Autonomous driving system for a vehicle and method for carrying out the operation

Patent metadata

Field	Value
Publication number	US-9650058-B2
Application number	US-201514749009-A
Country	US
Kind code	B2
Filing date	Jun 24, 2015
Priority date	Jun 30, 2014
Publication date	May 16, 2017
Grant date	May 16, 2017

Abstract

An autonomous driving system for a vehicle includes: a computer unit which evaluates surroundings-related and vehicle-related data with the aid of sensors and carries out an automatic driving operation based on the data; a lead time calculator assigned to the computer unit and determining a lead time by evaluating the surroundings-related and vehicle-related data, the lead time requiring an intervention by the driver; and a comfort time calculator assigned to the computer unit and calculating a reaction time of the driver by evaluating driver-related data, the comfort time calculator continuously comparing the lead time with the reaction time and determining therefrom a comfort time which is determined by taking the difference between the lead time and the reaction time. When the comfort time reaches zero, a countermeasure including a prewarning of the driver and/or a mode change of the driving system is initiated.

First claim

What is claimed is:

1. An autonomous driving system for a vehicle, comprising:
a sensor system; and
a computer unit communicatively coupled to the sensor system, wherein the computer unit is configured to:
evaluate surroundings-related and vehicle-related data acquired with the aid of sensors of the sensor system and carry out an autonomous driving operation based on the data;
continuously perform the following:
based on the surroundings-related and vehicle-related data, determine an amount of time, prior to a point in time by which an intervention by the driver to interrupt the autonomous driving operation would be required due to a possible future event, by which the autonomous driving system is expected to be able to recognize that the intervention would be required, the determined amount of time being a lead time;
based on driver-related data obtained via the sensor system, determine an amount of reaction time the driver is expected to take to perform the intervention in response to a signal from the autonomous driving operation; and
compare a first time value that is based on the lead time to a second time value that is based on the reaction time; and

respond to a result of the comparison being that the second time value is too great relative to the first time value by, prior to the recognition that the intervention by the driver would be required, initiating a countermeasure that includes at least one of:
prewarning the driver to increase attentiveness in order to reduce the reaction time; and
increasing the lead time by one of (a) changing a mode of the driving system and (b) reducing the vehicle speed.

2. The autonomous driving system as recited in claim 1 , wherein the first time value is the lead time and the second time value is a sum of (i) the reaction time, (ii) a system reaction time to the possible future event, and (iii) a safety time.

3. The autonomous driving system as recited claim 2 , wherein the computer unit is configured to be set to two main operating modes which are predefinable by a user, and the computer unit is configured to differently respond to the result of the comparison being that the second time value is too great relative to the first time value depending on to which of the two modes the computer unit is set.

4. The autonomous driving system as recited in claim 3 , wherein the first main operating mode is a user comfort-prioritizing mode in which a fixed comfort time is defined at least one of (i) by the user and entered into the driving system as a time specification, (ii) by the user as a predetermined sub-mode setting, and (iii) automatically via detection of a driver's state, and wherein the comfort time defines an amount of by which the first time value must be greater than the second time value.

5. The autonomous driving system as recited in claim 4 , wherein the second main operating mode is a travel-prioritizing mode in which the driver enters readiness for increased driver attention into the driving system when starting travel, and the comfort time is set to a correspondingly low value and results in a setting of the driving system having a higher travel speed.

6. The autonomous driving system as recited in claim 3 , further comprising:
a display unit for displaying the lead time to the user.

7. The autonomous driving system as recited in claim 3 , wherein the speed of the vehicle is automatically regulated within predefined limits as a function of the ascertained lead time and the reaction time of the driver.

8. The autonomous driving system as recited in claim 1 , wherein in the event that the driving system determines a reaction time exceeding a predefined limit, a training message directed to the driver is sent by the driving system to the driver to increase attention of the driver.

9. An autonomous driving system for a vehicle, comprising:
a computer unit communicatively coupled to sensors, wherein:
the computing unit is configured to:
evaluate surroundings-related and vehicle-related data acquired with the aid of the sensors and carry out an autonomous driving operation based on the data;
continuously perform the following:
determine a lead time required for an intervention by the driver by evaluating the surroundings-related and vehicle-related data;
calculate a reaction time of the driver by evaluating driver-related data;
compare the lead time with the reaction time and determine a comfort time by taking the difference between the lead time and the reaction time; and
respond to the comparison by initiating no measures as long as the comfort time is greater than zero, and initiating a countermeasure only when the comfort time reaches zero, the countermeasure including outputting a warning to the driver; and

after each outputting of the warning, carry out a calibration of the reaction time calculation, the calibration including a comparison of the reaction time calculated by the computer unit with a measured reaction time.

10. A method for operating an autonomous driving system for a vehicle, comprising:
evaluating, by a computer unit, surroundings-related and vehicle-related data acquired with the aid of sensors and carrying out an autonomous driving operation based on the data;
continuously performing the following by the computer unit:
based on the surroundings-related and vehicle-related data, determining an amount of time, prior to a point in time by which an intervention by the driver to interrupt the autonomous driving operation would be required due to a possible future event, which the autonomous driving system is expected to be able to recognize that the intervention would be required, the determined amount of time being a lead time;
based on driver-related data determining an amount of reaction time the driver is expected to take to perform the intervention in response to a signal from the autonomous driving operation; and
comparing a first time value that is based on the lead time to a second time value that is based on the reaction time; and

responding, by the computer unit, to a result of the comparison being that the second time value is too great relative to the first time value by, prior to the recognition that the intervention by the driver would be required, initiating a countermeasure that includes at least one of:
prewarning the driver to increase attentiveness in order to reduce the reaction time; and
increasing the lead time by one of (a) changing a mode of the driving system and (b) reducing the vehicle speed.

Assignees

• Bosch Gmbh Robert

Inventors

• Schiek Ulrich
• Kopmann Wolfgang

Classifications

• B60W60/0057

  Estimation of the time available or required for the handover · CPC title

• B60W60/0053

  from vehicle to occupant · CPC title

• B60W50/14 Primary

  Means for informing the driver, warning the driver or prompting a driver intervention · CPC title

• B60W50/0097

  Predicting future conditions · CPC title

• Y02T10/84

  Data processing systems or methods, management, administration · CPC title