Method and Control Unit for Adapting an at Least Partially Autonomous Vehicle to a User

Abstract

An apparatus includes a control unit for a vehicle that is equipped to cause automatic interventions in the longitudinal and/or lateral control of the vehicle. The control unit is configured to determine reaction information relating to a reaction of a user of the vehicle to at least one automatic intervention of the vehicle. The control unit is also configured to adjust least one operating parameter of the vehicle, which has an influence on automatic interventions in the longitudinal and/or lateral control of the vehicle, depending on the reaction information.

Claims

1.-10. (canceled)

11. An apparatus comprising: a control unit for a vehicle that is equipped to cause automatic interventions in the longitudinal and/or lateral control of the vehicle wherein the control unit is configured to: determine reaction information relating to a reaction of a user of the vehicle to at least one automatic intervention of the vehicle; and adjust least one operating parameter of the vehicle, which has an influence on automatic interventions in the longitudinal and/or lateral control of the vehicle, depending on the reaction information.

12. The apparatus according to claim 11, wherein the control unit is also configured to determine sensor data relating to the user of the vehicle; the sensor data indicate a head and/or face of the user and/or a body-related measurement variable of the user; and the reaction information is determined based on the sensor data in relation to the user of the vehicle.

13. The apparatus according to claim 12, wherein the vehicle comprises one or more control means which enable the user to exert an effect on the longitudinal and/or lateral control of the vehicle by operating the one or more control means; the control unit is configured to detect an operation of the one or more control means, via which a change is caused that pertains to an effect of an automatic intervention of the vehicle on the vehicle; and the reaction information indicates the change in the effect on the vehicle caused by the operation of the control means.

14. The apparatus according to claim 13, wherein the change in the effect on the vehicle includes: a change in the distance between the vehicle and another road user; a change in the time of an intervention in the lateral and/or longitudinal control of the vehicle; a change in a longitudinal acceleration and/or deceleration of the vehicle; a change in a steering angle and/or steering torque on a steering wheel of the vehicle; a change in the dynamics of the vehicle when changing lanes; and/or a cancellation of a lane change.

15. The apparatus according to claim 14, wherein the control unit is also configured to: determine, on the basis of the reaction information, that automatic longitudinal and/or lateral control of the vehicle caused by one or more automatic interventions of the vehicle causes stress and/or uncertainty to the user; and change a value of the at least one operating parameter of the vehicle in order to reduce the dynamics of the automatic longitudinal and/or lateral control of the vehicle and/or to increase one or more safety distances to be observed during the automatic longitudinal and/or lateral control of the vehicle.

16. The apparatus according to claim 15, wherein the control unit is also configured to: determine on the basis of the reaction information that automatic longitudinal and/or lateral control of the vehicle caused by one or more automatic interventions of the vehicle does not cause stress and/or uncertainty to the user; and change a value of the at least one operating parameter of the vehicle in order to increase the dynamics of the automatic longitudinal and/or lateral control of the vehicle and/or to reduce one or more safety distances to be observed during the automatic longitudinal and/or lateral control of the vehicle.

17. The apparatus according to claim 16, wherein the at least one operating parameter includes: a minimum permissible safety distance of the vehicle from another road user; a maximum permissible driving speed of the vehicle; a recommended speed of the vehicle, at which the vehicle should be driven on average; a maximum permissible longitudinal acceleration and/or deceleration of the vehicle; a maximum permissible lateral acceleration of the vehicle; a maximum permissible steering torque and/or a maximum permissible steering angle on a steering system of the vehicle; a maximum permissible speed change or a maximum permissible gradient against time of the steering torque and/or the steering angle on the steering system of the vehicle; a tendency of the vehicle to perform automatic lane changes on a multi-lane road; and/or dynamics when performing a lane change.

18. The apparatus according to claim 17, wherein the control unit is also configured to: for a plurality of different users of the vehicle, determine a corresponding plurality of user-specific values for the at least one operating parameter and to store it in a corresponding plurality of user profiles; for a journey of the vehicle, determine the user from the plurality of different users who use the vehicle; and cause automatic interventions in the longitudinal and/or lateral control of the vehicle in accordance with the user profile of the identified user when the vehicle is travelling.

19. The apparatus according to claim 18, wherein the control unit is also configured to determine a driving behavior preferred by the user on the basis of the reaction information; the driving behavior preferred by the user indicates: a lane preferred by the user in a construction site area; and/or that the user is reluctant to drive alongside a truck or bus in heavy traffic; and the control unit is also configured to perform automatic interventions in the longitudinal and/or lateral control of the vehicle in order to implement the driving behavior preferred by the user.

