publication number DE102009041187 (A1)
Release date: 2011-02-17
Inventor: Kruse TATYANA [DE]; SEIFERT Katharina [DE]; COUNT Thorsten [DE]; OLDERS STEFAN [DE] + ( Kruse, Tatjana; SEIFERT, CATHERINE, Graf, Thorsten; OLDERS, STEFAN)
Applicant: VOLKSWAGEN AG [DE] + (VOLKSWAGEN AG)
Classification:
International: B60W30/12; B60W30/18; B60W50/08
European: B60W50/08F
Application number: 20,090,914 DE200910041187
Priority number (s): DE200910041187 20,090,914; DE200910037054 20,090,813
The EPA is not responsible for the accuracy of data originating from other authorities than the EPO, and thus in particular not liable for its completeness, timeliness or fitness for a particular purpose. Information, please refer to the respective patent authorities.
this text translated description of DE 102009041187 (A1)
[0001] The present invention relates to a device for adapting parameters of a driver assistance system according to the preamble of claim 1, a corresponding device according to the preamble of claim 7, and a lane keeping assistance system according to the preamble of claim 10
[0002] To increase the active safety to be used increasingly driver assistance systems in modern motor vehicles. Is governed by a speed control, also known as Cruise Control (CC), the vehicle to a desired speed set by the driver. An extension is an adaptive cruise control, also known as Adaptive Cruise Control (ACC) is known, and which has a speed selected by the driver adaptively adjusts a distance to a preceding vehicle. Other examples of driver assistance systems are the ACC Stop & Go system, which also causes the automatic trip to the ACC vehicle in traffic or at stationary vehicles, Lane keeping or lane assist systems, which keep the vehicle automatically on the vehicle lane, and pre-crash systems that prepare in case the possibility of a collision for example, a braking or start to take the kinetic energy from the vehicle, and where appropriate, take further action if a collision is unavoidable.
[0003] All these systems have in common is that you are physical parameters established, such as the desired speed for speed control devices or to used can brake delay at pre-crash systems, etc. More use of driver assistance systems parameters concern such as the environment of the vehicle how the traffic situation or road conditions, weather conditions, etc., which are for the reaction of the driver assistance system of meaning or could be.
[0004] The above-mentioned driver assistance systems require that the driver is in an attentive state is, in other words, he is not overtired or is in an inattentive state. To further increase the security therefore to the driver assistance system with means to equip passed that define the attention or the fitness of the driver. Was therefore recognized that the driver is in a suboptimal state, for example, a warning is issued or corresponding reactions of the driver assistance system to be launched, which again ensures that the driver turns his attention to driving.
[0005] Thus, the document DE 100 39 792 C2 describes a method for warning a driver of a motor vehicle, covered by sensors, a critical situation and a warning is issued prior to the critical situation in relation to the attention of the driver. To determine the attention of the driver such as the viewing direction is used.
[0006] The publication DE 103 38 647 B4 is a driver assistance system, particularly a lane change assistant known, has at least one sensor for monitoring the lateral and / or rear Fahrzugumfeldes and in the case of a detected vehicle through a visual display means, an information signal or a warning signal outputs. Here, the device further comprises a means for detecting the head position or the sight of the driver, and the display means is controlled in dependence of the detected head position or gaze direction.
[0007] Further, the document DE 100 24 227 A1 to remove an automatic distance control ADR, in the sight of the driver is determined and this is included as an additional parameter in the ADR system. This can have the consequence that is reduced in addition to a triggered alarm and the speed of the vehicle, although the automatic distance control would allow a higher speed.
[0008] Likewise, the document DE 10 2004 027 085 A1 a lane departure for holding a vehicle at a predetermined driving lane, the wizard can intervene in response to a potential risk of vehicle control. This results in the potential danger from the conduct of the driver and the driving situation of the vehicle, the current behavior of the driver, among others can be derived from his sight.
[0009] A disadvantage of the known method and driver assistance systems is that derived from the recognition of sight no safe adaptation of parameters of the driver assistance system.
[0010] The invention It is therefore the task of improving on a recognition of sight-based adaptation of parameters of a driver assistance system.
[0011] This object is achieved by a method having the features of claim 1, by a device with the features of claim 6, and a lane departure with the features of claim 9. Preferred embodiments of the invention are subject of the claims.
[0012] The inventive method for adapting one or more parameters of the driver of a motor vehicle with a supporting driver assistance system comprises the following steps:
- Capture the current view of the driver by an eye-tracking device,
- Determine the length of time during which does not see the driver on the road, from the current viewing direction, and
- adaptation of the or the parameters of the driver assistance system, when the determined time duration exceeds a predetermined critical value.
