Driving System for Automated Driving with a Steering Wheel Display

Abstract

A driving system is operatable at least in a first automated driving mode with automated longitudinal and/or lateral control, and in a different second automated driving mode with automated longitudinal and/or lateral control. The driving system has a steering wheel display with luminous elements for illuminating the steering wheel, which can be operated in different illumination states that are distinguishable by the driver. The luminous elements may illuminate the steering wheel rim, and are typically integrated into the steering wheel rim. The driving system specifies which illumination state of the different illumination states the steering wheel display has. The driving system specifies that, during operation of the driving system in the first driving mode, the steering wheel display is illuminated in a first illumination state. During operation of the driving system in the second driving mode, the steering wheel display is illuminated in a second illumination state that can be distinguished from the first illumination state by the driver.

Claims

1. A driving system for automated driving for a motor vehicle, comprising: a steering wheel display, wherein, for the automated driving, the driving system is operable at least in one first driving mode having automated longitudinal and/or lateral control and in a second driving mode different therefrom having automated longitudinal and/or lateral control, wherein the steering wheel display comprises lighting for lighting up the steering wheel, the steering wheel display is operable in various lighting states differentiable by a driver, and the driving system is configured to: specify which lighting state of the various lighting states the steering wheel display has, specify that, during operation of the driving system in the first driving mode, the steering wheel display lights up in a first lighting state, and specify that, during operation of the driving system in the second driving mode, the steering wheel display lights up in a second lighting state differentiable by the driver from the first lighting state.

2. The driving system according to claim 1, wherein the first and the second driving mode correspond to two different driving modes from a group of three driving modes, wherein the group comprises: a partially-automated hands-on driving mode having automated longitudinal and lateral control, in which the driver both has to continuously monitor the system and also has to keep one or two hands on the steering wheel, a partially-automated hands-off driving mode having automated longitudinal and lateral control, in which the driver has to continuously monitor the system but does not have to keep a hand on the steering wheel, and a highly-automated or fully-automated hands-off driving mode having automated longitudinal and lateral control, in which the driver does not have to continuously monitor the system and also does not have to keep a hand on the steering wheel.

3. The driving system according to claim 2, wherein the lighting lights up a rim of the steering wheel.

4. The driving system according to claim 3, wherein the driving system is configured such that: in the second lighting state, the steering wheel rim only lights up on a left curved region and on a right curved region of the steering wheel rim, and in the first lighting state, the steering wheel rim lights up as a closed light ring or at least in larger curved regions of the steering wheel rim, which comprise the left and right curved region and extend beyond them.

5. The driving system according to claim 4, wherein the first driving mode is the partially-automated hands-off driving mode or the highly-automated or fully-automated hands-off driving mode, the second driving mode is the partially-automated hands-on driving mode, and in the second lighting state, the steering wheel rim only lights up on the left curved region and on the right curved region of the steering wheel rim to signal that the driver is supposed to keep his hands on these curved regions of the steering wheel rim.

6. The driving system according to claim 1, wherein the driving system is configured such that: in the first lighting state, the steering wheel display lights up in a first light color, and in the second lighting state, the steering wheel display lights up in a second light color differentiable by the driver from the first light color.

7. The driving system according to claim 2, wherein in one of the two driving modes, a driver both has to continuously monitor the system and also has to keep one or two hands on the steering wheel, the driving system comprises a hands-on detection unit for recognizing a hand application to the steering wheel, and the driving system is configured, during operation of the vehicle in the partially-automated hands-on driving mode, to output a hands-on request to request that the hands be placed on the steering wheel when the hands-on detection unit does not recognize hand application on the steering wheel, wherein the hands-on request comprises a change of the lighting state of the steering wheel display from one lighting state into a different lighting state differentiable by the driver from said one lighting state.

8. The driving system according to claim 7, wherein the driving system is configured such that: in the one lighting state and in the other lighting state, the steering wheel display lights up in each case in a different light color differentiable by the driver.

9. The driving system according to claim 8, wherein the driving system is configured such that: in the scope of the change of the lighting state, the one lighting state merges continuously or step-by-step into the other lighting state.

10. The driving system according to claim 9, wherein the driving system is configured such that: in the scope of the change of the lighting state, the region or regions of the steering wheel display initially lighting up in a specific light color is/are filled up continuously or step-by-step with another light color.

