of the vehicle would sustain an injury if an accident would occur;

adapting a drive of the vehicle based on the ascertained probability;

ascertaining whether an optimization of the drive, to increase a speed of the vehicle and/or to switch to an alternative route by which a destination can be reached quicker than by using a currently set route, is possible in response to a change to an improved safety state of one or more of the at least one occupant that reduces the ascertained probability; and

outputting a signal in the vehicle indicating to the at least one occupant the possibility of the optimization of the drive by the at least one occupant effecting the change to the improved safety state of the one or more of the at least one occupant.

2. The method of claim 1, further comprising:

receiving surroundings data, wherein the ascertainment of the probability and/or the adaptation of the drive is based on the ascertained surroundings data.

3. The method of claim 1, wherein the adapting includes adapting a speed of the vehicle.

4. The method of claim 1, wherein the adapting includes changing a planned route of the vehicle.

5. The method of claim 1, further comprising:

ascertaining further road users based on detected surroundings data, the adaptation of the driving behavior occurring so that a maximum relative speed between the vehicle and the further road user is not exceeded.

6. The method of claim 1, further comprising:

ascertaining road users based on detected surroundings data, the adaptation occurring so that a minimum distance to the road users is adapted.

7. The method of claim 1, wherein the adaptation occurs so that an established maximum acceleration value is not exceeded.

8. The method of claim 1, wherein the passenger compartment data include video data that contain pieces of information about the at least one occupant.

9. The method of claim 1, wherein the passenger compartment data include sensor data that detect occupancy of a vehicle seat.

10. The method of claim 8, wherein the ascertainment of the probability occurs as a function of a position of the at least one occupant, a seat belt fastening status of the at least one occupant, and/or an object situated inside the vehicle in an immediate vicinity of the at least one occupant.

11. The method of claim 1, wherein the adaptation occurs so that an established maximum acceleration value is not exceeded in a longitudinal direction of the vehicle.

12. The method of claim 1, wherein the adaptation occurs so that an established maximum acceleration value is not exceeded in a longitudinal direction of the vehicle and in a transverse direction of the vehicle.

13. The method of claim 1, wherein the passenger compartment data include sensor data regarding a state of a belt buckle, regarding a seat position, and/or regarding a handle.

14. A device, comprising:

an adapting unit of a vehicle, wherein the adapting unit is configured to perform a method comprising;

ascertaining, for at least one occupant of the vehicle and based on passenger compartment data, a probability that the at least one occupant of the vehicle would sustain an injury if an accident would occur;

adapting a drive of the vehicle based on the ascertained probability;

ascertaining whether an optimization of the drive, to increase a speed of the vehicle and/or to switch to an alternative route by which a destination can be reached quicker than by using a currently set route, is possible in response to a change to an improved safety state of one or more of the at least one occupant that reduces the ascertained probability; and

outputting a signal in the vehicle indicating to the at least one occupant the possibility of the optimization of the drive by the at least one occupant effecting the change to the improved safety state of the one or more of the at least one occupant.

15. A non-transitory computer readable medium on which is stored a computer program that includes program code that is executable by a processor and that, when executed by the processor, causes the processor to perform a method, the method comprising:

ascertaining, for at least one occupant of a vehicle and based on passenger compartment data, a probability that the at least one occupant of the vehicle would sustain an injury if an accident would occur;

adapting a drive of the vehicle based on the ascertained probability;

ascertaining whether an optimization of the drive, to increase a speed of the vehicle and/or to switch to an alternative route by which a destination can be reached quicker than by using a currently set route, is possible in response to a change to an improved safety state of one or more of the at least one occupant that reduces the ascertained probability; and

outputting a signal in the vehicle indicating to the at least one occupant the possibility of the optimization of the drive by the at least one occupant effecting the change to the improved safety state of the one or more of the at least one occupant.

16. The computer readable medium of claim 15, wherein the method further comprises:

receiving surroundings data, wherein the ascertainment of the probability and/or the adaptation of the drive is based on the ascertained surroundings data.

17. A method for a vehicle, the method comprising:

ascertaining, based on passenger compartment data, a current safety state of an occupant of the vehicle, wherein the ascertainment of the current safety state includes determining;

whether a seat belt associated with the occupant is buckled;

whether an object that is inside the vehicle and that is classified as hazardous is in close proximity to the occupant or to a particular region of the occupant; and

/or

whether an object that is inside the vehicle is positioned relative to the occupant so as to limit a deceleration path of the occupant;

adapting a drive of the vehicle based on the ascertained current safety state;

ascertaining whether an optimization of the drive, to increase a speed of the vehicle and/or to switch to an alternative route by which a destination can be reached quicker than by using a currently set route, is possible in response to a change from the current safety state to an improved safety state of one or more of the occupant that reduces the ascertained probability; and

outputting a signal in the vehicle indicating to the occupant the possibility of the optimization of the drive by the occupant effecting the change to the improved safety state of the occupant.

18. The method of claim 17, wherein the ascertainment of the current safety state includes the determining of whether the seat belt associated with the occupant is buckled.

19. The method of claim 17, wherein the ascertainment of the current safety state includes the determining of whether the object that is inside the vehicle and that is classified as hazardous is in close proximity to the occupant or to the particular region of the occupant.

20. The method of claim 17, wherein the classification of the object as hazardous is based on a weight and/or a sharpness of the object.

21. The method of claim 17, wherein the ascertainment of the current safety state includes the determining of whether an object that is inside the vehicle is positioned relative to the occupant so as to limit a deceleration path of the occupant.

22. A method for a vehicle, the method comprising:

ascertaining an unsafe state of an occupant of the vehicle based on passenger compartment data;

selecting one or more driving parameters for a non-optimized drive of vehicle based on the ascertained unsafe state of the occupant;

determining that the unsafe state of the occupant can be removed by a modification to a position of the occupant relative an object that is in the vehicle; and

responsive to the determination, outputting a signal in the vehicle indicating to the occupant that the drive of the vehicle can be changed to an optimized drive, to increase a speed of the vehicle and/or to switch to an alternative route by which a destination can be reached quicker than by using a currently set route, with the occupant performing the modification.

23. The method of claim 22, wherein the modification includes buckling a seat belt.

24. The method of claim 22, wherein the modification includes clearing the object away from an area in the vehicle that is immediately in front of the occupant.