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WO2017005400A1 - Véhicule automobile doté d'un système de conduite automatique - Google Patents

Véhicule automobile doté d'un système de conduite automatique Download PDF

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Publication number
WO2017005400A1
WO2017005400A1 PCT/EP2016/061247 EP2016061247W WO2017005400A1 WO 2017005400 A1 WO2017005400 A1 WO 2017005400A1 EP 2016061247 W EP2016061247 W EP 2016061247W WO 2017005400 A1 WO2017005400 A1 WO 2017005400A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor vehicle
automatic driving
driving system
control object
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2016/061247
Other languages
German (de)
English (en)
Inventor
Johannes Tümler
Eduard Jundt
Jan Jacobs
Ronny Garz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Volkswagen AG
Original Assignee
Volkswagen AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Volkswagen AG filed Critical Volkswagen AG
Publication of WO2017005400A1 publication Critical patent/WO2017005400A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
    • B60K35/23—Head-up displays [HUD]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/60—Instruments characterised by their location or relative disposition in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/149—Instrument input by detecting viewing direction not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/20—Optical features of instruments
    • B60K2360/33—Illumination features
    • B60K2360/334—Projection means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/77—Instrument locations other than the dashboard
    • B60K2360/785—Instrument locations other than the dashboard on or in relation to the windshield or windows
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/85—Arrangements for transferring vehicle- or driver-related data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle

Definitions

  • the invention relates to a motor vehicle having an automatic driving system, comprising at least one sensor for detecting the surroundings of the motor vehicle and an object selection module for determining at least one control object, wherein the motor vehicle by means of the automatic driving system in dependence on the position and / or speed of the control object (in particular relative to the position and / or the speed of the
  • the invention also relates to such a
  • EP 1 480 054 A2 discloses a device for controlling the speed of a vehicle with a base device, the sensor system for detecting at least one environment in front of the vehicle on existing objects, a display and a
  • the base device is designed to capture a driving scene with a plurality of objects via the sensor system, to display it on the display and to perform a visualization on the basis of which a user can recognize whether an object and which object with several objects is the target object for a current or shortly preceding one
  • DE 10 2010 013 224 A1 discloses a method for displaying graphic images on a transparent windshield head-up display of a vehicle. It will be
  • Monitored information inputs that describe the operating environment for the vehicle.
  • the information inputs are processed to synthesize an operating environment model.
  • DE 10 2010 013 401 A1 discloses a substantially transparent windshield head-up display comprising light-emitting particles or microstructures over a predefined area of the windshield that allow a luminescent display while allowing vision through the windshield. It is envisaged that the preferred
  • a motor vehicle having an automatic driving system which comprises at least one sensor for detecting the surroundings of the motor vehicle and an object selection module for determining at least one control object, wherein the motor vehicle by means of the automatic driving system as a function of the position and / or the speed of the control object (In particular relative to the position and / or the
  • Speed of the motor vehicle is automatically movable, wherein the motor vehicle is a viewing direction sensor for detecting the line of sight of the driver of the motor vehicle and a windshield display for displaying variable information on the
  • Windshield of the motor vehicle includes, wherein the motor vehicle a
  • Windshield displays shown / represented mark includes that the
  • An automatic driving system according to the invention may for example
  • a distance control is one
  • Cruise control system in motor vehicles, which incorporates the distance to a vehicle in front as an additional feedback and manipulated variable during control.
  • ACC Adaptive Cruise Control
  • the system is also referred to as automatic distance control (ADR) (see de.wikipedia.org/wiki/Abstandsregeltempomat). It is provided that the driver the desired temporal following distance and the speed over
  • buttons on the multifunction steering wheel or via the pitman arm depending on the vehicle model.
  • the driver can interrupt the ACC control and accelerate more. Pressing the brake pedal will immediately disable the ACC function. All system messages are displayed in the central multifunction display.
  • ACC then automatically restarts within a defined time (Golf, Touareg).
