DE102020106769A1 - SIMULATION DEVICE - Google Patents

Abstract

A simulation device for an automated vehicle is provided. The simulation device is designed to output a driver availability signal. The driver availability signal corresponds to a target driver availability signal required by the vehicle for the operation of automated driving.

Description

The present invention relates to a simulation device for an automated vehicle and an automated vehicle with the simulation device.

The SAE J3016 standard describes the classification and definition of terms for road-bound motor vehicles with systems for autonomous driving. It was published by SAE International (formerly: "Society of Automotive Engineers") and has been in effect since January 2014. The classification has six levels (so-called SAE levels 0 to 5) and describes their minimum requirements.

Known in the state of the art and available on the market or ready for series production are driver assistance systems (SAE level 1 - 2) that can temporarily relieve the driver of part of the vehicle control To be able to take over the driving task. Systems for automated driving (SAE Level 3 - 5) that do not (no longer) or only partially require such a driver availability, i.e. monitoring of the driver's performance of driving tasks, are not yet ready for series production.

In order to achieve series maturity of such more highly automated systems (SAE Levels 3 - 5), test drives or test drives under the most realistic conditions possible with these systems are necessary. One of the problems is to provide a corresponding test vehicle.

The object of the invention is therefore, inter alia, to overcome this disadvantage from the prior art.

According to the invention, this object is achieved by the features of the independent claims. Advantageous refinements are given in the subclaims.

The object is then achieved by a simulation device for an automated vehicle, the simulation device being designed to output a driver availability signal, the driver availability signal corresponding to a target driver availability signal required by the vehicle for operating automated driving.

The vehicle can be a passenger car. The vehicle can be configured to drive at least partially in an automated manner. The automated driving can take place in such a way that the transverse and / or longitudinal guidance of the vehicle takes place automatically.

The driver availability signal can in particular be a signal such as is output by a device for hand recognition (hands on / off detection) when the driver has his hands on the steering wheel. The device for hand recognition can be a system which is designed to determine whether a hand or the driver's hands are (or not) on the steering wheel, in particular on the steering wheel rim.

The vehicle can in particular be a vehicle of SAE level 2, ie it can be partially automated in such a way that functions such as automatic parking, lane keeping or lateral guidance, (general) longitudinal guidance, acceleration and / or braking are taken over by one or more driver assistance systems , whereby the driver must constantly monitor the vehicle system.

It is conceivable that the vehicle is designed to request the driver to take over the control of the vehicle. In particular, it is conceivable that, if necessary, the system prompts the driver to take control of the vehicle within a warning time (so-called takeover request).

It is particularly advantageous if the vehicle is a vehicle of SAE level 2 and the simulation device is designed to output a driver availability signal in such a way that the driver availability signal corresponds to a target driver availability signal required by the vehicle for operating automated driving, so that a vehicle of SAE level 3 is simulated. In other words, in the perception of the driver of the vehicle, starting from a vehicle of SAE level 2, a vehicle of SAE level 3 is generated by providing the simulation device.

The vehicle of SAE level 2 can accordingly be configured to be a vehicle of SAE level 3 or to simulate it by interacting with the simulation device. At SAE Level 3, the automated functions of the vehicle can be the same as the SAE Level 2 vehicle, i.e. it can be partially automated in such a way that functions such as automatic parking, lane keeping or lateral guidance, (general) longitudinal guidance, acceleration and / or braking are provided by driver assistance systems be taken over. In contrast to SAE Level 2, however, the driver can focus on other things than monitoring the vehicle system.

The simulation device can be designed to output a lateral guidance activation signal, the lateral guidance activation signal being designed to activate and / or deactivate automated lateral guidance of the vehicle.

The lateral guidance activation signal can be coordinated with the respective vehicle in or on which the simulation device is attached, ie with which the simulation device interacts. The lateral guidance activation signal can correspond to or emulate a signal that would be output to the vehicle if the automated lateral guidance of the vehicle were manually activated and / or deactivated by an input from the driver, for example by pressing a button or the like. The lateral guidance activation signal can also correspond to a signal in which the automated lateral guidance is released so that the driver can activate the automated lateral guidance (for example by pressing a button).

The simulation device can be configured to output a direction change signal, the direction change signal being configured to cause the vehicle to automatically change a direction of travel of the vehicle. The direction of travel change signal can correspond to a signal that is received by the vehicle during normal operation of the vehicle by actuating the indicator, in particular when actuating the indicator lever. The vehicle can be configured to change lanes on the basis of the direction change signal received from the simulation device.

