METHOD AND SYSTEM FOR KEEPING A VEHICLE ON A PREDETERMINED PATH, AND COMPUTER PROGRAM

Abstract

The disclosure relates to a method for keeping a vehicle on a predetermined path. The method comprises receiving a driver pose information and classifying the driver pose information as normal or abnormal (S1). Alternatively or additionally, a driver attention information is received and classified as normal or abnormal (S1). Moreover, according to the method, a hand location information is received and evaluated (S2). Also a turn indicator status information is received and evaluated (S3). Subsequently, a path keeping measure is triggered (S5), if the driver pose information is classified as abnormal or if the driver attention information is classified as abnormal. Additional conditions are that the hand location information relates to less than two hands on the steering wheel, and that the turn indicator status information relates to a non-activated state of the turn indicators. Furthermore, a system for keeping a vehicle on a predetermined path is presented. Moreover, a corresponding computer program is explained.

Claims

1. A method for keeping a vehicle on a predetermined path, comprising receiving a driver pose information (PI) and classifying the driver pose information (PI) as normal (N) or abnormal (AN) or receiving a driver attention information and classifying the driver attention information as normal or abnormal, receiving a hand location information (HI), and evaluating whether the hand location information (HI) relates to two hands (2H) on a steering wheel or less than two hands on the steering wheel, receiving a turn indicator status information (TI), and evaluating whether the turn indicator status information (TI) relates to an activated state (A) or a non-activated state (NA) of the turn indicators (S3), triggering a path keeping measure (S5) if the received driver pose information (PI) is classified as abnormal (AN) or if the received driver attention information is classified as abnormal and if the hand location information (HI) relates to less than two hands on the steering wheel, and if the received turn indicator status information (TI) relates to a non-activated state (NA).

2. The method of claim 1, comprising evaluating whether the hand location information (HI) relates to one hand (1H) on the steering wheel or no hand (0H) on the steering wheel.

3. The method of claim 1, comprising receiving a path following information (FI) and classifying the path following information as on-path (ON) or off-path (OFF).

4. The method of claim 3, wherein triggering a path keeping measure comprises triggering an increased stiffness (IS) of a steering system of the vehicle, if the path following information is classified as on-path (ON).

5. The method of claim 2, wherein triggering a path keeping measure comprises triggering an increased stiffness (IS) of the steering system, if the hand location information (HI) relates to one hand (1H) on the steering wheel.

6. The method of claim 2, wherein triggering a path keeping measure comprises triggering a heading angle adjustment measure (HA), if the hand location information (HI) relates to no hand (0H) and if the path following information (FI) is classified as off-path (OFF).

7. The method of claim 3, wherein triggering a path keeping measure comprises triggering a counter torque (CT) at the steering wheel, if the path following information (FI) is classified as off-path (OFF).

8. The method of claim 2, wherein triggering a path keeping measure comprises triggering the counter torque (CT) at the steering wheel, if the hand location information (HI) relates to one hand (1H) on the steering wheel.

9. A system for keeping a vehicle on a predetermined path, comprising: a first communication interface configured to receive a driver pose information (PI) or a driver attention information, a second communication interface configured to receive a hand location information (HI), a third communication interface configured to receive a turn indicator status information (TI), and a triggering unit being communicatively connected to the first communication interface, the second communication interface and the third communication interface, wherein the triggering unit is configured to trigger a path keeping measure as a function of the information received at the first communication interface, at the second communication interface and at the third communication interface.

10. The system of claim 9, comprising a first classification unit being communicatively interposed between the first communication interface and the triggering unit, wherein the first classification unit is configured to classify the driver pose information (PI) or the driver attention information.

11. The system of claim 9, comprising a first evaluation unit being communicatively interposed between the second communication interface and the triggering unit, wherein the first evaluation unit is configured to evaluate whether the hand location information (HI) relates to two hands (2H) on a steering wheel or less than two hands on the steering wheel.

