Method and device for monitoring a system of a vehicle which provides an at least partially automated driving function

Patent metadata

Field	Value
Publication number	US-9971349-B2
Application number	US-201515309987-A
Country	US
Kind code	B2
Filing date	Apr 21, 2015
Priority date	Jun 3, 2014
Publication date	May 15, 2018
Grant date	May 15, 2018

Abstract

A method for monitoring a system of a vehicle which provides an at least partially automated driving function, including the following steps: checking a setpoint driving state of the vehicle, predefined by the system, for plausibility, controlling the vehicle as a function of the predefined setpoint driving state in order to reach the predefined setpoint driving state when a result of the check is that the predefined setpoint driving state is plausible, or controlling the vehicle as a function of an emergency setpoint driving state in order to reach the emergency setpoint driving state when a result of the check is that the predefined setpoint driving state is implausible. Moreover, a corresponding device, a corresponding monitoring system, and a corresponding computer program are described.

First claim

What is claimed is:

1. A method for monitoring a system of a vehicle which provides an at least partially automated driving function, the method comprising:
checking a setpoint driving state of the vehicle, predefined by the system, for plausibility;
controlling the vehicle as a function of the predefined setpoint driving state in order to reach the predefined setpoint driving state when a result of the checking is that the predefined setpoint driving state is plausible; and
controlling the vehicle as a function of an emergency setpoint driving state in order to reach the emergency setpoint driving state when a result of the checking is that the predefined setpoint driving state is implausible.

2. The method as recited in claim 1 , wherein the checking for plausibility includes comparing a setpoint driving state parameter which characterizes the setpoint driving state to a limiting driving state parameter, the result of the checking being ascertained based on the comparison.

3. The method as recited in claim 1 , wherein environmental data which characterize surroundings of the vehicle are received, the comparison being made based on the environmental data.

4. The method as recited in claim 1 , wherein the setpoint driving state includes a time stamp, the check for plausibility including a check for at least one of: i) whether the time stamp is in the past, and ii) is no farther in the future than the prediction horizon, the result of the check being ascertained based on the check of the time stamp.

5. The method as recited in claim 1 , wherein the setpoint driving state includes a setpoint trajectory which includes a time curve of setpoint positions and setpoint speeds associated with the setpoint positions, the check for plausibility including a redundancy check for whether setpoint speeds correspond to a time derivative of the setpoint positions associated with these setpoint speeds, the result of the check being ascertained based on the redundancy check.

6. The method as recited in claim 1 , wherein the surroundings of the vehicle are detected by sensor, the check for plausibility including a check of the surroundings detected by sensor for whether at least one physically drivable collision-free trajectory exists in the surroundings detected by sensor, the result of the check being ascertained based on the check of the surroundings detected by sensor.

7. The method as recited in claim 1 , wherein the surroundings of the vehicle are detected by sensor, the check for plausibility including a check of the surroundings detected by sensor for whether the setpoint driving state in the surroundings detected by sensor is collision-free, the result of the check being ascertained based on the check of the surroundings detected by sensor.

8. The method as recited in claim 1 , wherein a digital map is received, the check for plausibility including comparing the setpoint driving state with the digital map, the result of the check being ascertained based on the comparison.

9. The method as recited in claim 1 , wherein data of another vehicle are received, the check for plausibility including comparing the setpoint driving state with the data of the other vehicle, the result of the check being ascertained based on the comparison.

10. A device for monitoring a system of a vehicle which provides an at least partially automated driving function, the device comprising:
an interface for receiving a setpoint driving state predefined by the system;
a plausibility device for checking the received setpoint driving state of the vehicle for plausibility; and
an interface for at least one of: i) outputting a result of the check that the predefined setpoint driving state is either plausible or implausible to a control device for controlling the vehicle based on the result, ii) outputting the predefined setpoint driving state when the predefined setpoint driving state is plausible, and iii) outputting an emergency setpoint driving state to an actuator system of the vehicle when the predefined setpoint driving state is implausible.

11. A monitoring system for monitoring a system of a vehicle which provides an at least partially automated driving function, the monitoring system comprising:
a device including an interface for receiving a setpoint driving state predefined by the system, a plausibility device for checking the received setpoint driving state of the vehicle for plausibility, and an interface for at least one of: i) outputting a result of the check that the predefined setpoint driving state is either plausible or implausible to a control device for controlling the vehicle based on the result, ii) outputting the predefined setpoint driving state when the predefined setpoint driving state is plausible, and iii) outputting an emergency setpoint driving state to an actuator system of the vehicle when the predefined setpoint driving state is implausible; and
a control device for controlling the vehicle based on the result, the control device including an interface for receiving the output result and designed for deciding whether the vehicle should be controlled as a function of the setpoint driving state or as a function of the emergency setpoint driving state.

12. A non-transitory machine readable storage medium on which is stored a computer program for monitoring a system of a vehicle which provides an at least partially automated driving function, the computer program, when executed by a processor, causing the processor to perform:
checking a setpoint driving state of the vehicle, predefined by the system, for plausibility;
controlling the vehicle as a function of the predefined setpoint driving state in order to reach the predefined setpoint driving state when a result of the checking is that the predefined setpoint driving state is plausible; and
controlling the vehicle as a function of an emergency setpoint driving state in order to reach the emergency setpoint driving state when a result of the checking is that the predefined setpoint driving state is implausible.

Assignees

• Bosch Gmbh Robert

Inventors

• Pink Oliver
• Muehlmann Karsten
• Ruehle Armin
• Helmle Michael
• Schroeder Christoph
• Baumgaertner Rainer
• Schwarzkopf Jeannine
• Hauler Florian

Classifications

• B60W30/143

  Speed control (B60W30/16 takes precedence) · CPC title

• B60W30/12

  Lane keeping · CPC title

• B60W50/0205 Primary

  Diagnosing or detecting failures; Failure detection models · CPC title

• B60W30/14

  {Adaptive} cruise control · CPC title

• B60W50/0225

  Failure correction strategy · CPC title