[0013] Preferably, the critical value is a function of other external parameters. In other words, the critical value is not rigidly defined, but is a variable function of other parameters of the system "vehicle in its environment." This come as a further external parameters or more present vehicle parameters and / or one or more current environment parameters of the vehicle in question. As a function of the vehicle and environment parameters, the critical value can be changed continuously or intermittently. A discontinuous change of the critical value can for example be carried out in discrete steps by means of a look-up table.
[0014] For example, the current speed of the vehicle, the environment of the vehicle, the level of attention of the driver, the type and condition of the road, the condition of the road and current information about traffic disturbances to the vehicle parameters and environmental parameters. The example of the vehicle speed, the critical value can for example be selected via a look-up table so that the critical value inversely proportional to vehicle speed. In other words, the greater the vehicle speed, the smaller the critical value is chosen. The same applies to environmental parameters. Thus, the critical value as a function such as the degree of danger of the traffic situation such that the critical value is chosen the more smaller, more dangerous traffic situation.
[0015] More preferably, from capturing the current view direction determines the frequency with which the driver turns his eyes from the road and there is an adaptation of one or more parameters of the driver assistance system, when the frequency is greater than a predetermined Threshold. Again, this threshold may be in the same way as the critical value is a function of other external parameters.
[0016] The adaptable parameters of the driver assistance system preferably include the vehicle speed, vehicle acceleration, deceleration of the vehicle and the vehicle braking, the time of initiation of a brake jolt to the driver warning, the safety distance to a preceding vehicle and / or warning thresholds at using those warnings the driver can be triggered.
[0017] The inventive device for performing the above described method comprises a unit for detecting the sight of the driver, a unit for determining turn away the time during which the driver's eyes off the road, a comparator unit for comparing the determined time period with a predetermined critical value and a signal generation unit for generating a control signal when the determined time exceeds the critical time, the control signal in a driver assistance system adaptation predetermined parameter causes.
[0018] Preferably, the apparatus has a unit for detecting the general driving condition. This general information about the driver state can be used in addition to the testimony of the viewing direction of the eye-tracking for adapting parameters of the driver assistance system.
[0019] More preferably, the device has a unit for adaptation of the critical value to one or more vehicle parameters and / or one or more parameters of the vehicular environment.
[0020] The novel lane-keeping assistance system of a motor vehicle, the lane keeping system is a torque to the steering of the vehicle carries to keep the vehicle in a lane, has the above-said device, said eye-tracking device in addition to determining the time period during which the driver turns his gaze from the road, determined the sight of the driver and the control signal and the direction of view recognizes that the driver intentionally run over the pavement marking and will build in this case lane keeping assistance system, no corrective steering moment.
[0021] Preferably, determines the eye-tracking device of the lane keeping assistance system, whether the driver is not on the critical value beyond his gaze directed at the vehicle displays, and lane keeping assistance system reduces the speed of the vehicle when the driver we his view of the critical value beyond has on the road is still registering to the vehicle displays.
[0022] In summary, the invention hanging from the vehicle system automatically adjusted physical values of the cruise control (cruise control - CC - Cruise Control) and the adaptive adaptive cruise control (ACC - Adaptive Cruise Control) and other drivers supporting driver assistance systems in the following referred to as FAS, on the determined direction of view looking behavior of the driver, and also captured attention fatigue values of the driver can be considered vehicle system addition by. Thus, the driver in the vehicle supporting FAS automatically adaptive to the driving condition and driver behavior, which are determined from the line of sight / gaze behavior of the driver and, where applicable, the attention of the driver fatigue values. In addition, the FAS, like CC, ACC, PreCrash, LDW / HC and RSD / AWV that support the driver in its primary driving tasks, adaptive to the general his driver's condition, as emotional state of the driver, such as anxiety, stress, joy, serenity, etc., which are derived from facial expressions and / or gestures of the driver, for example, by camera systems for facial expressions and / or gesture recognition of the driver. It can be used the same camera system for determining the driver's condition from the driver's facial expressions, such as for determining the viewing direction and the viewing behavior of the driver. To capture the gestures of the driver, a camera system for indoor surveillance can be used.
[0023] A preferred embodiment of the invention is illustrated by examples and a drawing. It shows
[0024] 1 is a schematic Representation of the inventive device.
[0025] In the inventive device comprises a unit 1 according to 1 to capture the sight of the driver. Such a view direction detection device 1 can for example be formed by an interior camera. The signal of the gaze direction detection unit 1 enters a unit 2 for determining a first time period during which the driver turns his eyes from the road. This unit 2 can also be used to determine if the driver turns his attention to the vehicle's instruments or not. Thus, the unit 2 can also determine a second time, namely how long the driver, the instruments, ie the car ads do not observed. Furthermore, the unit 2 can be used to determine the frequency with which the driver turns his eyes from the road or the frequency can be determined with which the driver looks in a certain direction.
