• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a vehicle control device for automatically controlling the driving of a vehicle in accordance with calculated set-point driving data of a set-point travel path, in which the device automatically controls the driving of the vehicle. can be switched to idle mode and the vehicle is switched to the manual driving mode. In the case of a manually driven line, the actual driving data of the manually driven line can be recorded and compared to the setpoint driving data, which continues to be calculated, in the autopilot mode.
    公开号:FR3021283A1
    申请号:FR1554630
    申请日:2015-05-22
    公开日:2015-11-27
    发明作者:Gerhard Dochow
    申请人:Continental Automotive GmbH；
    IPC主号:
    专利说明:

    [0001] The present invention relates to a vehicle control device for automatically controlling the driving of a vehicle in accordance with calculated set-point driving data of a set-point travel path, in which the automatic steering device the vehicle's driving can be switched to idle mode and the vehicle can be switched to the manual driving mode. With vehicle control devices of this type, particularly for motor vehicles, the vehicle is driven in road traffic on a setpoint travel path, defined for the vehicle driving device, entirely without the intervention of the driver. Only in exceptional situations, the responsibility for driving the vehicle is returned to the driver and the vehicle is switched to manual steering. This results in the problem that the driver drives less and less often independently and, consequently, gradually loses his competence to drive, because it is no longer exercised. This situation worsens when manual driving is triggered only in extreme situations, which are often accompanied by dangerous and unpredictable situations, which impose particular requirements on the driver's competence and, as a result, require too much of the driver to be insufficiently exercised. There are repeated driving courses under the direction and control of a person, which are intended to guarantee the skill to drive. The object of the invention is therefore to design a vehicle control device of the type mentioned in the introduction, which allows a controlled monitoring of the driver's competence. This object is solved according to the invention by the fact that in the case of a manually driven pipe, the actual driving data of the manual steering pipe can be recorded and compared with the set-point driving data, which continue to to be calculated from the autopilot mode. By this embodiment, the vehicle control device can be used not only for an automatic control of the driving of the vehicle, but also in a second function for the controlled monitoring of the competence of the driver. This makes it possible to analyze the manual operation in a very precise and detailed way, as well as according to the situation. Neither is it necessary to have the assistance of competent examiners. Monitoring can be done at any time and in any place by the driver himself.
    [0002] The vehicle control device for the automatic control of the vehicle driving remains active even in the manual driving mode and continuously calculates the setpoint driving data of the setpoint travel path and adjusts them to the actual situation. vehicle and environmental information. However, the system does not interfere with the driving of the vehicle during manual steering. The vehicle driving device according to the invention can be used not only to maintain the general skill of the driver, but also to acquire this skill. For this purpose, the vehicle control device may provide feedback during the monitored manual driving, which indicates unacceptable differences in driver behavior which result from the comparison between the actual driving data and the calculated driving data. . These comments can be edited on a display or by a voice message. In addition, the vehicle control device can monitor optimum energy consumption and provide corresponding indications to the driver. The vehicle control device according to the invention does not intervene in the driving behavior of the driver and does not influence any of the control devices, in particular those related to safety.
    [0003] Actual driving data and / or setpoint driving data can be stored for quiet analysis later. Storage is possible in the vehicle. However, it is also possible that the actual driving data and the actual driving data detected are transmitted, for example via an Internet link, to a server. In this one can then carry out a statistical analysis of the behavior of driving of the driver by means of the aggregation of data of different drivers and vehicles. These statistical data can be exploited, for example, by insurance companies for risk assessment in vehicles driven by highly automated systems.
