Vehicle Guidance System and Method for Controlling an Emergency Stop Assistance Function of a Motor Vehicle

Abstract

A vehicle guidance system for a motor vehicle is configured to determine a complexity indicator in relation to the complexity of a driving situation of the motor vehicle and to determine one or more trigger conditions as a function of the complexity indicator. The vehicle guidance system is further configured to cause an automated emergency stop of the motor vehicle if one or more trigger conditions occur.

Claims

1.-15. (canceled)

16. A system for a motor vehicle, the system comprising: a vehicle guidance system operatively configured to: ascertain a complexity indicator with respect to a complexity of a driving situation of the motor vehicle; determine one or more triggering conditions for an automated emergency stop of the motor vehicle as a function of the complexity indicator; and bring about the automated emergency stop of the motor vehicle when one or more triggering conditions occur.

17. The system according to claim 16, wherein the one or more triggering conditions have at least one triggering period which depends on a maximally permissible period of time for an existence of a particular driver-related behavior and/or condition; and the vehicle guidance system is further configured to: adapt the at least one triggering period as a function of the complexity indicator, such that: (i) the triggering period increases when the complexity of the driving situation indicated by the complexity indicator diminishes; and/or (ii) the triggering period diminishes when the complexity of the driving situation indicated by the complexity indicator increases.

18. The system according to claim 17, wherein the one or more triggering conditions comprise: a first triggering condition, to the effect that a driver of the vehicle has closed his/her eyes continuously for at least a first triggering period; and/or a second triggering condition, to the effect that a head of the driver is oriented away from a straight-ahead position for at least a second triggering period.

19. The system according to claim 16, wherein the vehicle guidance system is further configured to: ascertain the complexity indicator with respect to the complexity of the driving situation based on ambient-field data from one or more ambient-field sensors of the motor vehicle.

20. The system according to claim 19, wherein the vehicle guidance system is further configured to: ascertain the complexity indicator based on or more of the following items of information: an item of information with respect to a traffic density of traffic in an ambient field of the vehicle; and/or an item of information with respect to an existence of a traffic-jam journey of the vehicle.

21. The system according to claim 16, wherein the vehicle guidance system is further configured to: ascertain the complexity indicator with respect to the complexity of the driving situation based on map data for a digital map with respect to a road network being driven along by the motor vehicle.

22. The system according to claim 21, wherein the vehicle guidance system is further configured to: ascertain the complexity indicator based on information with respect to a type of a roadway being driven along by the vehicle.

23. The system according to claim 16, wherein the vehicle guidance system is further configured to: ascertain the complexity indicator with respect to the complexity of the driving situation based on condition data with respect to a condition of the vehicle.

24. The system according to claim 23, wherein the vehicle guidance system is further configured to: ascertain the complexity indicator based on one or more of the following items of information: an item of information with respect to a driving speed of the vehicle; and/or an item of information with respect to one or more activated driver-assistance functions.

25. The system according to claim 16, wherein the vehicle guidance system is further configured to: ascertain, based on the complexity indicator, whether a driving situation pertaining to a first category or to a second category occurs, driving situations pertaining to the first category and to the second category each exhibiting a differing complexity; use one or more first triggering conditions for the triggering of an automated emergency stop of the vehicle when a driving situation pertaining to the first category occurs; and use one or more second triggering conditions for the triggering of an automated emergency stop of the vehicle when a driving situation pertaining to the second category occurs, the one or more second triggering conditions differing from the one or more first triggering conditions.

26. The system according to claim 16, wherein the vehicle guidance system is further configured to: ascertain driver data with respect to a driver; determine, based on the driver data, whether or not the one or more triggering conditions for the triggering of an automated emergency stop of the vehicle have been satisfied; and bring about an automated emergency stop of the vehicle when it has been determined that the one or more triggering conditions have been satisfied.

27. The system according to claim 26, wherein the driver data comprises image data of a camera directed toward the driver.

28. The system according to claim 16, wherein the vehicle guidance system is further configured to: detect one or more indications of activity with respect to an activity of a driver of the vehicle, the one or more indications of activity including an actuation of a control element of the vehicle by the driver; and adapt the one or more triggering conditions also as a function of the one or more detected indications of activity.

29. The system according to claim 28, wherein the control element is a button, a gas pedal and/or a brake pedal.

30. The system according to claim 16, wherein the vehicle guidance system is further configured to ascertain a complexity indicator which indicates: how complex the driving situation is for a driver; and/or what degree of attentiveness the driving situation requires from a driver.

31. The system according to claim 16, wherein the vehicle guidance system is further configured to adapt the one or more triggering conditions as a function of the complexity indicator such that: a probability that an automated emergency stop of the motor vehicle will be brought about diminishes when the complexity of the driving situation indicated by the complexity indicator diminishes; and/or the probability that an automated emergency stop of the motor vehicle will be brought about increases when the complexity of the driving situation indicated by the complexity indicator increases.