[0026] The in unit 2 distinct first time during the turns, the driver's eyes off the road, is in a comparator unit 3 compared with a critical value, which is provided by a unit 4 for providing the critical value ready. Since the critical value is variable, flow into the delivery unit 4 external parameter 5, which means the critical value is determined.
[0027] If the comparison unit 3, that the first Value exceeds the critical time period, is generated in a signal generator 6, a control signal 7, which initiated the change of at least one parameter of a driver assistance system, not shown, so adapted. Of course, the sequence described for the second time or for the above view frequencies are used.
[0028] Thus, the actual sight of the driver is recorded by an eye-tracking device. When the driver long time on the road looks, so that a critical value is exceeded, the speed value set by the driver of the cruise control and the ACC or the ACC time gap from the vehicle system to a appropriate lower speed or a higher ACC time gap to be reset. The vehicle has an automatic system set by the vehicle greater safety margin by the ACC to the preceding vehicle. Threshold continue to be adaptations of other physical values of ACC and cruise control.
[0029] The critical value at longer gazes of the driver and the resetting of the speed of the cruise control and ACC, the threshold adaptation of other physical values of ACC and cruise control and the pre-crash system, such as acceleration - negative acceleration (deceleration or braking, triggered brake pressure) is dependent on other factors including:
- the current Speed of the vehicle,
- the environment of the vehicle, such as how close are other vehicles,
- the determined degree of risk from the traffic situation by the vehicle system,
- the degree of attention or fatigue of the driver, as well as state and emotional being of the driver
- the type and nature of the road, for example according to the charts of navigation systems by differentiating towns, roads and highways as well as differentiation of the condition of roads to specified categories in navigation charts,
- the condition of the road, also depending on the weather, So rain, snow, ice, and outside temperature, and
- current information about traffic disturbances of telematic services,
[0030] Furthermore, these factors may also in the automatic adjustment of physical parameters or values other driver assistance systems such as pre-crash systems, braking guard, lane-departure warning, RSD / AWV be considered.
[0031] An adjustment of the set speed and other physical values of the cruise control and the ACC is done by the vehicle system, even with frequent eye aversion (rapidly turning away the driver's view of the sequence) and in the vehicle system scheduled inattention or fatigue of the driver.
[0032] Furthermore, ACC Stop & Go, also known as a city-ACC, the automatic navigation of the Fährzeuges in traffic or at stationary vehicles, such as at the crossing, with the support of the ACC are automatically adaptively depending on the sight of the driver. It can therefore be suppressed during his eyes off the automatic driving.
[0033] For longer or more frequent eye prevent or inattention and fatigue of the driver drives the vehicle does not automatically continue or behaves differently than with a view to the street care and attention of the driver.
[0034] One advantage of an auto-adaptive cruise control and ACC, and pre-crash system, and other driver assistance systems, as a function of gaze direction, attention and fatigue of the driver, that will automatically reduce, inter alia, by the driver in the vehicle system set or by the vehicle system calculated velocity and / or acceleration, deceleration and braking is enhanced or initiated, is a brake shift earlier initiated or strengthened, the time gap, or the safety distance can be increased automatically by the ACC, and warning thresholds can be adaptively adjusted. Heavy rear-end collisions can be prevented or mitigated, and serious accidents can be reduced.
[0035] Furthermore, physical parameters or values of a pre-crash functionality Depending on the viewing direction, so averting the gaze, and, where appropriate, attention and fatigue of the driver can be changed automatically adaptive. Examples include warning times of the driver, way of warning the driver, strength or time of initiation of the brake jerk, belt tightening, windows, sunroofs, seat and headrest and locking settings. For longer or more frequent eye prevent and, where appropriate, inattention and fatigue of the driver, the vehicle is being prepared taking into account its environment on a possible collision with other vehicles, persons and / or objects.
[0036] An automatic adaptive adjustment of parameters Driver assistance system can generally be done at other carriers supporting driver assistance systems in the vehicle as a function of gaze direction or gaze aversion and, where appropriate, attention and fatigue of the driver and the general state of the driver or driver behavior. The driver while driving supportive or assistive driver assistance systems (such as braking guard, LDW / HC Lane-Departure-Warnung/Heading Control, RSD / AWV (AWV: stopping distance by, for example preparing the braking system by Prefill and Prebrake)) can also aufmerksamkeitsadaptiv and / or view depends on the driver and / or driver state to be dependent. can
[0037] There is a fundamental component or combines several basic components (basic hardware and software modules) for the detection of sight or eye movement recording can be implemented as a basic component and are used for driver assistance systems. One or more defined interfaces are passed to other driver assistance systems important physical parameters or values from the direction detection or eye movement recording momentum supporting FAS. Thus, the carrier supporting FAS can be view dependent on driver and possibly aufmerksamkeitsadaptiv and possibly depending on driver state realized.