The simulation device can be designed to output a longitudinal guidance activation signal, the longitudinal guidance activation signal being designed to activate and / or deactivate automated longitudinal guidance of the vehicle.

The longitudinal guidance activation signal can be matched to the respective vehicle in or on which the simulation device is attached, i.e. with which the simulation device interacts. The longitudinal guidance activation signal can correspond to or emulate a signal that would be output to the vehicle if the automated longitudinal guidance of the vehicle were manually activated and / or deactivated by an input from the driver, for example by pressing a button or the like. The longitudinal guidance activation signal can also correspond to a signal in which the automated longitudinal guidance is released so that the driver can activate the automated longitudinal guidance (e.g. by pressing a button).

The simulation device can have an input device that is designed to capture an input from a user and, based on the captured input of the user, to output the lateral guidance activation signal, the direction change signal, the longitudinal guidance activation signal and / or the driver availability signal.

The input device can be attached to the passenger seat of the vehicle, in particular to an outer side of the passenger seat in the transverse direction of the vehicle. The input device can have buttons. It is also conceivable that the input device communicates wirelessly with the vehicle. The input device can also have a touch-sensitive screen.

For outputting the lateral guidance activation signal, the direction change signal, the longitudinal guidance activation signal and / or the driver availability signal, the input device can each have a button for detecting the user's input.

It is also conceivable that the input device for outputting the lateral guidance activation signal and the longitudinal guidance activation signal has a (single) pushbutton, which is activated when these two signals are output. It is conceivable that the driver availability signal is also output by the simulation device when the button for the lateral guidance activation signal and the longitudinal guidance activation signal is actuated. Furthermore, the input device for outputting the change of direction signal can additionally have a further button, upon actuation of which the change of direction signal is output.

The simulation device can have an output device which is designed to output a system state of the vehicle. The output device can be designed to output the system status of the vehicle by means of an acoustic and / or visual signal.

The output device can have at least one lighting means, for example a light-emitting diode (LED), and / or a loudspeaker, for example a headset or headphones. The system states can, for example, be output via the lighting means by a color code in which a color is assigned to a system state, and / or by means of the loudspeaker, for example via headphones, by means of an acoustic warning signal. In the case of automated driving, in which the vehicle takes over the lateral and longitudinal guidance, the system states can be defined as follows: a first state that indicates that the vehicle has no error messages from driver assistance systems (i.e. these are functioning as desired) that the Take over transverse and longitudinal guidance, a second state that indicates that the vehicle has received an error message (only) one Driver assistance system is present that takes over the lateral guidance or longitudinal guidance, and / or a third state that indicates that the vehicle has an error message from both driver assistance systems that take over the lateral guidance and longitudinal guidance.

In the second state, for example, the driver assistance system responsible for lateral guidance, e.g. the lane departure warning system, can no longer recognize the lane or lane and follows the vehicle in front. The color code can be designed, for example, in such a way that a blue light symbolizes the first state, a yellow light symbolizes the second state and a red light symbolizes the third state.

The invention also relates to an automated vehicle with the simulation device described above. The vehicle can have a device for manual control of the longitudinal guidance of the vehicle on a passenger side. The device for manually controlling the longitudinal guidance of the vehicle can have a brake pedal and / or an accelerator pedal.

The invention described above makes use of the fact that there are various technical differences between the various (automation) levels of systems for assisted and automated driving, although these systems often differ, theoretically and practically, only in details for the user. As a result, systems or vehicles with a certain level of automation can be used under certain framework conditions in order to simulate a technically different system or a different (higher) level of automation for the user of the system. Put simply, the main difference between SAE levels 2 and 3 systems from the user's point of view is whether the user has to monitor the system permanently (SAE level 2) or only as a so-called fallback-ready user in the event of a system failure must be available for the driving task (SAE Level 3). Functionally, however, both systems take over the longitudinal and lateral guidance of the vehicle.

The present invention therefore provides that a vehicle with a certain (low or low) automation level (for example a vehicle of SAE level 2) is modified in such a way that, within certain limits, within the scope of the normal functioning of the vehicle, in the perception of a user Vehicle with a higher level of automation (for example a vehicle of SAE level 3) is created.

This enables, for example, the (low-threshold) implementation of studies, tests and evaluations of an automation level that is not yet available as standard, without actually having to provide a corresponding vehicle with this technology that is not yet available as standard. This is used in particular to develop and evaluate such a higher level of automation.

• 1 ist eine schematische Darstellung einer Simulationsvorrichtung gemäß der Ausführungsform.

