Abstract:
A method for the automatic operation of a vehicle in an autonomous driving mode not requiring user action is provided. This involves detection of a present traffic situation, a check whether the traffic situation fulfils a first criterion, and a blocking of a functionality which offers to a driver during the autonomous driving mode a secondary activity not related to driving the vehicle if the first criterion is fulfilled. A device for the automatic operation of a vehicle in an autonomous driving mode not requiring user action includes devices designed for carrying out the method for the automatic operation of a vehicle in an autonomous driving mode not requiring user action.

Description:
BACKGROUND AND SUMMARY OF THE INVENTION 
       [0001]    Exemplary embodiments of the present invention relate to a method and a device for the automatic operation of a vehicle in an autonomous driving mode not requiring user action. 
         [0002]    Methods for operating a motor vehicle with the support of an assistance system and such systems are known. This may involve closed-loop control for longitudinal and/or transverse dynamics of the motor vehicle, with supporting intervention for driving error and/or the inattention of the driver of the vehicle. Systems that set a distance from an object moving in front are known. Also known are assistance systems that intervene in the steering if the driver unintentionally leaves a lane or would leave a lane without the intervention of such systems. 
         [0003]    German Patent document DE 10 2009 010 006 A1 discloses a method and a device for the partly autonomous or fully autonomous operation of a vehicle, wherein a driver assistance system takes over those driving functions of a driver of the vehicle of which it has been established that the driver wishes to hand them over to the driver assistance system. A driver intervention in a driving event during a partly or fully autonomous travel overrides a corresponding driver assistance function of the driver assistance system. 
         [0004]    German Patent document DE 11 2006 002 892 T5 discloses a method and a device for switching between the autonomous and the manual operation of a vehicle, wherein a human interface facilitates processes of switching between autonomous and manual controls of a vehicle and enhances the operability and safety of vehicle use in the autonomous and manual operation of the vehicle. 
         [0005]    Exemplary embodiments of the present invention provide a method and device for the automatic operation of a vehicle in an autonomous driving mode not requiring user action, wherein a user has a high degree of freedom with respect to his actions during the autonomous driving mode. 
         [0006]    More specifically, a method for the automatic operation of a vehicle in an autonomous driving mode not requiring user action comprises a detection of a present traffic situation, a check whether the traffic situation fulfils a first criterion, and a blocking of a functionality that offers to a driver during the autonomous driving mode a secondary activity not related to driving the vehicle if the first criterion is fulfilled. 
         [0007]    The term “autonomous driving mode” should be understood to describe the autonomous driving of a vehicle supported by assistance systems without any intervention by the user. Assistance systems take over the control of the longitudinal and transverse dynamics of the vehicle, for example, autonomous acceleration, braking and/or steering operations. 
         [0008]    This offers the advantage that the user can be offered various options, which may include the reading of an electronic newspaper or the like. Although the user can engage in such secondary activities on offer in the autonomous driving mode and has a high degree of freedom with respect to such secondary activities, safety during a journey of the vehicle is ensured or even enhanced by the fact that, in the presence of a predetermined traffic situation, a functionality which offers the driver a secondary activity not related to driving the vehicle during the autonomous driving mode is blocked, so that the attention of the user is drawn to the driving operation itself. 
         [0009]    The method preferably comprises a check whether the traffic situation fulfils a second criterion and a provision or signaling of a control opportunity for a driver of the vehicle for the activation of the autonomous driving mode if the traffic situation fulfils the second criterion. 
         [0010]    This offers the advantage that the user can only initiate an autonomous driving mode in a traffic situation which is suitable for the autonomous driving mode. 
         [0011]    The method preferably comprises a check of at least one warning criterion during the autonomous driving mode. 
         [0012]    The method preferably comprises a warning to the driver if the at least one warning criterion is fulfilled. 
         [0013]    In the method, the warning criterion preferably comprises several warning criteria, and the warning comprises a multi-stage warning to the driver on the basis of the several warning criteria. 
         [0014]    The traffic situation in the method preferably is a traffic jam. 
         [0015]    The users of vehicles find traffic jams time-consuming and inconvenient. In such a traffic situation felt to be inconvenient, the user can be freed of the need to control the vehicle by the autonomous driving mode. 
         [0016]    In greater detail, a device for the automatic operation of a vehicle in an autonomous driving mode not requiring user action comprises detection devices for detecting a present traffic situation, a checking device for checking whether the traffic situation fulfils a first criterion, and a blocking device for the blocking of a functionality which offers to a driver during the autonomous driving mode a secondary activity not related to driving the vehicle if the first criterion is fulfilled. 