11. The driving system according to claim 2, wherein one of the two driving modes is the partially-automated hands-on driving mode having automated longitudinal and lateral control, in which the driver both has to continuously monitor the system and also has to keep one or two hands on the steering wheel, the driving system comprises a hands-on detection unit for recognizing the hand application to the steering wheel, and the driving system is configured, during operation of the vehicle in the partially-automated hands-on driving mode: (i) with hand application to the steering wheel, to cause the steering wheel display to light up in a specific lighting state, and (ii) without hand application to the steering wheel, to cause the steering wheel display to light up in another lighting state differentiable by the driver from the specific lighting state.

12. The driving system according to claim 1, further comprising: an operating element, which is illuminable and is arranged on the steering wheel for a driver-side selection of the first driving mode, and an operating element, which is illuminable and is arranged on the steering wheel for the driver-side selection of the second driving mode, and the driving system is configured to: in the first driving mode, cause both the steering wheel display and also the operating element associated with the first driving mode to light up in a common light color, and in the second driving mode, cause both the steering wheel display and also the operating element associated with the second driving mode to light up in a different common light color differentiable by the driver.

13. A display method for a driving system for automated driving of a motor vehicle, wherein, for the automated driving, the driving system is operable at least in a first automated driving mode having automated longitudinal and/or lateral control and in a second automated driving mode different therefrom having automated longitudinal and/or lateral control, wherein the driving system comprises a steering wheel display having lighting for lighting up the steering wheel, and the steering wheel display is operable in various lighting states differentiable by the driver, wherein the display method comprises the steps of: during operation of the driving system in the first driving mode, lighting up the steering wheel display in a first lighting state; and during operation of the driving system in the second driving mode, lighting up the steering wheel display in a second lighting state differentiable by a driver from the first lighting state.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0061] FIG. 1 shows an exemplary steering wheel comprising an exemplary steering wheel display and exemplary operating elements for a driving system according to the invention for automated driving.

[0062] FIG. 2 shows different exemplary lighting states of a steering wheel display for various driving modes of an exemplary driving system for automated driving.

[0063] FIG. 3 shows an exemplary implementation of the signaling of a hands-on request in the partially-automated hands-on driving mode.

DETAILED DESCRIPTION OF THE DRAWINGS

[0064] FIG. 1 shows an exemplary steering wheel 1 comprising an exemplary steering wheel display 2 integrated into a steering wheel rim 3 and comprising exemplary combined display and operating elements 5 integrated into a steering wheel spoke 4 for a driving system according to the invention for automated driving. The steering wheel display 2 is implemented in the form of a segmented light ring comprising a plurality of light segments, which can be caused to light up in dependence on the activation alternately as a closed light ring or only in defined curved regions of the light ring. In this case, the light ring can light up in different light colors in dependence on the system-side activation. To implement the individual segments of the light ring, for example, lighting devices in the form of LEDs (LEDlight-emitting diode) can be provided. A segment of the light ring can correspond in this case to a group of LEDs or to a single LED.

[0065] Furthermore, a hands-on detection unit comprising a sensor system integrated into the steering wheel rim is provided, which can establish whether the driver keeps at least one hand on the steering wheel in the curved region of the steering wheel rim 3 which is covered by the sensor system. In this case, the entire steering wheel rim 3 can be covered by the sensor system or one or more regions of the steering wheel rim 3 can be omitted in this case (for example, the region at the bottom and/or top on the steering wheel rim 3).

[0066] The combined display and operating elements 5 comprise a plurality of operating panels 5.1-5.7, wherein a single operating panel is actuated by pressing or touching. The combined display and operating elements 5.1-5.4 are preferably dependent in the function and display thereof on the respective active driving mode. In dependence on the driving mode, these operating panels 5.1-5.4 can be covered by a variable symbolic or text inscription dependent on the driving mode.

[0067] The combined display and operating elements 5.5, 5.6, 5.7 having the exemplary inscription MAN, ASSIST, and AUTO are each used for the driver-side selection of a respective assigned driving mode and are backlit in color, for example, when the driving mode associated with the operating element is active, in order to signal the active driving mode to the driver.