The following is an embodiment with reference to FIG 1 described.

• 1 Fig. 13 is a schematic diagram of a simulation device according to the embodiment.

In 1 is a simulation device 1 shown according to one embodiment.

The simulation device 1 is to an output device 2 , a controller 3 of driver assistance systems installed in the vehicle, an input device 4th , a security system 5 and a turn signal 6th tied together. The simulation device is connected to these systems as by the connecting lines in FIG 1 shown that it can communicate unidirectionally or bidirectionally with the respective system.

The vehicle is a vehicle of the SAE level 2 and configured by the controller 3 controlled driver assistance systems to carry out the transverse and longitudinal guidance of the vehicle (at least partially) automatically.

The security system 5 is a device that is designed to check driver availability in the case of automated driving. The security system 5 in the present embodiment has a hand recognition system on a steering wheel of the vehicle.

In the case of automated driving, the safety system checks 5 (at regular intervals) the driver availability. In the present embodiment, the hand recognition system on the steering wheel of the vehicle is used to check whether the driver has one or, if applicable, two hands on the steering wheel.

If it is determined that the driver has one or possibly two hands on the steering wheel, ie the driver is available, a (positive) driver availability signal is sent by the safety system 5 to the controller 3 output, which then continues to carry out automated driving. If, however, it is recognized that the driver's hand or hands are not on the steering wheel, the safety system 5 to the controller 3 either no signal or a negative driver availability signal is output.

Via the direction change indicator 6th , which has a (blinker) lever in the embodiment, the driver can initiate an automated lane change in the case of automated driving. More precisely, the driver can trigger an automated lane change to the right or left by moving the lever up or down. This is done by the direction change indicator 6th a corresponding signal, that is to say a driving direction change signal, to the controller 3 entered. The control 3 controls the driver assistance systems of the vehicle in such a way that the automated lane change (to the left or right) takes place.

To get a vehicle of the SAE level with this vehicle described above 3 to simulate is the simulation device 1 intended.

The simulation device 1 is in the above-described automated vehicle of the SAE level, not shown in any further detail 2 installed.

The simulation device 1 is configured to output a driver availability signal, a lateral guidance activation signal, a direction change signal and a longitudinal guidance activation signal.

The output of these signals can be done by a user of the simulation device 1 via the input device 4th being controlled. To this end, the input device 4th three buttons 41 , 42 , 43 on.

By pressing the first button 41 is from the input device 4th a control signal to the simulation device 1 input. The simulation device 1 then gives both the lateral guidance activation signal and the longitudinal guidance activation signal to the controller 3 the end.

The lateral guidance activation signal and the longitudinal guidance activation signal are output as a combined signal in the present embodiment. The control 3 activates the automated transverse and longitudinal guidance of the vehicle upon receipt of this combined signal, so that these can be activated by the driver, for example by pressing a button provided for this purpose on the steering wheel of the vehicle.

At the latest after the activation of the automated driving, ie the automated lateral guidance and longitudinal guidance of the vehicle, the simulation device gives 1 the driver availability signal to the controller 3 the end.

That from the simulation device 1 The driver availability signal that is output corresponds to the above-described driver availability signal that is generated by the safety system in conventional operation 5 to the controller 3 is entered. That from the simulation device 1 The driver availability signal output consequently corresponds to one from the vehicle, in particular from the controller 3 of the driver assistance system, required target driver availability signal for operating automated driving. The control 3 then continues automated driving even if the driver is not on the steering wheel.

The simulation device 1 is also configured, the turn signal of the turn indicator described above 6th to the controller 3 to spend. The direction change signal is output when one of the buttons 42 or 43 is operated. The button 42 can be assigned in such a way that, when actuated, the simulation device 1 causes the direction change signal to be output, which triggers a lane change to the left. The button 43 can be assigned in such a way that, when actuated, the simulation device 1 causes the direction change signal to be output, which triggers a lane change to the right.

For safe use in real traffic, a safety driver is also required, who can intervene in border areas if necessary from the passenger seat. For this purpose, the vehicle is expanded to include pedals, additional mirrors and a status monitor. The status monitor appropriately reflects the system status as described below.

For this purpose, the simulation device has an output device 2 on or is connected to this. The output device 2 is designed to output the system status of the vehicle. The system status of the vehicle is indicated by means of an acoustic signal via headphones (not shown) and by means of a visual signal via an LED (or possibly several LEDs) 21 output.