         [0017]    This offers the advantage that the user can be offered various options, which may include the reading of an electronic newspaper or the like. Although the user can engage in such secondary activities on offer in the autonomous driving mode and has a high degree of freedom with respect to such secondary activities, safety during a journey of the vehicle is ensured or even enhanced by the fact that, in the presence of a predetermined traffic situation, a functionality that offers the driver a secondary activity not related to driving the vehicle during the autonomous driving mode is blocked, so that the attention of the user is drawn to the driving operation itself. 
         [0018]    In the device, the checking device preferably checks whether the traffic situation fulfils a second criterion, and a device is provided for the provision or signaling of a control opportunity for a driver of the vehicle for the activation of the autonomous driving mode if the traffic situation fulfils the second criterion. 
         [0019]    This offers the advantage that the user can only initiate an autonomous driving mode in a traffic situation which is suitable for the autonomous driving mode. 
     
    
     
       BRIEF DESCRIPTION OF THE DRAWING FIGURES 
         [0020]    Further advantages, features and details can be derived from the following description in which—with reference to the drawing if applicable—at least one embodiment is described in detail. Described and/or illustrated features form, either individually or in any sensible combination, the subject matter of the invention—independent of the claims if applicable—and may additionally be the subject matter of one or more separate application(s). Identical, similar and/or functionally identical components are identified by the same reference numbers. Of the drawing: 
           [0021]      FIG. 1  is a diagrammatic representation of a man/machine interface of a vehicle with an assistance system; 
           [0022]      FIG. 2  is a diagram of a status logic between free driving and autonomous driving by means of the assistance system; 
           [0023]      FIG. 3  is a further diagrammatic representation of a status logic, with various warning stages provided for returning the attention of the driver to the traffic events; 
           [0024]      FIG. 4  shows a further status logic without any warning stages; and 
           [0025]      FIG. 5  is a diagrammatic representation of a display of the man/machine interface shown in  FIG. 1  for offering secondary activities during an active autonomous driving of the vehicle by means of the assistance system. 
       
    
    
     DETAILED DESCRIPTION 
       [0026]      FIG. 1  shows part of a vehicle  1  equipped with an assistance system  3 , of which likewise only a part is shown.  FIG. 1  is a diagrammatic representation of a man/machine interface  5 , of which likewise only a part is shown, for driving the motor vehicle  1 . Further controls, such as indicator lever, selector lever, pedal module and/or others, are not shown in  FIG. 1 . The assistance system  3  comprises a traffic jam assistance display  7 , by means of which the functions of the assistance system  3  can be indicated and/or executed. The man/machine interface  5  further comprises a central display unit  9  and a reflecting display  11 . The central display unit  9  may be designed, for example, as an LCD display. The traffic jam assistance display  7  may likewise be designed as an LCD display. If preferred, the traffic jam assistance display unit  7  and/or the central display unit  9  may be designed as touch-sensitive display units into which input commands can be entered by touch. The reflecting display unit  11  can be projected onto a windscreen in front of the man/machine interface  5 . 
         [0027]    The man/machine interface  5  has a steering wheel  13  for inputting steering commands. Alternatively, it would be possible to replace and/or supplement the steering wheel  13  by other inputting means, such as a joystick. 
         [0028]    The steering wheel  13  has a control  15  in form of a pushbutton. The control  15  is provided with an optical signal generator  17 , so that the control  15  can transmit an optical signal in at least one color to the driver of the vehicle  1 . 
         [0029]      FIG. 2  shows a status logic of the motor vehicle  1  shown in  FIG. 1  with the assistance system  3  and the man/machine interface  5 . The status logic shown in  FIG. 2  basically comprises a first status  19  for free driving and a second status for autonomous driving by means of the assistance system  3 . In the first status  19 , the driver of the motor vehicle  1  controls the man/machine interface  5 , i.e., inputs substantially all driving commands himself or herself via the man/machine interface  5 . In the second status  21  of autonomous driving, the assistance system  3  is active and takes over at least part of the control of the longitudinal and transverse dynamics of the motor vehicle  1 , i.e. autonomously executes acceleration, braking and/or steering operations. The second status  21  of autonomous driving is split into a third status  23  of active autonomous driving, a fourth status  25  of passive autonomous driving and a fifth status  27  of warning the driver. In the fifth status  27  of warning the driver, the third status  23  may still prevail. Alternatively, it is conceivable that the assistance system  3  switches to the fourth status  25  of passive autonomous driving during the fifth status  27  of warning the driver. 