[0068] The driving system assists a variety of driving modes:

1. Manual driving mode (manual driving): In the manual driving mode, both the longitudinal and also the lateral control are performed manually by the driver. By actuating the operating element 5.5 (MAN), the manual driving mode can be selected by the driver. With active manual driving mode, the operating element 5.5 (MAN) is backlit in color to indicate the active driving mode.
2. Assisted driving mode (assisted driving): In the assisted driving mode, the driving system carries out the longitudinal control. The function of the driving system in this driving mode preferably corresponds to the function of an ACC system (ACCadaptive cruise control). The lateral control is taken over by the driver. The driver has to continuously monitor the driving system. By actuating the operating element 5.6 (ASSIST), the driver can select the assisted driving mode. With active assisted driving mode, the operating element 5.6 (ASSIST) is backlit in color to indicate the active driving mode. The driver can increase or decrease a target distance in relation to the front vehicle by way of the operating elements 5.1 and 5.3. For this purpose, they are provided with corresponding display information in this driving mode.
3. Partially-automated hands-on driving mode (partially-automated driving, abbreviated TAF-HON): In the partially-automated hands-on driving mode, the driving system takes over both the longitudinal and also the lateral control. In this driving mode, the driver both has to continuously monitor the system and also keep at least one hand on the steering wheel. If the assisted driving mode has been selected by actuating the operating element 5.6 (ASSIST), a partially-automated driving mode can be selected by actuating the operating element 5.4. The driving system establishes independently whether a partially-automated hands-off driving mode or a partially-automated hands-on driving mode is provided.
4. Partially-automated hands-off driving mode (partially-automated driving, abbreviated TAF-HOF): This differs from the partially-automated hands-on driving mode in that the driver does not have to keep a hand on the steering wheel. The system is preferably designed so that the driver can keep the hands on the steering wheel in the partially-automated hands-off driving mode if he wishes to (without him having to do this, however).
5. Highly-automated hands-off driving mode (highly-automated driving, abbreviated HAF): In the highly-automated hands-off driving mode, the driving system takes over the longitudinal and lateral control (for example, when driving on the freeway). The driver does not have to continuously monitor the system and also does not have to keep a hand on the steering wheel. However, the driver has to be capable in a certain time of taking over the vehicle control after the vehicle has requested the driver to do so by way of a takeover request. By actuating the operating element 5.7 (AUTO), the driver can select the highly-automated driving mode. With active assisted driving mode, the operating element 5.7 (AUTO) is backlit in color to display the active driving mode.

[0069] Various states S1-S10 of the steering wheel display 2 are schematically shown in dependence on the driving mode and the state transitions in FIG. 2. In this case, regions of the steering wheel display shown non-shaded indicate that these regions of the steering wheel display do not light up. If the entire steering wheel display 2 is not shaded, the entire display 2 does not light up. A region of the steering wheel display 2 shown with diagonal shading corresponds to a region which lights up in a first light color, for example blue. If the entire steering wheel display 2 is shown diagonally shaded, the entire display 2 lights up in the first light color, for example blue. A region of the steering wheel display 2 shown horizontally shaded corresponds to a region which lights up in a second light color, for example green. If the entire steering wheel display 2 is shown horizontally shaded, the entire display 2 lights up in the second light color, for example green.

[0070] If the vehicle is in the manual driving mode, the steering wheel display 2 is in the state S1 and does not light up. In reaction to an actuation of the operating element 5.7 (AUTO), the vehicle is switched over from the manual driving mode into the highly-automated hands-off driving mode HAF. If the driving mode HAF is active and has taken over the lateral and longitudinal control of the vehicle, the steering wheel display 2 is in the state S4, in which the steering wheel display 2 lights up as a closed light ring in the first light color (for example, blue).

[0071] The transition into the driving mode HAF can take place with a dynamic animation. After actuation of the operating element 5.7 (AUTO) in the manual driving mode, firstly the intermediate states S2, S3 and possibly further intermediate states (not shown) follow, in which the illumination of the steering wheel display in the first light color (for example, blue) successively increases proceeding from a left and right region of the steering wheel display 2, until the entire light ring lights up in the state S4. In the state S4, the operating element 5.7 (AUTO) lights up in the same light color as the steering wheel display 2.

[0072] If the vehicle is in the manual driving mode, in reaction to an actuation of the operating element 5.7 (AUTO), the vehicle can be switched over from the manual driving mode into a partially-automated driving mode. It can be provided that, in reaction to the actuation of the operating element 5.7 (AUTO), the vehicle firstly switches over into the assisted driving mode and the vehicle only switches over into a partially-automated driving mode after actuation of a further operating element (for example, the operating element 5.4). The operating element 5.4 is used in this case for activating an automated lateral control. At least the following different variants are contemplated:

1. The system always starts, upon actuation of the operating element 5.6 (ASSIST), with automated lateral control (i.e., in a partially-automated driving mode); to deactivate the lateral control (and switch over into the assisted driving mode), for example, the operating element 5.4 has to be pressed.
2. The system always starts, upon actuation of the operating element 5.6 (ASSIST), without automated lateral control (i.e., in the assisted driving mode); to activate the lateral control, a further operating element (for example, the operating element 5.4) has to be actuated.
3. The system notes the last set lateral control status (automated lateral control on or off) and starts again in this status after actuation of the operating element 5.6 (ASSIST).