12. The system of claim 9, comprising a second evaluation unit being communicatively interposed between the third communication interface and the triggering unit, wherein the second evaluation unit is configured to evaluate whether the turn indicator status information (TI) relates to an activated state (A) or a non-activated state (NA) of the turn indicators.

13. The system of any one of claim 9, comprising a fourth communication interface configured to receive a path following information (FI), wherein the triggering unit is communicatively connected to the fourth communication interface and configured to trigger the path keeping measure as a function of the information received at the fourth communication interface.

14. The system of claim 13, comprising a second classification unit being communicatively interposed between the fourth communication interface and the triggering unit, wherein the second classification unit is configured to classify the path following information as on-path (ON) or off-path (OFF).

15. A computer program comprising instructions which, when the program is executed by a computing unit, cause the computing unit to carry out a method, the method comprising: receiving a driver pose information (PI) and classifying the driver pose information (PI) as normal (N) or abnormal (AN) or receiving a driver attention information and classifying the driver attention information as normal or abnormal, receiving a hand location information (HI), and evaluating whether the hand location information (HI) relates to two hands (2H) on a steering wheel or less than two hands on the steering wheel, receiving a turn indicator status information (TI), and evaluating whether the turn indicator status information (TI) relates to an activated state (A) or a non-activated state (NA) of the turn indicators (S3), triggering a path keeping measure (S5) if the received driver pose information (PI) is classified as abnormal (AN) or if the received driver attention information is classified as abnormal and if the hand location information (HI) relates to less than two hands on the steering wheel, and if the received turn indicator status information (TI) relates to a non-activated state (NA).

Description

BRIEF DESCRIPTION OF THE FIGURES

[0052] Examples of the disclosure will be described in the following with reference to the following drawings.

[0053] FIG. 1 shows a system according to the present disclosure for keeping a vehicle on a predetermined path,

[0054] FIG. 2 illustrates steps of a method according to the present disclosure for keeping a vehicle on a predetermined path, and

[0055] FIG. 3 illustrates the method of FIG. 2 in the form of a flow diagram.

DETAILED DESCRIPTION OF THE FIGURES

[0056] The figures are merely schematic representations and serve only to illustrate examples of the disclosure. Identical or equivalent elements are in principle provided with the same reference signs.

[0057] FIG. 1 shows a system 10 for keeping a vehicle on a predetermined path.

[0058] The system 10 comprises a first communication interface 12 for receiving a driver pose information, i.e. an information describing a driver pose. In the present example the driver pose is to be understood as an upper body pose of the driver.

[0059] Moreover, the first communication interface 12 is configured for receiving a driver attention information, i.e. an information describing a state of attentiveness of the driver.

[0060] Additionally, the system 10 comprises a first classification unit 14 which is communicatively connected to the first communication interface 12.

[0061] The first classification unit 14 is configured to classify the driver pose information and the driver attention information. In the present example, the first classification unit 14 is configured for classifying the driver pose information as normal or abnormal. The same applies to the driver attention information, i.e. the first classification unit 14 is configured for classifying the driver attention information as normal or abnormal.

[0062] When in use, the system 10, more precisely the first communication interface 12, may be communicatively connected to a driver monitoring system 16.

[0063] Additionally, the system 10 has a second communication interface 18 configured to receive a hand location information. Thus, the second communication interface 18 is configured to receive an information relating to the location of at least one of the driver's hands.

[0064] The system 10 additionally has a first evaluation unit 20 which is communicatively connected to the second communication interface 18. The first evaluation unit 20 is configured to evaluate whether the received hand location information relates to two hands on a steering wheel, one hand on the steering wheel or no hand on the steering wheel.

[0065] When in use, the system 10, more precisely the second communication interface 18 may be communicatively connected to a hands-on-detection system 22 of a corresponding vehicle.

[0066] Furthermore, the system 10 has a third communication interface 24 configured to receive a turn indicator status information. In other words, the third communication interface 24 is configured to receive an information describing a status of the turn indicators of the vehicle.