         [0030]    During the fourth status  25  of passive autonomous driving, the assistance system  3  may remain entirely in the background. As a criterion for switching from the third status  23  and from the fifth status  27 , if applicable, to the fourth status  25  and vice versa, a driver override  29  can be monitored. The term “driver override”  29  should be understood as the manual control of the man/machine interface  5  by the driver of the motor vehicle  1 . If there is a driver override  29 , there is a change-over to the fourth status  25 . If there is no longer any driver override  29 , for example if the driver of the motor vehicle  1  releases the steering wheel  13  of the man/machine interface  5 , the system changes back to the third status  23 . 
         [0031]    During the fourth status  25 , it is possible that the assistance system  3  supports the driver of the motor vehicle  1  by intervening only if dangerous situations occur as a result of the driver&#39;s input, for example if there is a risk that a lane is unintentionally left and/or that the motor vehicle  1  might hit an object moving in front. In this case, the driver override  29  may be ignored, and the assistance system  3  may correct the longitudinal and/or transverse dynamics of the motor vehicle  1  in order to avoid the dangerous situation. Alternatively, it is conceivable to design the assistance system  3  to be more passive and to give a higher priority to a driver override  29  even if a dangerous situation may have been detected, i.e., to let a collision happen for example, or just to reduce its impact. 
         [0032]    During the third status  23 , the driver of the motor vehicle  1  is fully supported by a completely autonomous control of the longitudinal and transverse dynamics of the motor vehicle  1 . In this situation, it is advantageously possible for the driver of the motor vehicle  1  to turn his or her attention completely to other things than road traffic. For this purpose, the assistance system  3  may offer or enable secondary activities, for example by means of the traffic jam assistance display  7 . Such secondary activities may for example include the reading of information, the searching of a worldwide data network, written and/or oral communication and/or similar activities. 
         [0033]    For switching between the third status  23  and the fifth status  27  or for an additional activation of the fifth status  27 , at least one warning criterion  31  can be checked. If the warning criterion  31  is fulfilled, it is possible to change from the third status  23  to the fifth status  27 . The warning criterion  31  may be, for example, the resolution of a traffic jam, wherein a switch-off of the assistance system  3  is imminent, so that, by means of the fifth status  27 , the attention of the driver can be returned to the traffic situation by suitable warnings. In addition, the secondary activities offered during the third status  23  can be blocked in the fifth status  27 , so that the attention of the driver is returned to the traffic situation as fast as possible. The blocking action may be based on fulfilling a defined criterion related to a traffic situation, such as “traffic jam resolving”, in order to redirect the driver&#39;s attention to what is happening in the traffic. 
         [0034]    For changing between the first status  19  of free driving and the second status  21  of autonomous driving, a criterion  33  can be checked. This criterion  33  may be, for example, a detected traffic jam. If the criterion  33  is fulfilled, this fact can be signaled by means of the optical signal generator  16  of the control  15  shown in  FIG. 1 . In addition, the control  15  is enabled, so that the driver of the motor vehicle  1  can, by operating the control  15 , switch from the first status  19  to the second status  21 . The autonomous driving of the second status  21  advantageously follows a manual operation of the control  15 , so that the driver of the motor vehicle  1  cannot be surprised by a sudden takeover of the assistance system  3 . On the contrary, the driver will always retain control over if and when the system should switch from the first status  19  to the second status  21 . The criterion  33  merely ensures that this can only happen if the assistance system  3  also detects a traffic situation that is suitable for active or passive autonomous driving, in particular a traffic jam. 
         [0035]      FIG. 3  is a detailed view of a status logic of the assistance system  3  of the motor vehicle  1  and/or of the man/machine interface  5  of the motor vehicle  1 . By means of oval shapes, a status of the optical signal generator  17  of the control  15  is indicated at various points. The optical signal generator  17  can adopt at least three statuses, G symbolizing a green light, B a blue light and  0  a light in another color or no illumination.  0  represents the first status  19 . B represents the first status  19  but signals that it is possible to switch to the second status  21  of autonomous driving by operating the control  15 , which is additionally indicated in  FIG. 3  by the letter A for “Angeschaltet” (started). 