[0073] If a partially-automated driving mode has been selected by the driver by way of one or more operating actions, the vehicle decides automatically, for example in dependence on the present surroundings situation, whether the vehicle is operated in the partially-automated hands-off driving mode TAF-HOF or in the partially-automated hands-on driving mode TAF-HON. The system-side decision for the partially-automated hands-off driving mode TAF-HOF is identified in FIG. 2 with HOF, while the system-side decision for the partially-automated hands-on driving mode TAF-HON is identified in FIG. 2 with HON.

[0074] If the driving mode TAF-HOF has been activated and the automated lateral and longitudinal control of the vehicle has been taken over, the steering wheel display 2 is in the state S7, in which the steering wheel display 2 lights up as a closed light ring in the second light color (for example, green). The transition into the driving mode TAF-HOF can take place with a dynamic animation. After actuation of the operating element 5.7 (ASSIST), the intermediate states S5, S6 and possibly further intermediate states (not shown) follow, in which the illumination of the steering wheel display 2 in the second light color (for example, green) successively increases proceeding from a left and right region of the steering wheel display 2 until the entire light ring lights up in the state S7. In the state S7, the operating element 5.6 (ASSIST) lights up in the same light color as the steering wheel display 2. Moreover, it can be provided that the operating element 5.4 also lights up in the same light color in the state S7.

[0075] It would also be conceivable that the light ring is not completely closed in the state S7, but rather, solely in comparison to the state S10 discussed hereafter, lights up in larger curved regions of the steering wheel rim 3, which comprise the left curved region 10 and the right curved region 11 and extend significantly beyond them. For example, in the state S7, the steering wheel rim 3 lights up completely except for an omitted top and/or bottom curved region. This would also be transferable in the same manner to the state S4 and the state S15 discussed hereafter.

[0076] If the driving mode TAF-HON was activated and the automated lateral and longitudinal control of the vehicle was taken over, the steering wheel display 2 is in the state S10, in which the steering wheel display only lights up on a left curved region 10 and on a right curved region 11 of the steering wheel rim 1 to signal that the driver is to keep his hands on these curved regions 10, 11 of the steering wheel rim 3. The two curved regions 10, 11 preferably light up in the second light color (for example, green). However, it would also be conceivable that, in the state S10, a different light color (for example yellow) than the first and second light colors is used in general. Moreover, it could be provided that the lighted regions flash or pulse.

[0077] The transition into the driving mode TAF-HON can take place with a dynamic animation. After actuation of the operating element 5.7 (ASSIST), the intermediate states S8, S9 and possibly further intermediate states (not shown) follow, in which the illumination of the steering wheel display 2 in the second light color (for example, green) increases successively until the regions 10 and 11 light up in the state S10.

[0078] In the state S10, the operating element 5.6 (ASSIST) lights up in the same light color as the steering wheel display 2. Moreover, it can be provided that the operating element 5.4 also lights up in the same light color in the state S10.

[0079] It would be conceivable in the driving mode TAF-HON to make the light color of the steering wheel display 2 dependent on whether the driver presently keeps the hands on the steering wheel 1 or not: If, for example, the vehicle is in the driving mode TAF-HON and the driver is supposed to keep the hands on the steering wheel 1, the curved regions 10, 11 of the display 2 light up, on which he is to place the hand, in the second light color (for example, green), if a hands-on sensor system establishes that at least one hand grasps the steering wheel rim 3 at an arbitrary point. If the vehicle is in the driving mode TAF-HON and the driver is supposed to keep the hands on the steering wheel 1, the curved regions 10, 11 of the display 2 light up, on which he is to place the hand, in the other light color (for example, yellow), if a hands-on sensor system establishes that no hand grasps the steering wheel rim 3 at an arbitrary point.

[0080] By actuating the operating element 5.5 (MAN), the driving mode can be switched over proceeding from the driving modes HAF, TAF-HOF, and TAF-HON into the manual driving mode, wherein then the steering wheel display 2 successively goes out with the described intermediate states in reverse sequence in relation to the activation of the automated driving mode. A transition into this stage can thus take place with a dynamic animation.