[0067] Furthermore, a second evaluation unit 26 forms part of the system 10. The second evaluation unit 26 is communicatively connected to the third communication interface 24. The second evaluation unit 26 is configured to evaluate whether the received turn indicator status information relates to an activated state or a non-activated state of the turn indicators.

[0068] To this end, the third communication interface 24 is connected to a turn indicator unit 28 when the system 10 is in use.

[0069] The system 10 also comprises a fourth communication interface 30 configured to receive a path following information. The fourth communication interface 30 is, thus, configured to receive an information describing whether the vehicle follows a predetermined path or not.

[0070] A second classification unit 32 is communicatively connected to the fourth communication interface 30. The second classification unit 32 is configured to classify the path following information as on-path or off-path.

[0071] When in use, the system 10, more precisely the fourth communication interface 30, may be communicatively connected to a lane assist system 34.

[0072] The system 10 additionally comprises a triggering unit 36.

[0073] The triggering unit 36 is communicatively connected to the first classification unit 14, the first evaluation unit 20, the second evaluation unit 26, and the second classification unit 32.

[0074] Thus, the triggering unit 36 is communicatively connected to the first communication interface 12 via the first classification unit 14, communicatively connected to the second communication interface 18 via the first evaluation unit 20, communicatively connected to the third communication interface 24 via the second evaluation unit 26 and communicatively connected to the fourth communication interface 30 via the second classification unit 32.

[0075] The triggering unit 36 is configured for triggering a path keeping measure as a function of the information received at the first communication interface 12, at the second communication interface 18, at the third communication interface 24, and at the fourth communication interface 30.

[0076] In the present example, the path keeping measure may be one of increasing a stiffness of a steering system of the respective vehicle, providing a counter torque at the steering wheel, and adjusting a heading angle of the vehicle.

[0077] In order to be able to trigger these path keeping measures, the system 10, more precisely the triggering unit 36, is communicatively connected to a steering system 38 of the vehicle.

[0078] Moreover, the triggering unit 36 is configured to trigger a warning message for the driver. To this end, the triggering unit 36 is communicatively connected to a notification unit 40.

[0079] The system 10 may be used for performing a method for keeping a vehicle on a predetermined path. This is illustrated in FIGS. 2 and 3.

[0080] The method will be explained in connection with a set of four different driving situation in which the method is used. In each of these driving situations, the driver is reaching for an object on the back seat or on the front passenger seat of the vehicle.

[0081] In a first step S1 of a first driving situation, a driver pose information PI is received via the first communication interface 12. Using the first classification unit 14, this driver pose information is classified as abnormal AN, i.e. it is determined that the driver is outside the usual driving pose.

[0082] In a second step S2, a hand location information HI is received at the second communication interface 18. Using the first evaluation unit 20, it is evaluated that only one hand 1H is on the steering wheel.

[0083] Subsequently, in a third step S3, a turn indicator status information TI is received at the third communication interface 24. The second evaluation unit 26 evaluates that the turn indicator status information TI relates to a non-activated state NA of the turn indicators.

[0084] In a fourth step, a path following information FI is received at the fourth communication interface 30. The second classification unit 32 is classifying the path following information as off-path OFF. In the present example this is done by calculating a time that the vehicle would need until it exits the present lane. This time is compared to a predefined threshold.

[0085] Thereafter, in a fifth step S5, the triggering unit 36 is used for triggering a path keeping measure. In the present driving situation, the triggered path keeping measure is applying a counter torque CT to the steering wheel. This counter torque CT will indicate to the driver that he or she is drifting away from the predetermined path. The driver notices the counter torque CT and, thus, can go back to the standard driving pose, place both hands on the steering wheel and steer the vehicle back to the predetermined path.

[0086] It is noted that the designation of the method steps as first, second, third, fourth and fifth is for the ease of explanation only. The first, second, third and fourth step can as well be performed in any other order.