20. A method for adaptation of a vehicle, comprising: determining reaction information in relation to a reaction of a user of the vehicle to at least one automatic intervention of the vehicle, wherein the adaptation is configured to perform automatic interventions in the longitudinal and/or lateral control of the vehicle, to a user of the vehicle; and adapting at least one operating parameter of the vehicle, which has an influence on automatic interventions in the longitudinal and/or lateral control of the vehicle, depending on the reaction information.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0036] FIG. 1 depicts exemplary components of a vehicle; and

[0037] FIG. 2 depicts a flow diagram of an exemplary method for the operation of a vehicle.

DETAILED DESCRIPTION OF THE DRAWINGS

[0038] As explained at the outset, this document deals with increasing the confidence and/or safety perception of a user of a vehicle that is at least partially autonomous (in particular a vehicle with SAE level 2, 3 or 4 or higher). In this context, FIG. 1 shows exemplary components of a vehicle 100 (for example of a passenger car, a truck, or a bus). The vehicle 100 comprises a driver's position 106 (as an example of an occupant position or a user position) which can be taken by a driver of the vehicle 100 in order to control the vehicle 100 at least partially. From the driver's position 106, for example, a brake pedal 103 and/or an accelerator pedal 113 (also referred to as the gas pedal) can be operated to decelerate and/or accelerate the vehicle 100. The operation of the brake pedal 103 typically leads to an actuation of wheel brakes (especially friction brakes) 110, which cause a deceleration of the vehicle 100. Furthermore, the vehicle 100 comprises a steering means 108, in particular a steering wheel, with which a steering system 118 of the vehicle 100 can be operated. The brake pedal 103, the accelerator pedal 113 and/or the steering means 108 can be regarded as a controller for the manual longitudinal and/or lateral control of the vehicle 100.

[0039] Furthermore, the vehicle 100 comprises a drive motor 102 (for example an internal combustion engine and/or an electric motor) which can drive a wheel axle 107 of the vehicle 100 and thus wheels 109 of the vehicle 100 via a gearbox 101.

[0040] The vehicle 100 comprises a control unit 105 (for example as part of a motor control unit). The control unit 105 is set up to receive one or more control signals, for example in relation to a control input by the driver. One or more control signals include, for example, operation of the brake pedal 103 and/or the actuation of the accelerator pedal 113 and/or the actuation of the steering means 108. Furthermore, the control unit 105 of the drive motor 102, the gearbox 101, the clutch 112, the brakes 110 and/or the steering system 118 of the vehicle 100 are designed to control depending on the one or more control signals.

[0041] The vehicle 100 may also include a position sensor 104, which is set up to determine position data with respect to a position of the vehicle 100 (for example current GPS coordinates). Furthermore, the vehicle 100 may include one or more environment sensors 116, which are set up to collect environment data that display information regarding an environment of the vehicle 100. The one or more environment sensors 116 may include, for example, one or more cameras, one or more radar sensors, one or more lidar sensors, one or more ultrasonic sensors, etc. The control unit 105 may be set up to control the drive motor 102, the gearbox 101, the clutch 112, the brakes 110 and/or the steering system 108 depending on the position data and/or the environment data. Thus, at least partially autonomous longitudinal and/or lateral control of the vehicle 100 can be caused.

[0042] Furthermore, the vehicle 100 may comprise an input/output unit 115. A user of the vehicle 100 can use input means of the input/output unit 115 (for example via a touch-sensitive screen) to generate a setting and/or instruction for the vehicle 100. In addition, a user of the vehicle 100 may receive information and/or instructions regarding the operation of the vehicle 100 via output means (for example via a screen) of the input/output unit 115.

[0043] For example, a user of the vehicle 100 can enter a desired end point of a driving route via the input/output unit 115. The control unit 105 of the vehicle 100 can then (for example by means of a navigation application that uses digital map information) determine a driving route from a (current) starting point to the end point. Furthermore, the control unit 115 can be set up to control the vehicle 100 longitudinally and/or laterally (at least partially or highly or fully) automatically along the planned route.

[0044] Furthermore, the vehicle 100 may comprise one or more occupant sensors 114 (for example an imaging camera, a pulse rate sensor, etc.) which are set up to capture sensor data relating to an occupant of the vehicle 100, in particular relating to the driver. These sensor data are also referred to in this document as occupant or user data. The control unit 105 may be set up to determine, on the basis of the occupant data, whether the occupant of the vehicle 100 feels comfortable and/or safe while driving or not. The occupant data may indicate for example the face and/or facial expression of a user of the vehicle 100; a direction of view of the user; an object that is being observed by the user; an emotional state of the user; the user's blood pressure; the user's pulse rate; etc.