Example 1: Braking Guard assistant
[0038] When the driver brakes without an obstacle dangerously close to that calculated on the Braking Guard assistant that is a partial function of the ACC, if enough time remains to do the driving, or Dodge and gives the driver a correspondingly short time to react. If this does nothing, he is asked to brake by a beep and flash red warning lights at the same time. The driver should remain passive, Off-Guard Braking Wizard performs a mini-jerky braking. It lasts for example, only 0.3 seconds and slows the vehicle by five km / h. For the driver, but a strong impulse to him awake. If he slows down now, he is now supported by Brem sassi stenting with full braking power.
[0039] The calculating algorithms of the Braking Guard assistant to current gaze direction (or eye gaze aversion or behavior) and / or the degree of attention and fatigue of the driver are taken into account. Thus, the driver assistance system Braking Guard can also view and aufmerksamkeitsadaptiv dependent function of the driver.
Example 2: Lane-departure warning
[0040] The lane departure warning can, for example, the threshold adaptation of the warning or way of warning automatically adaptively of sight detection or eye movement recording and / or attention and fatigue the driver made. The warning can be suppressed or reduced and / or initiated later when the driver of the road looks and his gaze wanders from the road and not aware of this and is not tired. The warning can be strengthened and automatic vehicle preventive reactions can be initiated earlier in his eyes off the road, inattention and / or fatigue.
Example 3: lane keeping assistance system
[0041] The lane keeping assistant system, known as "Lane Assist" is familiar, combined with the described system for the detection of sight of the driver. This famous track keeping system to function normally in the manner described below:
"If the driver's hands completely off the wheel, it observes the system acoustically and with a note in the multifunction display a so-called transfer request and then shuts off. "
" The lane keeping assistant also reacts not know if the driver sets before running over a marker to the bunker. "
[0042] In combination with an eye towards acquisition of the driver with the above mentioned features, the lane-keeping assistance system is extended by the following function:
seen with the aid of sight detection of the driver, the vehicle system when the driver most likely aware of the road marking overrun want to flash without, and engages in this case is not in the steering process of the driver. This can be particularly advantageous for lines where the lane departure some time recognizes a road marking, the driver does not comply can and / or wants and so they often crossing, such as additional road markings at a job site or to close trails that the driver deliberately in some situations do not hold permanent and would constantly aware of the road marking crossing.
[0043] For the driver it would not be comfortable in such cases and may not be practical or not possible, the lane departure more often during the journey to turn on and off again. On the other hand, is a frequent Manual steering of the lane departure warning to the rider more Load. can
[0044] Further, the vehicle system to determine the gaze direction detection of the driver whether the driver important information or warnings of lane departure warning on advertisements in the combination has performed with high probability by the visual fixation of the driver on the instrument cluster and / or the local ads is determined. The driver can be warned, for example, several warning levels, if that very likely the ads, including warnings and information, the lane departure has not made, such as when the lane departure is itself disabling and / or the driver's hands not on the steering wheel has. The vehicle system is the driver repeatedly increasingly more noticeable warnings, such as using more lighting effects, larger and more colorful images, with stronger various acoustic and / or tactile signals, etc., as long recognized by the vehicle system that the driver is steering back enough even for a safe driving condition has taken over.
[0045] When the gaze direction detection system detects the driver that the driver's view of a critical time to come not to the street and the vehicle displays in the instrument cluster or other displays in the vehicle to disable the lane keeping assistance system immediately, especially if the driver the hands are not on the steering wheel has, but also reduces the vehicle system continuously depending on the environment situation of the vehicle's speed, until the vehicle as far as possible in a non-critical condition If, or possible consequences in case of minimized in this situation occurring accident.
numeral list
1: gaze direction detection unit
2 unit for determining the avoidance period
3: comparator unit
4: Unit for providing the critical value
5: External parameter
6: Signal generation
7: control signal
QUOTES INCLUDED IN THE DESCRIPTION
[0046] The list of the applicants listed Documents were automatically generated and is included solely to better inform the reader. The list is not part of the German patent or utility model. The DPMA is not responsible for any errors or omissions.
cited patent literature
[0047]
- DE 10039792 C2 [0005]
- DE 10338647 B4 [0006]
- DE 10024227 A1 [0007]
- DE 102 004 027 085 A1 [0008]
Method and apparatus for Adapting parameters of a driver assistance system
Technical and scientific translations
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