Method and device for environment-based adaptation of driver assistance functions

• US 10,843,705 B2
• Filed: 07/19/2018
• Issued: 11/24/2020
• Est. Priority Date: 07/21/2017
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Maus, Benjamin, Steiger, Reid James, Meyer, Andreas, Merz, Manuel, Weitkus, Guido
• Primary Examiner(s): Mawari, Redhwan K
• Application Number:
  US16/039,673
• Publication Number:
  US 20190023280A1
• Time in Patent Office: 859 Days
• CPC Class Codes: B60W 2050/0072 Controller asks driver to take over
• CPC Class Codes: B60W 2050/0088 Adaptive recalibration
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2420/60 Doppler effect
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2552/00 Input parameters relating to infrastructure
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/402 Type
• CPC Class Codes: B60W 2554/4026 Cycles
• CPC Class Codes: B60W 2554/4029 Pedestrians
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2710/305 target power to auxiliaries
• CPC Class Codes: B60W 30/14 Adaptive cruise control
• 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 40/04 Traffic conditions
• CPC Class Codes: B60W 50/00 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
• CPC Class Codes: B60W 50/085 Changing the parameters of the control units, e.g. changing limit values, working points by control input
• CPC Class Codes: B60W 60/0057 : Estimation of the time available or required for the handover
• 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
• CPC Class Codes: G06N 5/01 : Dynamic search techniques; Heuristics; Dynamic trees; Branch-and-bound
• CPC Class Codes: G06N 5/046 : Forward inferencing; Production systems
• CPC Class Codes: G06N 7/01 : Probabilistic graphical models, e.g. probabilistic networks

Abstract

A method is disclosed to operate a motor vehicle using a driver assistance system. The driver assistance system includes, for at least one driver assistance system function, at least one criterion relating to a vehicle environment. The at least one criterion is defined for an adaptation of the driver assistance system function, a number of features of the environment of the vehicle are detected, a probability of the occurrence of at least one criterion is estimated on the basis of a combination of the detected features, and the driver assistance system function is adapted on the basis of the estimated probability.

Claims

1. A method to operate a motor vehicle using a driver assistance system, comprising:

defining, for at least one driver assistance system function, at least one criterion relating to a vehicle environment to adapt the driver assistance system function, wherein the at least one driver assistance system function includes a traffic jam assistance function, a highway assistance function, an ACC stop-and-go function, an active high beam assistance function, and a hands-off driving assistance function;

detecting features of the vehicle environment;

estimating a probability of occurrence of at least one criterion responsive to a combination of the features;

adapting the driver assistance system function based on the probability of occurrence of the at least one criterion, wherein the driver assistance system function is further configured to control the hands-off driving assistance function to be unavailable for one of a specified time and specified distance in response to the probability of occurrence of the at least one criterion; and

indicating to a driver a warning signal that informs the driver of an end of availability of the hands-off driving function, and modifying a time between the warning signal and a further warning signal based on the estimated probability.

2. The method as claimed in claim 1 further comprising adapting the driver assistance system function in response to one of the probability of occurrence of the at least one criterion falling below or exceeding a threshold value.

3. The method as claimed in claim 1, wherein adapting the driver assistance system function entails defining, as available, the driver assistance system function.

4. The method as claimed in claim 1, wherein the at least one criterion is defined using at least one sensor that detects at least one feature of the vehicle environment.

5. The method as claimed in claim 4, wherein the at least one sensor includes an ultrasound sensor, a radar sensor, a camera, a lidar sensor, a sonar sensor, and a sensor that acquires electronic horizon information.

6. The method as claimed in claim 1, wherein the at least one criterion comprises:

an occurrence of oncoming traffic,

a permissibility of pedestrian traffic on a roadway,

a presence of pedestrians on the roadway,

a permissibility of two-wheeled traffic on the roadway, and

a presence of two-wheeled vehicles on the roadway.

7. The method as claimed in claim 1, wherein the features of the vehicle environment include:

a speed of the motor vehicle exceeding a threshold value, and

a target speed of the motor vehicle exceeding a threshold value, or

presence of at least one detected pedestrian, and

presence of at least one detected bicycle, and

presence of at least one detected motorcycle, and

presence of at least one detected moped, and

presence of at least one detected motor scooter, or

presence of detected oncoming traffic, and

presence of a lateral distance from the motor vehicle to oncoming traffic exceeding a threshold value, or

presence of a structural division between roadways, and

presence of a road edge, or

presence of an occupied adjacent lane, and

presence of a double traffic lane demarcation, and

presence of a detected highway road sign, and

presence of a detected speed limit sign.

