Method and device for at least partially automated driving

Patent metadata

Field	Value
Publication number	US-10994747-B2
Application number	US-201816040757-A
Country	US
Kind code	B2
Filing date	Jul 20, 2018
Priority date	Jan 22, 2016
Publication date	May 4, 2021
Grant date	May 4, 2021

Abstract

A method converts an at least partially automated driving maneuver in a vehicle. The method consists of determining, on the basis of surrounding data relating to a surroundings of the vehicle, a planned at least partially automated driving maneuver. The method also consists of generating a kinesthetically and/or haptic signal in relation to the planned driving maneuver for a driver of the vehicle. The method further consists of converting the planned driving maneuver if a predetermined affirmative control action is carried out and/or when a predetermined rejected control action is lacking.

First claim

What is claimed is:

1. A method for implementing an at least partially automated driving maneuver in a vehicle, the method comprising the steps of:
determining, on the basis of data relating to surrounding area of the vehicle, a planned driving maneuver that is performable in an at least partially automated manner;
generating a kinesthetic and/or haptic signal in relation to the planned driving maneuver to a driver of the vehicle;
implementing the planned driving maneuver if a predetermined accepting operating action is performed and/or if a predetermined rejecting operating action is not performed; and
determining a degree of automation of the planned driving maneuver, wherein
the kinesthetic and/or haptic signal is dependent upon the degree of automation.

2. The method as claimed in claim 1 , wherein
the planned driving maneuver comprises a significant effect on a lateral control of the vehicle;
the step of generating the kinesthetic signal comprises the step of actuating an actuator of the vehicle in order to cause at least one vertical dynamic effect, on a passenger compartment of the vehicle and/or on at least one segment of a driving seat of the vehicle; and
a direction of the vertical dynamic effect is dependent upon a direction of the planned driving maneuver.

3. The method as claimed in claim 2 , wherein
the vertical dynamic effect is a rolling movement.

4. The method as claimed in claim 1 , wherein
the planned driving maneuver comprises a significant effect on a lateral control of the vehicle;
the step of generating the haptic signal comprises actuating an actuator of a driving seat in order to cause at least one targeted haptic effect via a driving seat of the vehicle; and
a direction of the haptic effect is dependent upon a direction of the planned driving maneuver.

5. The method as claimed in claim 1 , wherein
the planned driving maneuver comprises a significant change in longitudinal control of the vehicle;
at least one actuator of a driving seat of the vehicle is actuated such that an adjustment of at least one seat segment of the driving seat is performed;
the adjustment of the seat segment is dependent on at least one direction of the change in the longitudinal control of the vehicle.

6. The method as claimed in claim 5 , wherein
a direction of the adjustment of the seat segment is dependent on at least one direction of the change in the longitudinal control of the vehicle.

7. The method as claimed in claim 1 , wherein
the kinesthetic and/or haptic signal is generated such that the signal is perceptible at least more intensely at a driving seat of the vehicle than at another seat of the vehicle.

8. The method as claimed in claim 1 , wherein
the step of generating the kinesthetic and/or haptic signal comprises actuating an actuator at a driving seat of the vehicle such that a direction of the planned driving maneuver is transmitted via a movement of the driving seat.

9. The method as claimed in claim 1 , wherein
the step of generating the kinesthetic and/or haptic signal comprises generating a deformation of at least one part of a driving seat of the vehicle, and
the deformation of the driving seat is allocated to a type of the planned driving maneuver.

10. The method as claimed in claim 1 , wherein
the step of determining the planned driving maneuver comprises determining at least one type of the planned driving maneuver and/or a target parameter of the planned driving maneuver; and
the step of generating a kinesthetic and/or haptic signal is performed such that at least the type of the planned driving maneuver and/or at least the target parameter of the planned driving maneuver is transmitted using the signal.

11. The method as claimed in claim 1 , wherein
the step of determining the planned driving maneuver comprises:
determining a plurality of different possible driving maneuvers in dependence upon the data relating to the surrounding area; and
selecting the planned driving maneuver from the plurality of possible driving maneuvers according to any one or multiple predetermined criteria.

12. The method as claimed in claim 1 , further comprising the steps of:
determining an alternative driving maneuver that may be performed in an at least partially automated manner; and
implementing the alternative driving maneuver if a predetermined accepting operating action is not performed and/or if a predetermined rejecting operating action is performed.

13. The method as claimed in claim 1 , wherein
the predetermined accepting operating action and the predetermined rejecting operating action are different.

14. The method as claimed in claim 1 , further comprising the steps of;
determining a degree of automation of the planned driving maneuver and/or determining, on the basis of the data relating to the surrounding area, a driving situation for which the planned driving maneuver was determined;
determining, in dependence upon the degree of automation and/or in dependence upon the driving situation, whether it is necessary for:
the predetermined accepting operating action to be performed; and/or
the predetermined rejecting operating action not to be performed,
in order for the planned driving maneuver to be implemented.

15. The method as claimed in claim 1 , wherein
a first kinesthetic and/or haptic signal and a second kinesthetic and/or haptic signal are configured in such a manner that the driver of the vehicle may be able to differentiate between the two; and
the first kinesthetic and/or haptic signal transmits to the driver that it is necessary to perform a predetermined accepting operating action in order for the planned driving maneuver to be implemented; and/or
the second kinesthetic and/or haptic signal transmits to the driver that it is sufficient that a predetermined rejecting operating action is not performed in order for the planned driving maneuver to be implemented.

16. A computer program product comprising a non-transitory computer readable medium having stored thereon program code sections that, when executed on a processor, carry out the acts of:
determining, on the basis of data relating to surrounding area of a vehicle, a planned driving maneuver that is performable in an at least partially automated manner;
generating a kinesthetic and/or haptic signal in relation to the planned driving maneuver to a driver of the vehicle;
implementing the planned driving maneuver if a predetermined accepting operating action is performed and/or if a predetermined rejecting operating action is not performed; and
determining a degree of automation of the planned driving maneuver, wherein
the kinesthetic and/or haptic signal is dependent upon the degree of automation.

17. A device, comprising:
a control unit for a vehicle, wherein the control unit of the device is configured to:
determine, on the basis of data relating to the surrounding area of the vehicle, a planned driving maneuver that is performable in an at least partially automated manner;
generate a kinesthetic and/or haptic signal in relation to the planned driving maneuver for a driver of the vehicle;
implement the planned driving maneuver if a predetermined accepting operating action is performed and/or if a predetermined rejecting operating action is not performed; and
determine a degree of automation of the planned driving maneuver, wherein
the kinesthetic and/or haptic signal is dependent upon the degree of automation.

18. A method for implementing an at least partially automated driving maneuver in a ve

Assignees

• Bayerische Motoren Werke Ag

Inventors

• Augst Alexander

Classifications

• B60W50/16 Primary

  Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal · CPC title

• B60W60/001

  Planning or execution of driving tasks · CPC title

• B60W2720/16

  Pitch · CPC title

• B60W30/09

  Taking automatic action to avoid collision, e.g. braking and steering · CPC title

• B60W10/04

  including control of propulsion units · CPC title