[0045] The control unit 105 of the vehicle 100 can therefore be set up for automatic intervention in the longitudinal and/or lateral control of the vehicle 100 (for example within the framework of a driver assistance system, such as ACC, a lane-keeping assistant, etc., or in the context of highly or fully automated driving of the vehicle 100). An automatic intervention can be carried out depending on one or more operating parameters. Exemplary operating parameters are:

[0046] a minimum permissible safety distance of the vehicle 100 from another road user;

[0047] a maximum permissible driving speed of the vehicle 100;

[0048] a recommended speed of the vehicle 100 at which a vehicle 100 is to be driven on average;

[0049] a maximum permissible longitudinal acceleration and/or deceleration of the vehicle 100;

[0050] a maximum permissible lateral acceleration of the vehicle 100;

[0051] a maximum permissible steering torque and/or a maximum permissible steering angle;

[0052] a maximum permissible rate of change of the steering torque and/or steering angle;

[0053] a tendency to perform automatic lane changes (for example for overtaking maneuvers);

[0054] dynamics for performing lane changes; and/or

[0055] a differential speed relative to a vehicle ahead, which must be present at least before a maneuver of overtaking the vehicle ahead is initiated.

[0056] For the one or more operating parameters, standard values may be defined, which can be changed manually by an occupant or user of the vehicle 100 via the input/output unit 115 of the vehicle 100. If necessary, different driving modes with different default values can be provided and selected by a user (for example a sporty driving mode, a comfortable driving mode and/or an energy-saving driving mode). However, the manual adjustment of values of one or more operating parameters or the manual selection of different driving modes typically requires a certain basic understanding of how the different operating parameters or driving modes affect the driving style of the vehicle 100. Furthermore, a manual adjustment or adaptation of one or more operating parameters cannot typically ensure that a feeling of safety and/or well-being of a user during at least partially autonomous driving of the vehicle 100 is enhanced. The method 200 described in this document therefore allows the adjustment of one or more operating parameters of a vehicle 100 in an automatic manner (without the need for a manual adjustment of the values of the one or more operating parameters for this purpose).

[0057] The control unit 105 may be set up to determine reaction information of an occupant or user, in particular a driver, of the vehicle 100 in relation to an automatic intervention in the longitudinal and/or lateral control of the vehicle 100. The reaction information can indicate whether and, if necessary, how the user of the vehicle 100 has reacted to the automatic intervention of the vehicle 100. Alternatively or in addition, the reaction information can indicate a psychological state of the user.

[0058] The reaction information can be determined on the basis of the occupant data. For example, based on image data from a camera, a level of attention of the user and/or a facial expression of the user may be captured and/or determined. Furthermore, for example the pulse rate and/or blood pressure of the user can be determined. In addition, a focal point of the user's attention can be determined during an automatic intervention of the vehicle 100.

[0059] Alternatively or in addition, the reaction information can be determined on the basis of an operation of a control means 103, 113, 108 of the vehicle 100 (for example the accelerator pedal 113, the brake pedal 103 and/or the steering means 108). For example, it is possible to determine when and/or how often the user corrects or modifies the automatic intervention of the vehicle 100 (for example by manually operating a control device 103, 108, 113).

[0060] The reaction information may, for example, indicate that the user has an increased stress level (especially in response to a specific automatic intervention of the vehicle 100). On the other hand, the reaction information may also indicate that one or more automatic interventions of the vehicle 100 have not caused a particular reaction of the user and/or have not been perceived by the user (as disturbing).

[0061] The control unit 105 can be set up to correlate the reaction information with a specific type of intervention. In particular, it can be determined whether the reaction of the user indicated by the reaction information is caused by a specific longitudinal or lateral control intervention. Furthermore, at least one operating parameter of the vehicle 100 can be determined which has an influence on the specific longitudinal or lateral control intervention. For example, it can be determined whether the currently set value of the safety distance and/or the dynamics of the longitudinal and/or lateral control leads to stress reactions of the user during automatic interventions of the vehicle 100. If this is the case, the value of the safety distance and/or dynamics of the longitudinal and/or lateral control may be changed to reduce the stress level of the user.

[0062] The value of at least one operating parameter of the vehicle 100 can therefore be adjusted automatically depending on the reaction information. For example, the value of the safety distance can be increased if the reaction information indicates that the user of the vehicle 100 feels uncomfortable with the currently set value of the safety distance. On the other hand, if necessary, a reduction in the value of the safety distance can be caused if the reaction information indicates that the currently set value of the safety distance is not causing a conspicuous reaction of the user.

[0063] The control unit 105 may be set up to identify and store a plurality of profiles for a plurality of users of the vehicle 100. The profile of a user can indicate individual values of one or more operating parameters of the vehicle 100 for the user. The individual values can be determined automatically during a journey of the user in the vehicle 100.