[0087] A second driving situation partially corresponds to the first driving situation. The only difference is that the path following information FI which is received at the fourth communication interface 30 is classified as on-path ON, i.e. the vehicle is on the predetermined path.

[0088] Also in this case, the triggering unit 36 triggers a path keeping measure. However, in the second driving situation, the path keeping measure is increasing a stiffness IS of the steering system 38 such that a torque applied to the steering wheel by the driver has less impact on the driving behavior of the vehicle.

[0089] Once the driver is back in the standard driving pose and has placed both hands on the steering wheel the path keeping measure can be terminated.

[0090] Also a third driving situation will be explained by only mentioning the differences over the first driving situation.

[0091] In the third driving situation, in the second step, the received hand location information is evaluated by the first evaluation unit 20 and it is found that the hand location information relates to no hand 0H on the steering wheel.

[0092] Also in the third driving situation, a path keeping measure is triggered by the triggering unit 36. However, in the third driving situation the path keeping measure is to adjust a heading angle HA of the vehicle, i.e. to automatically steer the vehicle such that it comes back to the predetermined path.

[0093] Moreover, using the notification unit 40, an alert will be produced such that the driver notices the dangerous driving situation and can take back full control of the vehicle.

[0094] An additional, fourth driving situation will be explained by only mentioning the differences over the first driving situation.

[0095] Again, in the second step, the received hand location information is evaluated by the first evaluation unit 20 and it is found that the hand location information relates to no hand 0H on the steering wheel.

[0096] Moreover, the path following information which is received at the fourth communication interface 30 is classified as on-path ON, i.e. the vehicle is not outside the predetermined path.

[0097] In the fourth driving situation, the path keeping measure may comprise alerting the driver via the notification unit 40.

[0098] It is noted that the system 10 may comprise a computing unit 42 which comprises the first classification unit 14, the first evaluation unit 20, the second evaluation unit 26, the second classification unit and the triggering unit 36. All of these units may be implemented as software and/or hardware units. On this computing unit 42, a computer program may be run which comprising instructions causing the computing unit 42 to carry out the method as explained above.

[0099] Other variations to the disclosed examples can be understood and effected by those skilled in the art in practicing the claimed disclosure, from the study of the drawings, the disclosure, and the appended claims. In the claims the word “comprising” does not exclude other elements or steps and the indefinite article “a” or “an” does not exclude a plurality. A single processor or other unit may fulfill the functions of several items or steps recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. A computer program may be stored/distributed on a suitable medium such as an optical storage medium or a solid-state medium supplied together with or as part of other hardware, but may also be distributed in other forms, such as via the Internet or other wired or wireless telecommunication systems. Any reference signs in the claims should not be construed as limiting the scope of the claims.

LIST OF REFERENCE SIGNS

[0100] 10 system for keeping a vehicle on a predetermined path [0101] 12 first communication interface [0102] 14 first classification unit [0103] 16 driver monitoring system [0104] 18 second communication interface [0105] first evaluation unit [0106] 22 hands-on-detection system [0107] 24 third communication interface [0108] 26 second evaluation unit [0109] 28 turn indicator unit [0110] fourth communication interface [0111] 32 second classification unit [0112] 34 lane assist system [0113] 36 triggering unit [0114] 38 steering system [0115] notification unit [0116] 42 computing unit [0117] 0H no hands on the steering wheel [0118] 1H one hand on the steering wheel [0119] 2H two hands on the steering wheel [0120] A activated [0121] AN abnormal [0122] CT apply counter torque [0123] FI path following information [0124] HA heading angle adjustment measure [0125] HI hand location information [0126] IS increase stiffness [0127] N normal [0128] NA non-activated [0129] OFF off path [0130] ON on path [0131] PI driver pose information [0132] S1 first step [0133] S2 second step [0134] S3 third step [0135] S4 fourth step [0136] S5 fifth step [0137] TI turn indicator status information