  • the ACC control (with automatic transmission / DSG) can at a
  • Speed from 0 to 160 km / h (Golf), 0 to 200 km / h (Phaeton), 0 to 210 km / h (Passat) or 0 to 250 km / h (Touareg) are activated.
  • the ACC control (with manual transmission) can be activated at a speed of 30 to 160 km / h (Golf), 30 to 210 km / h (Passat) (see www.volkswagen.de/de/technologie/technik-lexikon/acc.html).
  • an automatic driving system according to the invention can also be an autonomous
  • Be driving system in which apart from the brake, the engine speed and optionally the transmission (as with the adaptive cruise control) and the steering are controlled automatically.
  • a sensor for detecting the environment of the motor vehicle is in particular a radar, in particular a radar for determining the differential speed between the
  • Motor vehicle and an object for determining the distance between motor vehicles and an object and for determining an angle to the object relative to the longitudinal axis of the motor vehicle.
  • Radar devices for use in the automotive sector are disclosed, for example, in DE 103 49 919 A1 and DE 10 2008 034 997 A1.
  • An environment of the motor vehicle is within the meaning of the invention, in particular the environment in front of the motor vehicle and / or the surroundings of the side of the motor vehicle.
  • a sensor for detecting the surroundings of the motor vehicle can also be an ultrasound sensor, lidar, a camera, gyroscopes or a GPS system.
  • the term sensor is synonymous with a single sensor or a number of sensors of the same type or different type.
  • a sensor for detecting the surroundings of the motor vehicle may also comprise a plurality of the aforementioned sensors.
  • a sensor for detecting the surroundings of the motor vehicle can also comprise sensor systems that measure outside the vehicle, such as Car2X or Infrastructure2X, or environmental knowledge that is transmitted to the motor vehicle via the Internet, or can be supplemented by such information or sensor technology.
  • a controlled object in the sense of the invention is a recognized object, such as another motor vehicle, with respect to which the automatic driving system controls.
  • a control object may be the vehicle in front of the vehicle, to which the adaptive cruise control regulates the speed of the driver's own motor vehicle.
  • An object or rule object can also be a substantially immobile obstacle, a cyclist or a pedestrian.
  • a view direction sensor is in particular a sensor for detecting the orientation of the head of a driver of the motor vehicle.
  • a viewing direction sensor may be, for example, a camera.
  • a viewing direction sensor in the sense of the invention can also be a sensor for detecting the alignment of the eyes of the driver of the motor vehicle.
  • Corresponding sensors installed in the vehicle may comprise, for example, cameras, IR cameras, tracking sensors, gyroscopes and the like. Such sensors are used for Example of the determination of head, eye, hand, body position and relative movements of occupants of the motor vehicle. It can also be used sensors of data glasses.
  • Output information of the gaze direction sensor or an evaluation associated with the gaze direction sensor can be the driver's gaze into the environment or the driver's gaze inside the vehicle, for example the vehicle
  • a windshield display according to the invention may be, for example, a head-up display.
  • Marking in the sense of the invention may include, for example, overlapping, overlapping and / or framing. Marking in the sense of the invention may also include pointing by means of an arrow to a control object. A marking in the context of the invention can for
  • Example include a border, a bracket, a brightening, a darkening or a geometric figure.
  • the above object is - in particular in conjunction with one or more of the aforementioned features - also solved by a motor vehicle with an automatic driving system, the at least one sensor for detecting the environment of the motor vehicle and an object selection module for determining at least one control object and the
  • Motor vehicle is automatically movable, wherein the motor vehicle comprises a viewing direction sensor for detecting the line of sight of the driver of the motor vehicle and a windshield display for displaying variable information on the windshield of the motor vehicle, wherein the motor vehicle is a transformation module for such alignment of a represented by the windshield displays / representable
  • Marking comprises that the marking marks the rule object from the perspective of the driver of the motor vehicle, wherein the marking is at least one of the category of
  • Rule object has dependent property.