    [0004] The actual driving data and the actual driving data may be steering data and / or propulsion data and / or vehicle speed data and / or vehicle acceleration data and / or vehicle data. positioning on the path and / or braking data and / or speed limitation data. In addition, the actual driving data can be formed from signals delivered by vehicle assistance systems and therefore do not require a particular sensory technique. These assistance systems are, for example, an electronic braking system (ESP) and / or an anti-lock braking system (ABS) and / or an electronic traction control system (ASR) and / or an inadvertent override warning. line (AFIL) and / or override assistance system. Position data and / or path data can be formed from signals from a database of a navigation system or an electronic card and therefore do not require separate devices either. positioning data and / or path data. The deviations between the actual driving data and the set driving data can be evaluated according to predefined criteria classifying them into allowable and unacceptable deviations, and therefore an evaluation of the different driving data, as well as the overall of manual driving. In the presence of permissible deviations and / or inadmissible deviations, an alarm signal may be triggered, this may be different depending on whether the deviations are admissible or inadmissible and during the trip already draws the driver's attention to these deviations. Allowable deviations and / or ineligible deviations can be evaluated in quality levels, with an overall quality value being formed from the quality levels on the total target displacement path. It is thus possible to classify the current driving state of the driver.
    [0005] Variations in the training state are predictable depending on the duration and the number or the importance of the journeys in manual driving. Likewise, depending on the overall quality value, it is possible to calculate the optimum moment and the optimal path for the next manual driving, so as to always maintain the driver's competence at a high level.
    [0006] For a good assimilation by the driver, the manual driving mode can be represented graphically and / or optically as an overall quality value on the total target displacement path with the representation of the inadmissible gaps.
    [0007] In particular, inadmissible overspeeds on the target displacement path can be represented graphically and / or optically. Likewise, slow running at a slow speed that is inappropriate for traffic on the setpoint travel path can be seen by comparison with the calculated setpoint driving data and can be represented graphically and / or optically. An exemplary embodiment of the invention is shown in the drawing and is described in more detail below. The sole figure of the drawing is a representation of a principle of a vehicle driving device.
    [0008] In the vehicle control device shown in the figure there is provided a driving and control unit of the pipe 1, to which are conveyed setpoint driving data, calculated by a setpoint driving data unit 2 for a setpoint travel path, previously entered.
    [0009] In addition, information relating to criteria of the set travel path, such as fixed speed limits and fixed overtaking prohibitions, is conveyed by a navigation system 3 to the training and control unit of the control unit. driving 1. An overtaking assistance system 4 ascertains that the driver has made a dangerous overtaking and conveys this information to the driving and driving control unit 1. An unintentional crossing warning system 5 detects the maintenance in a traffic lane and a change of driving lane and conveys corresponding signals to the driving and control unit of the pipe 1. An electronic stability program 6 and an anti-lock system of the wheels 7 send signals signals of their activation also to the driving and control unit of the pipe 1.
    [0010] If the driver 8 has switched the vehicle control device to the manual driving mode, the autopilot driving mode is inactive. The detection of the actual driving data by the above-mentioned sensory techniques and assistance systems, however, remains active and provides the driving and control unit of the line 1 with the corresponding actual driving data. Said unit compares this actual driving data with the set driving data conveyed by the set driving data unit 2, finds the differences between the data and evaluates them according to defined criteria classifying them into allowable deviations and deviations inadmissible. If inadmissible gaps have been detected, the drive and control unit of line 1 delivers an alarm signal. In addition, the comparison between the actual driving data and the set driving data can be stored in the memory of the drive and control unit of the pipe 1 and be interrogated at a later time and for example printed.
    权利要求:
    Claims (13)
    [0001]
    REVENDICATIONS1. Vehicle control device for automatically controlling the driving of a vehicle in accordance with calculated set-point driving data of a set-point travel path, in which device the automatic driving of the vehicle driving can be switched to inactive and the vehicle can be switched to the manual driving mode, characterized in that in the case of a manually driven line, the actual driving data of the manually driven line can be recorded and compared to the data setpoint, which continue to be calculated, of the autopilot mode.
    [0002]
    Vehicle control device according to claim 1, characterized in that the desired driving data and / or the actual driving data can be stored.
    [0003]
    Vehicle control device according to one of the preceding claims, characterized in that the desired driving data and the actual driving data are steering data and / or propulsion data and / or driving data. vehicle speed and / or vehicle acceleration data and / or path positioning data and / or braking data and / or speed limitation data.
    [0004]
    Vehicle control device according to claim 3, characterized in that the actual driving data is formed from signals supplied by vehicle assistance systems.