32. A method for controlling an emergency-stop assistance function of a motor vehicle, which has been configured to bring about an automated emergency stop of the motor vehicle when one or more triggering conditions occur, the method comprising: ascertaining a complexity indicator with respect to a complexity of a driving situation of the motor vehicle; and determining the one or more triggering conditions as a function of the complexity indicator.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0035] FIG. 1 shows an exemplary vehicle with an emergency-stop assistance function; and

[0036] FIG. 2 is a flowchart of an exemplary method for operating an emergency-stop assistance function.

DETAILED DESCRIPTION OF THE DRAWINGS

[0037] As stated at the beginning, the present document is concerned with the enhancement of the comfort and reliability of an emergency-stop assistance function. In this context, FIG. 1 shows an exemplary vehicle 100 which includes one or more ambient-field sensors 102 which have been configured to capture ambient-field data (that is to say, sensor data) with respect to the ambient field of the vehicle 100 (in particular, with respect to the ambient field in the direction of travel ahead of the vehicle 100). Exemplary ambient-field sensors 102 are one or more cameras, one or more radar sensors, one or more lidar sensors, one or more ultrasonic sensors, etc.

[0038] A control unit 101 of the vehicle 100 has been configured to evaluate the ambient-field data, in order to provide one or more driving functions of the vehicle 100. Exemplary driving functions are a lane-keeping assistance function, an adaptive spacing regulator and/or speed regulator, an emergency-stop assistance function, etc. For this purpose, one or more longitudinal-guidance and/or lateral-guidance actuators 103 of the vehicle 100 (for example, a drive motor, a steering device and/or a braking device) can be activated by the control unit 101.

[0039] Within the scope of the emergency-stop assistance function, it can be ensured that the vehicle 100 will be decelerated to a standstill in an automated manner within the lane currently being driven along. The longitudinal guidance and the lateral guidance of the vehicle 100 can be brought about in an automated manner by the vehicle 100, in particular by the control unit 101.

[0040] The vehicle 100 includes one or more driver sensors 104 which have been configured to capture driver data (that is to say, sensor data) with respect to the driver of the vehicle 100. The one or more driver sensors 104 may include, in particular, a camera directed from the front toward the driver, for instance toward the driver's head. The control unit 101 may be configured to evaluate the driver data, in order, for example, to ascertain: [0041] whether the driver's eyes are open or closed; [0042] whether the driver's head (in relation to the horizontal) has dropped down (that is to say, into the driver's lap) (for example, by 15 or more); [0043] whether the driver's head is turned away to the side; and/or [0044] whether the driver's head has dropped rearward (that is to say, against the headrest).

[0045] The aforementioned information may be an indication that the attention of the driver of the vehicle 100 is not focused on the driving task or on the monitoring of the driving task brought about by the vehicle 100. Where appropriate, by virtue of the aforementioned information it can be indicated that the driver of the vehicle 100 is not conscious (for example, because the driver is asleep).

[0046] The control unit 101that is to say, a vehicle guidance system including the control unit 101may be configured to check, on the basis of the driver data, whether or not one or more triggering conditions for triggering an automated emergency stop have been satisfied. Exemplary triggering conditions are: [0047] a first triggering condition, to the effect that the driver's eyes have been closed uninterruptedly for at least a first triggering period (of 3 seconds, for example); and/or [0048] a second triggering condition, to the effect that the driver's head has dropped down uninterruptedly for at least a second triggering period (of 3 seconds, for example).

[0049] If it is determined that one or more triggering conditions have been satisfied, an automated emergency stop can be triggered, in order to bring the vehicle 100 to a standstill in automated manner within the lane currently being driven along.

[0050] As stated at the beginning, an automated emergency stop may result in a disturbance of the traffic in the ambient field of the vehicle 100. Furthermore, the driver may be perturbed or surprised by the emergency stop if the driver is still in a ready-to-drive condition.

[0051] The vehicle guidance system may be configured to ascertain, within the scope of the emergency-stop assistance function, a complexity indicator for the complexity of an existing driving situation. The complexity indicator and/or the complexity of a driving situation may, for example, depend on: [0052] the driving speed of the vehicle 100, in which connection the complexity typically increases with increasing driving speed; [0053] the type of road, such as, for example, freeway, country road, town center, in which connection the complexity is typically higher in the town center than on the freeway; [0054] the traffic density of the surrounding traffic, in which connection the complexity typically increases with increasing traffic density; [0055] the driving in a traffic jam, this typically being associated with a relatively low complexity; [0056] an activated driver-assistance function, in particular a driver-assistance function that has been configured to guide the vehicle 100 longitudinally and/or laterally at least partially in an automated manner (such as, for example, a lane-keeping assistance function and/or a spacing regulator and/or speed regulator). The utilization of one or more driver-assistance functions typically leads to a reduction of the complexity of the driving situation.

[0057] The driver-assistance system may consequently be configured to ascertain a complexity indicator which indicates how complex the present driving situation is with respect to the driving task to be performed by the driver (for longitudinal and/or lateral guidance of the vehicle 100).