         [0036]    The criterion  33  is divided into an availability criterion  35  and a non-availability criterion  37 . If the availability criterion  35  of the criterion  33  is fulfilled, the assistance system  3  switches to a sixth status  39 , in which the optical signal generator  17  of the control  15  is illuminated blue and the assistance system  3  is available and is signaled to be available for manual control by the driver of the motor vehicle  1 . If the assistance system is in the sixth status  39 , the operation of the control  15  results in the second status  21  of autonomous driving. A further operation  41  of the control  15  accordingly returns the system to the first status  19  of free driving. As soon as the second status  21  of autonomous driving has been initiated by means of the operation  41  by the driver of the motor vehicle  1 , the assistance system  3  switches to the third status  23  of active autonomous driving. In the third status  23  of active autonomous driving, a first information warning criterion  43 , a second information warning criterion  45  and a third information warning criterion  47  are checked cyclically. In accordance with a presence of the information warning criteria  43  to  47 , the assistance system changes in the third status  23  to a seventh status  49  at a first information warning, to an eighth status  51  at a second information warning and to a ninth status  53  at a third information warning. In the third status  23  or the sub-statuses  49  to  53  respectively, the control  15  or the optical signal generator  17  of the control  15  is illuminated green to indicate the activity of the assistance system  3 . 
         [0037]    The first information warning criterion  43  is fulfilled if a travelling speed of the motor vehicle  1  is 39 km/h and a distance from an object travelling ahead is 30 m. Accordingly, an information warning can be output to the driver if the first information warning criterion  43  is fulfilled, i.e., in the seventh status  49 . This information warning may be represented, for example, by a window opening on the traffic jam display  7 . A suitable text of the window may read “Traffic jam assistant on! Automatic steering, braking, acceleration activated”. At the same time, the optical signal generator  17  of the control  15  is illuminated green. 
         [0038]    The sixth status  39 , in which the optical signal generator  17  of the control  15  is illuminated blue, may also be accompanied by a window opening on the traffic jam assistance display  7 . The text of the window reads “Traffic jam assistant available”, accompanied by a graphic representation of the control  15  in combination with the text “Activates system”. 
         [0039]    The second information warning criterion  45  is fulfilled if the speed of the motor vehicle is 40 km/h or the distance from an object travelling ahead is more than 30 m and 45 m. The travelling speed of 40 km/h cannot be exceeded, because in the third status a speed limiter  55  of the assistance system  3 , which is set to 40 km/h, is activated. If the objects travelling ahead demand a higher speed, the speed limiter  55  becomes active and limits the travelling speed to 40 km/h, the second information warning criterion  45  being fulfilled at the same time. In the eighth status  51 , the optical signal generator  17  of the control  15  is illuminated green, thereby indicating the activity of the assistance system  3 . A corresponding warning can be given by means of a window of the traffic jam assistance display  7  opening. The text of the window reads “Changed traffic jam conditions. Traffic jam assistant remains active”. 
         [0040]    The third information warning criterion  47  is fulfilled if the distance of the motor vehicle from the object travelling ahead is more than 40 m and 50 m or if a number of objects travelling ahead or of vehicles caught in the traffic jam is less than three. This ninth status  53  can likewise be indicated by means of a window of the traffic jam assistance display  7  opening. The text of the window reads “Traffic jam assistant could switch off. Observe traffic”. 
         [0041]      FIG. 3  indicates the statuses  49  to  53  additionally by the letters G for green, Y for yellow and R for red. In accordance with this, the opening windows of the associated warning messages in the traffic jam display unit  7  can appear in the colors green, yellow and red. 
         [0042]    To change between the fourth status  25  and the third status  23 , it is checked whether or not there is a driver override  29 , which is indicated in  FIG. 3  by means of arrows pointing in two different directions; a change from the third status  23  to the fourth status  25  occurs if there is a driver override  29 , with a change-back if there is no longer a driver override  29 . In the second status  21  of autonomous driving, a first warning criterion  57  and a second warning criterion  59  are checked cyclically. The first warning criterion  57  is fulfilled if the distance from the object travelling ahead is greater than a maximum distance, or if the object travelling ahead can no longer be detected reliably, or if a detection of the lane in which the vehicle travels is no longer classified as reliable. If the first warning criterion  57  is fulfilled, the assistance system  3  switches to a status  61  of a first warning symbolized by W 1  in  FIG. 3 . In the tenth status  61 , the assistance system  3  is switched off, which is signaled by means of the optical signal generator  17  of the control  15  and indicated in  FIG. 3  by the letter O. In this process, an acoustic signal  63 , for example a single beep, is output by an acoustic signal generator of the assistance system  3 . At the same time, there is a first optical warning  65  in the form of a triangle with an exclamation mark. The first optical warning  65  appears on the traffic jam assistance display unit  7 . In addition, the first optical warning  65  may appear on the reflecting display  11  and/or on the central display unit  9 . From the tenth status  61 , the assistance system  3  switches to the first status  19  of free driving. For this purpose, the driver has to take account of the first optical warning  65  and once again operate the man/machine interface  5 . If the second warning criterion  59  is fulfilled, the assistance system  3  switches to an eleventh status  67  of automatic braking to a standstill. The second warning criterion  59  may be fulfilled, for example, if the driver of the motor vehicle  1  ignores the tenth status  61  of the first warning. During the automatic braking to a standstill in the eleventh status  67 , a second optical warning  69  is issued in the form of a symbolized brake drum and the letters Auto, a B for braking on the traffic jam display unit  7  and on the reflecting display  11  and possibly on the central display unit  9  as well. In addition, the acoustic signal  63  is repeated, at a higher volume if required. After the automatic braking to a standstill in the eleventh status  67 , the assistance system  3  is in a twelfth status  71 , in which the motor vehicle  1  is stationary, i.e., has a travelling speed of 0 km/h. According to a first variant of the assistance system  3 , it reverts from the twelfth status  71  to the second status  21  of the autonomous driving of the motor vehicle  1 , which is indicated in  FIG. 3  by the letters VA. According to a second alternative indicated in  FIG. 3  by the letters VB, the assistance system  3  reverts from the twelfth status  71  to the first status  19  of free driving, in which the driver of the motor vehicle  1  is once again responsible for driving the motor vehicle  1 . 