  • the property of a marker can be, for example, an arrow, the shape of a border, a clip or a geometric figure, the color of the marker and / or the brightness of the marker.
  • at least two control objects of different categories can be identified or determined by means of the object selection module or
  • Object selection module at least three rule objects of different categories identifiable or determinable or selectable.
  • a category comprises several
  • a category or a subcategory comprises information
  • the controlled object is on the route of the motor vehicle or next to the route of the motor vehicle,
  • control object influences the driving maneuver of the motor vehicle and / or
  • a control object is covered by means of a marker.
  • the automatic driving system comprises an interface to a motor control.
  • the automatic driving system includes an interface to a transmission control.
  • the automatic driving system comprises an interface to an ESP system (vehicle stability system).
  • the automatic driving system comprises an interface for outputting a target value for a steering angle.
  • the automatic driving system comprises a controller for calculating a target value for the engine speed and / or a desired value for a braking torque.
  • the controller for determining a desired value for the
  • the controller is designed to determine a desired value for the steering angle.
  • the above object is - in particular in conjunction with one or more of the aforementioned features - also by an automatic driving system for automatically driving a motor vehicle depending on the position and / or the speed of a Rule object (in particular relative to the position and / or the speed of the motor vehicle), wherein the automatic driving system comprises a sensor for detecting the environment of the motor vehicle and an object selection module for determining at least one control object, and wherein the automatic driving system has an interface for outputting the position of a Rule object and / or to issue a category of
  • At least two rule objects of different categories can be determined by means of the object selection module, wherein the interface for outputting the positions of the rule objects and / or for outputting the categories of
  • Rule objects is designed.
  • at least three control objects of different categories can be determined by means of the object selection module, the interface being designed for outputting the positions of the control objects and / or for outputting the categories of the control objects.
  • the automatic driving system comprises an interface to a motor control.
  • the automatic driving system includes an interface to a transmission control.
  • the automatic driving system comprises an interface to an ESP system (vehicle stability system).
  • the automatic driving system comprises an interface for outputting a target value for a steering angle.
  • the automatic driving system comprises a controller for calculating a target value for the engine speed and / or a desired value for a braking torque.
  • the controller for determining a desired value for the
  • the controller is designed to determine a desired value for the steering angle.
  • Motor vehicle in the sense of the invention is in particular a land vehicle which can be used individually in road traffic.
  • Motor vehicles according to the invention are not limited in particular to land vehicles with internal combustion engine.
  • FIG. 2 shows an exemplary embodiment of an automatic driving system
  • Fig. 3 shows an embodiment of the arrangement of a viewing direction sensor
  • FIG. 4 shows the driving situation of FIG. 1 from the perspective of a motor vehicle
  • FIG. 5 shows the illustration of FIG. 4, but with an embodiment of means of the
  • FIG. 6 shows the illustration of FIG. 4, but with a further embodiment of
  • Fig. 7 shows an embodiment of an alternative automatic driving system
  • Fig. 8 shows another embodiment of an alternative automatic driving system.
  • the motor vehicle 1 shows a driving situation with motor vehicles 1, 2, 3, 4, 5, 6, 7 and 8.
  • the motor vehicle 1 has an automatic driving system 10 illustrated in FIG. 2.
  • the automatic driving system 10 has a module 14 for detecting vehicle movement as a function of vehicle movement data F.
  • the vehicle motion data F may include accelerations in three spatial directions, as well as rotations (eg, angular velocities or accelerations) in three orthogonal directions, as well as the speed of the vehicle
  • the vehicle movement data F can be determined by suitable sensors or by an ESP module (vehicle stability system) 20.