[0058] The driver-assistance system may furthermore be configured to adapt one or more triggering conditions for implementing an automated emergency stop as a function of the ascertained complexity indicator for the complexity of the present driving situation. One or more triggering conditions can be adapted in such a manner that: [0059] the probability of the implementation of an automated emergency stop diminishes if the complexity of the driving situation indicated by the complexity indicator diminishes; and/or [0060] the probability of the implementation of an automated emergency stop increases if the complexity of the driving situation indicated by the complexity indicator increases.

[0061] In particular, the triggering period of the one or more triggering conditions (for the existence of an inattentive driver) can be extended if the complexity of the driving situation indicated by the complexity indicator diminishes. On the other hand, the triggering period of one or more triggering conditions can be shortened if the complexity of the driving situation indicated by the complexity indicator increases.

[0062] Exemplary triggering conditions for an emergency stop are, for example (where appropriate, when a driving speed of >70 km/h obtains): [0063] driver's eyes closed for 2.5 s (triggering period 1). [0064] dropping of the driver's head forward by 20 and maintenance of an angle 18 for 1.5 s (triggering period 2). [0065] dropping of the driver's head forward by 15 in 0.5 s and no recognition of the driver's face within 1.5 s (triggering period 3). [0066] dropping of the driver's head rearward by 10 and maintenance of the angle 10 for 1.5 s (triggering period 4).

[0067] The aforementioned triggering periods can be adapted as a function of the complexity indicator for the complexity of the present driving situation. In particular, the triggering periods can be increased if the existence of a driving situation with a relatively low complexity is detected (such as, for example, driving at relatively low speed, for instance between 20 km/h and 50 km/h, in a traffic jam). For instance, triggering period 1 can be increased to 5 s, triggering period 2 can be increased to 3 s, triggering period 3 can be increased to 3 s, and/or triggering period 4 can be increased to 3 s (where s stands for seconds).

[0068] The driver-assistance system may, where appropriate, be designed to output an (acoustic) request for attentiveness to the driver of the vehicle 100 prior to implementation of an automated emergency stop if, on the basis of the driver data, it is detected that the driver is exhibiting an insufficient degree of attentiveness with respect to the driving task. For instance, the orientation of the driver's head can be ascertained on the basis of the driver data (for example, with reference to the orientation of the driver's nose). If the orientation of the head deviates from the straight-ahead direction for a particular period of time (for example, 3 s), an acoustic request for attentiveness can firstly be output (via a loudspeaker 105 of the vehicle 100). If the orientation of the head continues to deviate from the straight-ahead direction, the automated emergency stop can be brought about after a triggering period. This triggering period can, in turn, be adapted as a function of the complexity indicator.

[0069] It can be observed that drivers allow themselves to be distracted to an increased extent in the course of driving tasks that are not very demanding (that is to say, in relatively uncomplicated driving situations), and may intentionally look down (for example, in order to view a mobile user device such as a smartphone). In such a situation, the triggering of an automated emergency stop may occur even though the driver is not actually incapable of driving.

[0070] As described in this document, the one or more detection times for the inability of the driver to drive (that is to say, the one or more triggering periods) can be made longer or shorter, depending on the complexity of the traffic scenario. For instance, a category can be defined for a relatively complex traffic scenario in which a journey within a residential area or a journey at relatively high speed (for example >50 km/h) obtains. In a further example, a category can be defined for a relatively uncomplicated traffic scenario in which a traffic-jam journey below 50 km/h obtains.

[0071] The recognition of the categorythat is to say, the ascertainment of the complexity indicatorcan be undertaken via the capture of the ambient field of the vehicle 100 by one or more ambient-field sensors 102 (for example, in order to ascertain the traffic density, the probability of a traffic jam, etc.) and/or via navigation data (for example, in order to ascertain the existence of a residential area via the class of road).

[0072] FIG. 2 shows a flowchart of a (where appropriate, computer-implemented) method 200 for controlling an emergency-stop assistance function of a motor vehicle 100. The emergency-stop assistance function has been configured to bring about an automated emergency stop of the motor vehicle 100 when one or more triggering conditions obtain. The one or more triggering conditions may relate to the attentiveness of the driver of the vehicle 100. In particular, a first triggering condition may relate to whether and for how long the driver's eyes have been closed. A second triggering condition may relate to the orientation of the driver's head. Within the scope of the automated emergency stop, it can be ensured that the vehicle 100 is brought to a standstill in automated manner (where appropriate, within the lane currently being driven along).

[0073] The method 200 includes the ascertaining 201 of a complexity indicator with respect to the complexity of the driving situation of the motor vehicle 100 currently present in the given case. The complexity indicator can indicate how complex the driving situation currently present in the given case is typically perceived to be by a driver.

[0074] Moreover, the method 200 includes the determining, in particular the adapting, 202 of the one or more triggering conditions as a function of the complexity indicator. The complexity indicator and, based thereon, the one or more triggering conditions (with respect to the driving situation present in the given case) can be determined, in particular can be adapted, repeatedly, in particular periodically. In this way, the comfort and reliability of an emergency-stop assistance function can be enhanced.

[0075] The present invention is not restricted to the embodiment examples shown. In particular, it should be noted that the description and the figures are intended to illustrate the principle of the proposed methods, devices and systems only in exemplary manner.