Method for a driver assistance system for autonomous longitudinal and/or lateral control of a vehicle

• US 9,604,652 B2
• Filed: 01/18/2013
• Issued: 03/28/2017
• Est. Priority Date: 03/01/2012
• Status: Active Grant

• Current Assignee: Continental Teves AG & Co. OHG (Continental AG)
• Original Assignee: Continental Teves AG & Co. OHG (Continental AG)
• Inventors: Strauss, Matthias
• Primary Examiner(s): MOYER, DALE S
• Application Number:
  US14/370,833
• Publication Number:
  US 20150006028A1
• Time in Patent Office: 1,530 Days
• US Class Current: 1/1
• CPC Class Codes: B60K 2310/246 releasing speed control, e.g. inhibiting speed control if a brake pedal is depressed
• CPC Class Codes: B60K 2310/248 resuming speed control, e.g. returning to old target speed
• CPC Class Codes: B60K 2310/266 releasing distance control, e.g. inhibiting control if target vehicle lost or changing lane
• CPC Class Codes: B60K 2310/268 resuming distance control, e.g. changing target vehicle
• CPC Class Codes: B60K 35/00 Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
• CPC Class Codes: B60K 35/10 Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
• CPC Class Codes: B60W 2050/0074 Driver shifts control to the controller, e.g. by pressing a button
• CPC Class Codes: B60W 2050/0096 Control during transition between modes
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2540/215 Selection or confirmation of options
• 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 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165
• 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 50/082 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: B62D 1/28 : non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: B62D 15/025 : Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 15/026 : combined with automatic distance control, i.e. electronic tow bar

Abstract

A driver assistance system and an operating method thereof are configured and adapted to perform autonomous longitudinal and/or lateral control of a vehicle. At least one control task for longitudinal and/or lateral control of the vehicle can be transferred from the driver to the driver assistance system. This involves informing the driver that a control task can be transferred to the system, and then transferring the control task from the driver to the system in response to the driver ceasing a manual control of this control task.

Claims

1. A method of operating a driver assistance system, which is adapted and configured to perform autonomous longitudinal or lateral control of a vehicle,

wherein at least one control task for longitudinal or lateral control of the vehicle can be transferred from the vehicle operator to the driver assistance system,

the method comprising:

while the vehicle operator is performing the control task by operating an operating element of the vehicle, in the driver assistance system automatically determining whether the control task can be transferred from the vehicle operator to the driver assistance system, and informing the vehicle operator when the control task can be transferred from the vehicle operator to the driver assistance system, and

then automatically transferring the control task from the vehicle operator to autonomous control by the driver assistance system in response to the vehicle operator discontinuing the operating of the operating element by which the vehicle operator had been performing the control task.

2. The method according to claim 1, further comprising, once the transfer of the control task to the driver assistance system has occurred, informing the vehicle operator whether he has to reassume the control task, wherein reassuming the control task occurs in response to the vehicle operator operating the operating element to perform the control task.

3. The method according to claim 2, further comprising transferring the vehicle into a safe state in response to:

the control task cannot be transferred to the driver assistance system and the vehicle operator discontinues operation of the operating element by which the vehicle operator had been performing the control task, or

the control task has to be reassumed by the vehicle operator and the vehicle operator does not operate the operating element to perform the control task.

4. The method according to claim 2, further comprising informing the vehicle operator of one or more conditions why the control task cannot be transferred or has to be reassumed.

5. The method according to claim 4, further comprising

determining, as a function of the one or more conditions, whether the vehicle operator may divert his attention away from the traffic situation or has to direct his attention to the traffic situation again, and

outputting a corresponding indication to the vehicle operator that he may divert his attention away from the traffic situation or again has to direct his attention to the traffic situation.

6. The method according to claim 5, characterized in that the driver assistance system operates the vehicle in a fully automatic driving mode if the vehicle operator may divert his attention away from the traffic situation and the vehicle operator diverts his attention away from the traffic situation.

7. The method according to claim 1, wherein the determining of whether the control task can be transferred to the driver, assistance system is performed as a function of at least one of the following conditions:

one or more sensors for sensing a driving environment are ready for operation,

reliable driving environment sensing by one or more sensors,

reliable lane detection,

reliable sensing of an object to be followed,

driving on a certain type of road,

exceeding a certain speed,

falling below a certain speed,

exceeding a certain distance from a preceding vehicle,

not maintaining a certain minimum distance from a preceding vehicle, or

the vehicle operator is alert.

8. The method according to claim 1, further comprising recommending a lane change to the vehicle operator after at least one control task for lateral control of the vehicle has been transferred to the driver assistance system and the driver assistance system determines that the lane change is appropriate.

9. The method according to claim 1, characterized in that the driver assistance system is a system for autonomous distance control, speed control, lane keeping support, lane change support or fully autonomous vehicle guidance.

10. The method according to claim 1, wherein the operating element is a steering wheel, an accelerator pedal or a brake pedal of the vehicle.

11. The method according to claim 1, excluding operation of an additional operating element by the vehicle operator for the transferring of the control task from the vehicle operator to autonomous control by the driver assistance system.

12. The method according to claim 1, wherein the driver assistance system is in a manual driving mode when the vehicle operator is performing the control task, and the driver assistance system is automatically switched to an autonomous driving mode in connection with the transferring of the control task from the vehicle operator to the autonomous control by the driver assistance system.

13. The method according to claim 1, wherein the automatic transferring of the control task is performed in response to only the vehicle operator'"'"'s discontinuing the operating of the operating element for the control task without operating any other operating element for activating the driver assistance system.

14. A driver assistance system adapted and configured to perform autonomous longitudinal or lateral control of a vehicle, wherein a control task for longitudinal or lateral control of the vehicle can be transferred from the vehicle operator to the driver assistance system, characterized in that

the driver assistance system comprises means or is connected to means for automatically determining whether the control task can be transferred from the vehicle operator to the driver assistance system, while the vehicle operator is performing the control task by operating an operating element of the vehicle, and

the driver assistance system comprises means or is connected to means for automatically outputting an indication that the control task can be transferred from the vehicle operator to the driver assistance system;

wherein the driver assistance system is adapted and configured such that after the outputting of the indication, the control task is transferred from the vehicle operator to autonomous control by the driver assistance system in response to the vehicle operator discontinuing the operating of the operating element by which the vehicle operator had been performing the control task.

15. The driver assistance system according to claim 14, wherein the operating element is a steering wheel, an accelerator pedal or a brake pedal of the vehicle.

16. A method of operating a driver assistance system of a motor vehicle, regarding a control task for the lateral or longitudinal driving control of the motor vehicle, said method comprising the steps:

a) with sensors of the motor vehicle, producing sensor data;

b) while a driver of the motor vehicle is humanly performing the control task by operating a vehicle control element for the control task, in the driver assistance system evaluating the sensor data to determine whether the sensor data satisfy at least one threshold condition that is required for the driver assistance system to take over and autonomously perform the control task;

c) in response to the step b) having determined that the sensor data satisfy the at least one threshold condition, with a signaling device in the motor vehicle automatically outputting an information which informs the driver that the driver assistance system can take over and autonomously perform the control task;

d) after the step c), detecting whether the driver is continuing or has discontinued the operating of the vehicle control element; and

e) in response to the step d) having detected that the driver has discontinued the operating of the vehicle control element, automatically activating the driver assistance system to autonomously perform the control task.