    [0005]
    Vehicle control device according to Claim 4, characterized in that the assistance systems are an electronic braking system (ESP) (6) and / or an anti-lock braking system (ABS) (7) and / or an electronic traction control system (ASR) and / or an unintentional line crossing warning (AFIL) (5) and / or an overtaking assistance system (4).
    [0006]
    Vehicle control device according to one of the preceding claims, characterized in that position data and / or path data are formed from signals from a database of a navigation system ( 3) or an electronic card.
    [0007]
    7. A vehicle driving device according to any one of the preceding claims, characterized in that the differences between the actual driving data and the set driving data are evaluated according to predefined criteria classifying them into allowable and inadmissible gaps.
    [0008]
    8. Vehicle control device according to claim 7, characterized in that an alarm signal can be triggered in the presence of permissible deviations and / or inadmissible gaps.
    [0009]
    Vehicle driving device according to claim 7, characterized in that the permissible deviations and / or the inadmissible gaps can be evaluated in quality levels.
    [0010]
    A vehicle driving device according to claim 9, characterized in that an overall quality value can be formed from the quality levels in the total target displacement path.
    [0011]
    Vehicle driving device according to one of the preceding claims, characterized in that the manual driving mode can be represented graphically and / or optically as an overall quality value in the total target displacement path with the representation of inadmissible gaps.
    [0012]
    Vehicle driving device according to claim 11, characterized in that inadmissible over-speeds on the target displacement path can be represented graphically and / or optically.
    [0013]
    A vehicle driving device according to claim 11, characterized in that a slow speed line which is unsuitable for traffic on the target displacement path can be seen by comparison with the calculated target driving data and can be represented graphically and / or optically.
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    同族专利:
    公开号 | 公开日
    DE102014209854A1|2015-11-26|
    WO2015177037A1|2015-11-26|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE10341846A1|2003-09-09|2005-03-31|Ford Global Technologies, LLC, Dearborn|Vehicle accelerometer instrument with display, shows acceleration along direction of travel on y-coordinate and transverse acceleration on x-coordinate|
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    DE102010028300A1|2010-04-28|2011-11-03|Bayerische Motoren Werke Aktiengesellschaft|Motor car, has automatic transverse guide control device producing target trajectory description related to car, and display device displaying or presenting driving path graphics object based on target trajectory description|
    JP2012051441A|2010-08-31|2012-03-15|Toyota Motor Corp|Automatic operation vehicle control device|
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    DE102012002304A1|2012-02-06|2013-08-08|Audi Ag|Apparatus for automated driving of a motor vehicle and method for operating a motor vehicle|FR3034067A1|2015-03-23|2016-09-30|Bosch Gmbh Robert|METHOD AND DEVICE FOR DRIVING ASSISTANCE|DE102011121260A1|2011-12-15|2013-06-20|Gm Global Technology Operations, Llc|A method for assisting a driver of a motor vehicle in the event of loss of attention with the aid of an error counter|
    DE102012220146A1|2012-11-06|2014-05-22|Robert Bosch Gmbh|Method for characterizing driving behavior of driver of e.g. motor car, involves obtaining accumulation information of trends over deviation time and providing accumulation information for characterizing driving behavior|US9764741B2|2016-01-27|2017-09-19|Delphi Technologies, Inc.|Operator skill scoring based on comparison to automated vehicle operation|
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    US10421460B2|2016-11-09|2019-09-24|Baidu Usa Llc|Evaluation framework for decision making of autonomous driving vehicle|
    CN109406167A|2018-10-30|2019-03-01|百度在线网络技术（北京）有限公司|For assessing the method, apparatus, equipment and computer readable storage medium of vehicle|
    DE102019202106A1|2019-02-18|2020-08-20|Zf Friedrichshafen Ag|Method for validating automated functions of a vehicle|
    法律状态:
    2016-05-20| PLFP| Fee payment|Year of fee payment: 2 |
    2017-05-23| PLFP| Fee payment|Year of fee payment: 3 |
    2017-11-24| PLSC| Search report ready|Effective date: 20171124 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102014209854.8A|DE102014209854A1|2014-05-23|2014-05-23|Vehicle control device|
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