[0064] The control unit 105 can be set up to determine which user is located in the vehicle 100 for a journey of the vehicle 100. The specific profile of the user can then be selected to operate the vehicle 100 according to the profile of the user. In this way, the driving behavior of a vehicle 100 can be adapted to different users in an efficient manner.

[0065] FIG. 2 shows a flow diagram of an exemplary method 200 for the adaptation of a vehicle 100, which is set up to cause automatic intervention in the longitudinal and/or lateral control of the vehicle 100, to a user of the vehicle 100, in particular to the preferences of a user of the vehicle 100. The vehicle 100 may be equipped to perform the longitudinal and/or lateral control of the vehicle 100 at least partially automatically. For example, the vehicle 100 may have one or more driver assistance systems (such as ACC and/or a lane control assistant) that are set up to drive the vehicle 100 semi-automatically. In a preferred example, the vehicle 100 may be set up to drive the vehicle 100 highly automatically or fully automatically.

[0066] The method 200 involves the determination 201 of reaction information in relation to a reaction of a user of the vehicle 100 to at least one automatic intervention of the vehicle 100. The reaction information can indicate whether the user of the vehicle 100 feels an increased level of stress or uncertainty or not due to the one or more automatic interventions of the vehicle 100. The reaction information can be determined on the basis of the sensor data of one or more occupant sensors 114. Alternatively or in addition, the reaction information may be based on one or more operations of one or more control means 103, 108, 113 of the vehicle 100 by the user. The control means 103, 108, 113 may include the accelerator pedal 113, the steering means 108 and/or the brake pedal 103, for example.

[0067] In addition, the method 200 includes the adaptation 202 of at least one operating parameter of the vehicle 100, which has an influence on automatic interventions in the longitudinal and/or lateral control of the vehicle 100, depending on the reaction information. In particular, one or more operating parameters can be adjusted to adjust (for example to reduce) the level of stress and/or uncertainty of the user indicated by the reaction information to a target level.

[0068] As explained above, the vehicle 100 may comprise an input/output unit 115 (also referred to as the user interface). It can be determined on the basis of the reaction information that the value of at least one operating parameter of the vehicle 100 (for example the safety distance from a vehicle ahead) should be changed, in particular in order to adjust the driving behavior or the automatic driving style of the vehicle 100 to the preferences of a user of the vehicle 100 (extracted from the reaction information). The user can then be asked via the user interface 115 whether the value of the operating parameter should be changed or not. Furthermore, a user input of the user in relation to the issued request can be captured at the user interface 115. Furthermore, depending on the user input, a change in the value of the operating parameter may or may not be made. In this way, the comfort and feeling of safety of a user can be further enhanced. In particular, a user can be given the impression that the vehicle 100 is taking care of the well-being of the user automatically.

[0069] Alternatively or in addition to changing an operating parameter of the vehicle 100, which is at least partially autonomous, depending on the reaction information an automated driving maneuver can be performed automatically. For example, the reaction information may indicate that the user of the vehicle 100 feels uncomfortable in a current situation of the vehicle 100 (for example driving next to a truck). A driving maneuver can then be carried out automatically (for example an acceleration or a deceleration of the vehicle 100 and/or an overtaking maneuver) to change the current situation of the vehicle 100 (for example to move away from the truck). By automatically performing a suitable driving maneuver, the comfort and feeling of safety of a user of a vehicle 100 can be increased in an efficient manner.

[0070] As explained above, the reaction information may include or indicate the operation of a control means 103, 108, 113 of the vehicle 100 by a user. On the basis of a plurality of operations of the control means 103, 108, 113, a statistical evaluation of the manual interventions of the user can be carried out. In particular, a statistical evaluation may be carried out on how frequently and/or in what way a particular automatic intervention of the vehicle 100 has been modified by a manual intervention of the user. In an analogous way, a statistical evaluation of a detected stress level of the user can be carried out. The statistical analysis can then be used to set a value of at least one operating parameter and/or the driving style of the vehicle 100.

[0071] For example, it can be determined that a user performs a corrective manual intervention in x% of the cases of automatic intervention. Alternatively or in addition, it can be determined that a user has an increased stress level (for example a stress level above a certain reference stress level) in y% of the cases of an automatic intervention. If x and/or y is at or above a certain frequency threshold, a change of at least one operating parameter may be made to ensure that the frequency of manual corrective interventions and/or the frequency of increased stress levels is reduced (if possible to 0%).

[0072] The measures described in this document make it possible to control the driving behavior of a vehicle 100 which is at least partially autonomous efficiently and precisely to the preferences of a user of the vehicle 100. This can increase the comfort and feeling of safety of a user.

[0073] The embodiments of the present invention are not limited to the exemplary embodiments indicated. In particular, it should be noted that the description and the figures are intended to illustrate only the principle of the proposed methods, devices, and systems.