In the case of automated driving, the simulation device receives 1 from the controller 3 Information on whether the driver assistance systems that perform the lateral and longitudinal guidance are functioning in the desired manner. Depending on whether this is the case or not, there is an output device 2 another system status is signaled or output.

More precisely, the system states are defined as described below.

In a first state, which indicates that the vehicle has no error messages from the driver assistance systems (i.e. these are functioning as desired), a light with a first color, e.g. a blue light, and possibly a first tone are output via the headphones.

In the case of a second state, which indicates that the vehicle has (only) an error message from a driver assistance system that takes over the lateral or longitudinal guidance, a light with a second color, e.g. a yellow light, and possibly a second tone, that of the first Sound is different, output through the headphones. In the second state, for example, the driver assistance system responsible for lateral guidance, e.g. the lane departure warning system, cannot (no longer) recognize the lane or lane and follows the vehicle ahead, so that a yellow light is output.

In a third state, which indicates that the vehicle has an error message from both driver assistance systems that take over the lateral guidance and longitudinal guidance, a light with a third color, e.g. a red light, and possibly a third tone from the first and second tone is different, output through the headphones. In the third state, for example, the driver assistance system responsible for the longitudinal guidance, e.g. the adaptive cruise control, can no longer recognize the vehicle in front, so that a red light is emitted.

In other words: the “simulated level 3” driving function described above is based on the serial, partially automated “assisted driving” function (steering and lane guidance assistant) in the vehicle. A key feature of the “assisted driving” function is the “hands-on” request that the driver receives when he takes his hands off the steering wheel for a certain period of time. The driver is thus still involved in the driving function. The technical concept described above is used in this vehicle structure for the jump from "assisted driving" or SAE level 2 to "simulated SAE level 3", in which the driver does not have to be involved in the driving function. With the system described above, the standard actuation of the indicator lever, the steering wheel buttons and the hands-on detection can be detected by the vehicle via additional hardware and, when "simulated level 3" is activated, manipulated and emulated accordingly on the vehicle. This allows the use of the standard partially automated driving function without having to take your hands on the steering wheel. In particular, the automated lane change can be initiated monitored by a safety driver from the passenger seat using the buttons described above. The vehicle also has a device on the passenger side for manual control of a longitudinal guidance of the vehicle, in particular with a brake pedal and an accelerator pedal, as is known, for example, from vehicles used by driving schools.

List of reference symbols

1

Simulation device

2

Dispenser

21

light emitting diode (LED)

3rd

Control for driver assistance systems

4th

Input device

41, 42, 43

Button

5

security system

6th

Direction change indicator (turn signal lever)

Claims (10)

Simulation device (1) for an automated vehicle, the simulation device (1) being designed to output a driver availability signal, the driver availability signal corresponding to a target driver availability signal required by the vehicle for operating automated driving. Simulation device (1) according to Claim 1 , wherein the simulation device (1) is configured to output a lateral guidance activation signal, the lateral guidance activation signal being designed to activate and / or deactivate automated lateral guidance of the vehicle. Simulation device (1) according to Claim 1 or 2 , wherein the simulation device (1) is configured to output a direction change signal, the direction change signal being configured to cause the vehicle to automatically change a direction of travel of the vehicle. Simulation device (1) according to one of the Claims 1 until 3 , wherein the simulation device (1) is designed to output a longitudinal guidance activation signal, wherein the longitudinal guidance activation signal is designed to activate and / or deactivate an automated longitudinal guidance of the vehicle. Simulation device (1) according to one of the Claims 1 until 4th , wherein the simulation device (1) has an input device (4) which is designed to detect an input of a user and, based on the detected input of the user, the lateral guidance activation signal, the direction change signal, the Output longitudinal guidance activation signal and / or the driver availability signal. Simulation device (1) according to Claim 5 , wherein the input device (4) for outputting the lateral guidance activation signal, the direction change signal, the longitudinal guidance activation signal and / or the driver availability signal each has a button (41, 42, 43) for detecting the input of the user. Simulation device (1) according to one of the Claims 1 until 6th , wherein the simulation device (1) has an output device (2) which is designed to output a system state of the vehicle. Simulation device (1) according to Claim 7 , wherein the output device (2) is designed to output the system status of the vehicle by means of an acoustic and / or visual signal. Automated vehicle with a simulation device (1) according to one of the Claims 1 until 8th . Vehicle according to Claim 9 , wherein the vehicle has a device on a passenger side for manual control of a longitudinal guidance of the vehicle, in particular with a brake pedal and / or an accelerator pedal.

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