         [0043]    In the fourth status  25  of passive autonomous driving, which is indicated by the letter P in  FIG. 3 , an opening window can likewise appear in the traffic jam display unit  7 . The text reads “Passive through”, and there is a symbol of the control  15  with the text “System shutdown possible”. In the first status  19  of free driving, the traffic jam assistance display  7  can be switched off, i.e., the display may be black. 
         [0044]      FIG. 4  shows a further status logic of an assistance system  3  in analogy to the status logic shown in  FIG. 3 . 
         [0045]    In contrast to the illustration of  FIG. 3 , only the driver override  29  is checked. In addition, the speed limiter  55  is active in the third status  23  and in the fourth status  25 , for example at 40 km/h. 
         [0046]    The availability criterion  35  is fulfilled if the travelling speed of the motor vehicle  1  is 30 km/h and the distance from the object travelling ahead is 30 m, if there is object detection and if lane detection is plausible. The non-availability criterion  37  is fulfilled if the travelling speed is higher than 30 km/h or the distance greater than 30 m, or if there is no object detection or lane detection is not plausible. 
         [0047]      FIG. 5  is a diagrammatic representation of the traffic jam assistance display unit  7  of the man/machine interface  5  of the assistance system  3  shown in  FIG. 1  in a traffic jam, i.e., while the assistance system  3  is active. The view of the traffic jam assistance display unit  7  as shown in  FIG. 5  can appear to the driver in a traffic jam in order to offer secondary activities. By means of the capital letters A, B, C, D, E, F, six different types of secondary activities can be offered, each letter A-F symbolizing a heading range. The headings may for example be Paperwork, Shopping, Overview of Traffic Conditions, Information and Entertainment, Health and Wellbeing and Entertainment. Under each of the headings  73 , there are image areas  75  that may offer images corresponding to the headings  73 A-F. Superimposed on the image areas  75 , there are sub-headings  77  or corresponding rectangular areas of the sub-headings  77 , each identified by the lower-case letters a, b, c, d. The areas of the sub-headings  77 , which are identified by fine hatching in  FIG. 5 , may be semi-transparent, and the images of the image areas  75 , which are identified by coarse hatching, may show through in a semi-transparent manner. The sub-headings may for example be View Documents, Voicemail, View Stock Exchange, Email or Electronic Shops or Road Maps, Traffic Report, Bird&#39;s Eye View or Coffee Maker, Newspaper, Audio Books, News of Vehicle Manufacturer or Daydreams, Mental or Physical Exercises, Condition of Body, Health Training or Films, TV, Pictures, Games. The driver of the motor vehicle  1  can advantageously select on the traffic jam assistance display unit  7  as shown in  FIG. 5  from the headings  73  or the corresponding sub-headings  77  a topic of interest. This can be done by means of any navigational device, for example by touching the traffic jam assistance display unit, an input wheel, an input wheel with force feedback, a force-sensitive pin, a joystick and/or voice input. 
         [0048]    The tenth status  61  of the first warning and the eleventh status  67  of autonomous braking are cancelled as soon as the driver reacts, for example by an input at the man/machine interface  5 . 
         [0049]    When switching to the second status  21  of autonomous driving, in particular active autonomous driving, a design of the man/machine interface  5  may conceivably be changed, for example by switching on an illumination, by making a coffee maker accessible or the like. 
         [0050]    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.