[0081] By actuating the operating element 5.7 (AUTO), it is possible to switch over from a partially-automated driving mode TAF-HOF or TAF-HON into the highly-automated driving mode HAF, while in contrast, in the highly-automated driving mode HAF, it is possible to switch over into a partially-automated driving mode by actuating the operating element 5.6 (ASSIST), wherein the steering wheel display 2 is switched over accordingly (to the state S4 or to the state S7 or S10, respectively). The transition can also be accompanied by intermediate lighting states here.

[0082] Furthermore, the driving system can switch over the driving mode automatically from one partially-automated driving mode into the other partially-automated driving mode. In this case, the steering wheel display 2 changes from the state 7 to the state 10 or from the state S10 to the state S7, respectively. The transition can also be accompanied by intermediate lighting states here.

[0083] An exemplary implementation of the signaling of a hands-on request in the partially-automated hands-on driving mode TAF-HON will be described hereafter in conjunction with FIG. 3. The change of the color of the steering wheel display 2 and the brightness of the steering wheel display over the time tin the scope of the hands-on request is illustrated in the lower diagram.

[0084] When the hands-on detection unit establishes at the point in time t.sub.o that a hand is not applied to the steering wheel 1, the steering wheel display 2 begins proceeding from the state S10 to change the state in order to request the driver in the scope of a hands-on request to place the hands on the steering wheel. In this case, the lighting state S10 of the steering wheel display 2 merges continuously within a defined time span t.sub.1 (for example, 6 seconds) via the illustrated intermediate states S11 and S12 into the state S13, in which the left and right illuminated regions 10 and 11 have a third light color (for example, red). The changed third light color (for example, red) corresponds in FIG. 3 to the vertically extending shading. During the transition into the state S13, the regions 10 and 11 are continuously filled up with the third light color (for example, red). The change of the lighting state S10 can begin immediately thereafter, if the hands-on detection unit establishes that a hand is not applied to the steering wheel. Alternatively, the change of the lighting state S10 can also only begin when the hands-on detection unit has established that the driver has no longer had a hand on the steering wheel for a defined duration (for example, 2 seconds), the driver has thus not grasped the steering wheel rim with at least one hand within this duration.

[0085] If the driver places at least one hand on the steering wheel rim 3 within the time span t.sub.1 of the transition, the lighting state of the steering wheel display 2 preferably changes suddenly (i.e., without intermediate states) back into the lighting state S10.

[0086] After reaching the lighting state S13 at the point in time t.sub.b, the lighting state is maintained for a duration t.sub.2 (for example, t.sub.2=2 seconds), if the driver has not applied a hand to the steering wheel rim 3 according to monitoring by the hands-on detection unit (otherwise jump back into the lighting state S10).

[0087] If the driver has still not applied a hand to the steering wheel after passage of the duration t.sub.2, the lighting state S13 changes into the lighting state S14, in which the regions 10 and 11 flash in the third light color (for example, red).

[0088] In this state, acoustic warning signals are additionally output to the driver.

[0089] After the driver has not applied a hand to the steering wheel for a duration t.sub.3 (for example, t.sub.3=4 seconds) from the point in time t.sub.c, it is communicated at the point in time t.sub.d via a display in the cockpit or in the head-up display that, if the hands-on request is not complied with, an emergency stopping maneuver will be carried out automatically by the driving system.

[0090] After the driver has not applied a hand to the steering wheel for a duration t.sub.4 (for example, t.sub.4=4 seconds) from the point in time t.sub.d, an emergency stopping maneuver is triggered at the point in time t.sub.e.

[0091] From this point in time t.sub.e, the steering wheel display changes into the state S15, in which the lighted display 2 lights up as a closed light ring in the third light color (for example, red). The emergency stopping maneuver is now executed by the driving system.

[0092] Instead of an emergency stopping maneuver, it would also be conceivable that the driving system changes the automation state in reaction to noncompliance with the hands-on request and puts the vehicle, for example, into the manual driving operation having manual vehicle control.

[0093] The foregoing disclosure has been set forth merely to illustrate the invention and is not intended to be limiting. Since modifications of the disclosed embodiments incorporating the spirit and substance of the invention may occur to persons skilled in the art, the invention should be construed to include everything within the scope of the appended claims and equivalents thereof.