METHOD AND DEVICE FOR OPTIMIZING DRIVER ASSISTANCE SYSTEMS

• US 20160221575A1
• Filed: 09/05/2014
• Published: 08/04/2016
• Est. Priority Date: 09/05/2013
• Status: Active Grant

• Current Assignee: AVL List GmbH (List Privatstiftung)
• Original Assignee: AVL List GmbH (List Privatstiftung)
• Inventors: POSCH, Rainer, HOLZINGER, Juergen, SCHOEGGL, Peter, BOGNER, Erik
• Granted Patent: US 10,399,565 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60W 2050/0075 Automatic parameter input, automatic initialising or calibrating means
• CPC Class Codes: B60W 2050/0088 Adaptive recalibration
• CPC Class Codes: B60W 2556/10 Historical data
• CPC Class Codes: B60W 30/12 Lane keeping
• 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 50/0098 Details of control systems ensuring comfort, safety or stability not otherwise provided for
• CPC Class Codes: B60W 50/06 Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
• CPC Class Codes: B60W 50/10 Interpretation of driver requests or demands
• CPC Class Codes: B60W 60/001 Planning or execution of driving tasks

Abstract

The invention relates to a method for optimizing a driver assistance system having the work steps of defining at least one driver assistance system A to be optimized, determining at least one vehicle parameter function that is suitable for characterizing an operating state of a vehicle, and at least one environmental parameter function that is suitable for characterizing the surroundings of the vehicle, calculation of at least one driving situation characteristic function that characterizes a driving situation of the vehicle, particularly at least on the basis of the at least one vehicle parameter function and/or of the at least one environmental parameter function, calculation of at least one control intervention characteristic function that is suitable for characterizing the activity of the driver assistance system A, and calculation of a correction function that depends on the at least one driving situation characteristic function and characterizes a subjective perception of the driving situation by at least one passenger, particularly on the basis of the at least one control intervention characteristic function and on the basis of the at least one vehicle parameter function and/or of the at least one environmental parameter function.

Claims

1. A method for optimizing at least one driver assistance system A having the following work steps:

Checking whether the at least one driver assistance system A is activated;

Detecting of at least one vehicle parameter function that is suitable for characterizing an operating state of a vehicle, and/or at least one environmental parameter function that is suitable for characterizing the surroundings of the vehicle;

Determining at least one driving situation characteristic function that characterizes driving situations of the vehicle, particularly at least on the basis of the at least one vehicle parameter function and/or the at least one environmental parameter function;

Determining at least one control intervention characteristic function that is suitable for characterizing the activity of the at least one driver assistance system; and

Determining of a correction function that depends on the at least one control intervention characteristic function and the at least one driving situation characteristic function and is particularly suitable for characterizing a subjective perception of the activity of the driver assistance system A by at least one passenger on the basis of the at least one vehicle parameter function and/or the at least one environmental parameter function.

2. The method as set forth in claim 1, further comprising the following work step:

Establishing the at least one driver assistance system to be optimized.

3. The method as set forth in claim 1, wherein the at least one control intervention characteristic function depends on the driving situation characteristic function and/or is also calculated on the basis of the at least one vehicle parameter function and/or the at least one environmental parameter function.

4. The method as set forth in claim 1, wherein the at least one control intervention characteristic function and/or the correction function also depends on the driver assistance system A to be characterized.

5. The method as set forth in claim 1, wherein the at least one vehicle parameter function is a tuple of at least one measured vehicle parameter that is optionally time-dependent, and the at least one environmental parameter function is a tuple of at least one measured environmental parameter that is optionally time-dependent.

6. The method as set forth in claim 1, wherein the vehicle parameter function, the environmental parameter function, the control intervention characteristic function and/or the correction function each has a parameter value pair, with one of the parameter values particularly being the time or the position of a vehicle with a driver assistance system.

7. The method as set forth in claim 1, wherein at least one vehicle parameter and/or at least one environmental parameter is different in the calculation of the correction function and/or control intervention characteristic function and, in the calculation of the driving situation parameter function, at least one vehicle parameter and/or at least one environmental parameter is different.

8. The method as set forth in claim 1, wherein the correction function additionally depends on fluctuations in at least one vehicle parameter and/or of at least one environmental parameter and/or the at least one control intervention characteristic function.

9. The method as set forth in claim 1, wherein the at least one control intervention characteristic function is characterized by the presence of a control intervention and/or an intensity of a control intervention of the driver assistance system.

10. The method as set forth in claim 1, wherein the at least one control intervention characteristic function depends on at least one criterion from the group of the following criteria:

the cutoff threshold, the exit frequency, the reaction to the vehicle traveling ahead, the reaction to a lane deviation, the reaction to a change in the driving situation, the reaction to a distance deviation, the reaction time, the response lag and the detection time of the driver assistance system A for an object.

11. The method as set forth in claim 1, wherein, if the at least one driving situation characteristic function does not change, the correction function is calculated periodically, particularly for a time interval of a maximum of about 10 s, preferably a maximum of about 5 s.

12. The method as set forth in claim 1, wherein, if the at least one driving situation characteristic function changes during a time interval, the correction function is calculated for the time period of the preceding driving situation characteristic or driving situation since the last periodic calculation and a periodic calculation of the correction function is initiated for the subsequent driving situation characteristic or driving situation.

13. The method as set forth in claim 1, wherein the at least one driving situation characteristic function can assume at least one driving situation from the group of the following driving situations as a characteristic:

following at constant speed, following with acceleration, following with deceleration/braking, following to vehicle stop, following from start, following while merging, following while leaving a line of traffic, free acceleration, approaching a slower object, object detection, free driving, remaining in lane, lane change, passing, being passed, traffic jam, stop-and-go traffic, and parking in forward or reverse.