8. The method as claimed in claim 1, further comprising combining the features including a presence of at least one detected pedestrian, no presence of detected oncoming traffic, a presence of the lateral distance from the motor vehicle to oncoming traffic exceeding a threshold value, a presence of a structural division between roadways and a presence of a road edge, and a presence of an occupied adjacent lane to adapt the traffic jam assistance function and the highway assistance function.

9. The method as claimed in claim 1 further comprising combining the features including a presence of at least one detected pedestrian, a presence of at least one detected bicycle, a presence of at least one detected motorcycle, moped, motor scooter, and scooter, and a presence of at least one detected highway sign to adapt the ACC stop-and-go function.

10. The method as claimed in claim 1 further comprising combining the features to distinguish between environments of the motor vehicle located inside or outside a built-up area for adaptation of an active high-beam assistance function.

18. The method of claim 1 further comprising inferring a presence of the at least one criterion from preceding detected measurements when an extended hands-off driving time is greater than a prediction time for detected features of the vehicle environment.

19. The method of claim 7 further comprising, following detection of the features of the vehicle environment, resetting the at least one criterion if no further detection occurs within one of a specified time period and a specified distance.

11. A device that adapts at least one driver assistance system function of a motor vehicle comprising:

a control unit configured to, according to defined criteria relating to a vehicle environment for at least one driver assistance system function from a driver assistance system and in response to detected environment features of the vehicle environment, adapt the driver assistance system based on an estimate of an occurrence probability of criteria from a combination of the environment features, indicate to a driver a warning signal that informs the driver of an end of availability of a hands-off driving assistance function, and modify a time between the warning signal and a further warning signal based on the estimated probability;

wherein the at least one driver assistance system function includes a traffic jam assistance function, a highway assistance function, an ACC stop-and-go function, an active high beam assistance function, and the hands-off driving assistance function; and

wherein the driver assistance system function is further configured to control the hands-off driving assistance function to be unavailable for one of a specified time and specified distance in response to the occurrence probability of criteria.

12. The device as claimed in claim 11 further comprising at least one sensor that detects the environment features.

13. The device as claimed in claim 11, wherein the environment features include a presence of a detected pedestrian, no presence of detected oncoming traffic, a presence of a lateral distance to oncoming traffic exceeding a threshold value, a presence of a structural division between roadways and a road edge, and a presence of an occupied adjacent lane, wherein a traffic jam assistance function and a highway assistance function are adapted by the control unit.

14. The device as claimed in claim 13, wherein the environment features are combined to distinguish between environments of the motor vehicle located inside or outside a built-up area for adaptation of an active high-beam assistance function.

15. A vehicle comprising:

a driver assistance system that controls a vehicle trajectory, the driver assistance system having at least one driver assistance system function, the at least one driver assistance system function including a traffic jam assistance function, a highway assistance function, an ACC stop-and-go function, an active high beam assistance function, and a hands-off driving assistance function;

a plurality of sensors configured to detect features of a vehicle environment; and

a control unit configured to, in response to defined criteria relating to the vehicle environment, for the driver assistance system and detected features of the vehicle environment, adapt the driver assistance system based on an estimate of an occurrence probability of criteria from a combination of the detected environment features to control the vehicle along the trajectory, indicate to a driver a warning signal that informs the driver of an end of availability of the hands-off driving function, and modify a time between the warning signal and a further warning signal based on the estimate of the occurrence probability;

wherein the driver assistance system function is further configured to control the hands-off driving assistance function to be unavailable for one of a specified time and specified distance in response to the occurrence probability of criteria.

16. The vehicle as claimed in claim 15, wherein the detected environment features include a presence of a detected pedestrian, no presence of detected oncoming traffic, a presence of a lateral distance to oncoming traffic exceeding a threshold value, a presence of a structural division between roadways and a road edge, and a presence of an occupied adjacent lane, wherein a traffic jam assistance function and a highway assistance function are adapted by the control unit to control the vehicle along the trajectory.

17. The vehicle as claimed in claim 16, wherein the detected environment features are combined to distinguish between environments of the vehicle located inside or outside a built-up area for adaptation of an active high-beam assistance function along the trajectory.