14. The method as set forth in claim 1, further comprising the following work step:

Correction, on the basis of the correction value of the correction function, of at least one driving situation criterion that is used by the driver assistance system A to control the vehicle.

15. The method as set forth in claim 1, further comprising the following work step:

Determining of an evaluation function, particularly an evaluation value, as a function of the correction function and a reference function.

16. The method as set forth in claim 15, further comprising the following work step:

Weighting of the criteria and/or parameters as a function of their respective influence on the subjective perception of the passenger and/or as a function of the vehicle type.

17. The method as set forth in claim 1, further comprising the following work step:

Allocation of the correction function and/or evaluation function.

18. The method as set forth in claim 1, wherein the subjective perception of the activity of the driver assistance system relates to the driving quality of the driver assistance system and/or the driving safety and/or the strain on the vehicle and/or the drivability of the vehicle when using the driver assistance system.

19. The method as set forth in claim 1, wherein the correction function is suitable for characterizing a safety-related aspect with respect to a vehicle with the at least one driver assistance system, particularly a speed reduction that is appropriate to the driving situation, a braking deceleration that is appropriate to the driving situation, and/or a steering angle that is appropriate to the driving situation.

20. The method as set forth in claim 1, further comprising the following work step:

Specifying a virtual reality environment in which the at least one vehicle parameter function and/or the at least one environmental parameter function and/or the driver assistance system A are emulated.

21. The method as set forth in claim 1, wherein the at least one vehicle parameter function has at least one vehicle parameter from the group comprising driving speed, yaw velocity, steering angle, longitudinal acceleration, lateral acceleration, vertical acceleration, gas pedal position, brake pedal position, engine speed, gear ratio, and the on-state of the driver assistance system A.

22. The method as set forth in claim 1, wherein the at least one environmental parameter function has at least one vehicle parameter from the group comprising the distance to at least one other vehicle, particularly to the leading vehicle, the lateral position of at least one other vehicle, particularly of the leading vehicle, in relation one'"'"'s own vehicle, the longitudinal position of at least one other vehicle, particularly of the leading vehicle, in relation to one'"'"'s own vehicle, the relative speed of at least one other vehicle, particularly of the leading vehicle, in relation to one'"'"'s own vehicle, the relative acceleration of at least one other vehicle, particularly of the leading vehicle, in relation to one'"'"'s own vehicle, the width of at least one other vehicle, particularly of the leading vehicle, the type of at least one other vehicle, particularly of the leading vehicle, the class of at least one other vehicle, particularly of the leading vehicle, the number of lanes, the roadway profile, one'"'"'s own driving corridor or one'"'"'s own pre-calculated driving trajectory, the type of lane boundary, the width of the lane boundary, the curvature of the lane, the yaw angle error, the lane width, the lateral deviation, the distance to the left and/or right lane boundary, the minimum distance to the left and/or right lane boundary during a driving cycle, and the visibility.

23. The method as set forth in claim 1, wherein the at least one passenger is the driver and/or the co-driver and/or a fellow rider in the rear seat of the vehicle.

24. The method as set forth in claim 1, wherein the calculation of the respective at least one characteristic function and of the correction function is performed during and/or after a drive and/or a simulation of the vehicle.

25. A computer program, comprising instructions which, when executed by a computer, instruct the computer to carry out the steps of a method as set forth in claim 1.

26. A computer-readable medium, on which a computer program as set forth in claim 25 is stored.

27. A device for optimizing a driver assistance system, comprising:

at least one environmental sensor for detecting, particularly for measuring, an environmental parameter that is suitable for characterizing the surroundings of the vehicle;

at least one vehicle sensor for detecting, particularly for measuring, a vehicle parameter that is suitable for characterizing an operating state of a vehicle;

a first module that is set up to determine, on the basis of at least one environmental parameter and/or one vehicle parameter, a driving situation characteristic that is suitable for characterizing a driving situation of the vehicle;

a second module that is suitable for monitoring an activity of the driver assistance system and for determining from that a control intervention characteristic that is suitable for characterizing the activity of the driver assistance system;

a third module that is set up to determine, on the basis of the control intervention characteristic and on the basis of at least one environmental parameter and/or at least one vehicle parameter as a function of the driving situation characteristic, a correction value (KW) that is suitable for characterizing a subjective external perception of the driving situation by at least one passenger.

28. The device as set forth in claim 27, wherein the at least one environmental sensor is selected from the group of forward-looking radar and rearward-looking radar, particularly short-range radar, long-range radar and multi-mode radar, forward-looking lidar, rearward-looking lidar, ultrasonic sensor, infrared camera, particularly short-/long-range infrared camera and camera in the visible spectral range and image-processing camera, and high-resolution GPS.

29. The device as set forth in claim 27, wherein the at least one vehicle sensor is selected from the group of gyrometer, speedometer, acceleration sensor, normal or high-resolution GPS, vibration sensor, altimeter, measuring device, tachometer, throttle valve position meter, torque meter, switch sensor, and tank fill level sensor.

30. The device as set forth in claim 27, which has access to data from at least one vehicle on-board network, particularly the CAN.

31. The device as set forth in claim 30, wherein vehicle sensors and environmental sensors are used, if present, which are installed as standard equipment in the vehicle.

32. A vehicle with a driver assistance system that monitors a driving situation of a vehicle with respect to at least one driving situation criterion and, if a driving situation criterion is not met, influences the driving situation by means of a control component through at least one control intervention, the vehicle further comprising a device for optimizing the driver assistance system as set forth in claim 27.