  • ESP module vehicle stability system
  • the automatic driving system 10 also includes a radar 1 1 and a
  • the automatic driving system 10 also includes a
  • Object selection module 15 for determining at least one control object as a function of the output data of the module 14 and of the object recognition module 12
  • Object selection module 15 transfers the dynamic properties of the control object, such as its speed or its relative speed to the motor vehicle, its distance from the motor vehicle and possibly its angle to the motor vehicle a controller 16, wherein the controller 16 controls the motor vehicle to a set speed determined by him ,
  • the controller 16 controls the brake 21 of the motor vehicle 1 via the ESP 20, the transmission 31 of the motor vehicle 1 via the transmission control 30 and the engine 41 of the motor vehicle 1 via the engine management system (engine control) 40.
  • the automatic driving system 10 also has an input device, not shown, by means of which the automatic driving system 10 can be switched on or off or by means of the automatic driving system 10, a temporal sequence distance can be specified.
  • an interface is provided by means of which a braking signal is transmitted to the automatic driving system 10, as a result of which the automatic driving system 10 is switched off.
  • an interface 17 is provided, via which the automatic driving system and / or the object selection module 15, the position P of
  • Rule object and its category K or the positions of several Rule objects and their categories K outputs.
  • the motor vehicle 1 also comprises a viewing direction sensor system 51 shown in FIG. 3 for detecting the viewing direction of the driver 1 1 1 of the motor vehicle 1
  • a head-up display 52 for displaying variable information on the windshield 19 of the motor vehicle first
  • a transformation module 50 is provided for such alignment of a mark shown or represented by the head-up display 52, that the mark from the perspective of the driver 1 1 1 of the motor vehicle 1, the control object or the Rule objects marked. If several rule objects are to be marked, appropriate markings are provided.
  • Output values of the viewing direction sensor system 51 forms a transformation matrix B, by means of which the position (x, y) of a marking on the windshield can be calculated as follows:
  • A is the distance between the motor vehicle 1 and the control object and ⁇ the angle of the distance A between the motor vehicle 1 and the control object relative to the longitudinal axis of the motor vehicle 1, wherein ⁇ denotes the position P of the control object.
  • the automatic driving system reproduces the position P in catnetic coordinates.
  • the extent of a control object and the associated extension of a marking it may be provided, for example, that in the x-direction the position of the marking on the windshield is not a single value but an interval [x L , XR] over which the marking extends as follows:
  • A is the average distance between the motor vehicle 1 and the
  • Rule object, 5 L is the angle of the distance between the motor vehicle 1 and the left edge of the control object relative to the longitudinal axis of the motor vehicle 1 and 5 R is the angle of the distance between the motor vehicle 1 and the right edge of the control object with respect to the longitudinal axis of the motor vehicle 1.
  • FIG. 4 shows the driving situation according to FIG. 1 from the perspective of the interior of the motor vehicle 1, wherein no markings are indicated.
  • FIG. 5 shows the illustration according to FIG. 4, but markings 2A, 3A, 5A, 7A, 8A shown with an exemplary embodiment.
  • the marking 2A is configured as a pair of yellow-colored staples for marking the motor vehicle 2.
  • the marker 3A is shown as a red colored bracket to mark the marking 2A.
  • the marking 5A is designed as a pair of green-colored clamps for marking the motor vehicle 5 and supplemented by a green arrow.
  • the marking 7A is designed as a pair of yellow-colored staples for marking the motor vehicle 7.
  • the marking 8A is designed as a yellow colored pair of clips for marking the motor vehicle 8.
  • the marker 3A signals the driver 1 1 1 that the rule object "motor vehicle 3" the following categories have been assigned:
  • the control object "motor vehicle 3" is located on the route of the motor vehicle 1.
  • the control object "motor vehicle 3" represents a threat to the motor vehicle 1.
  • the control object "motor vehicle 3" influences the driving maneuver of the motor vehicle 1.
  • the marking 5A signals the driver 1 1 1, that the rule object "motor vehicle 5" the following categories have been assigned:
  • the control object "motor vehicle 5" is located on the route of the motor vehicle 1.
  • the rule object "motor vehicle 5" does not pose a threat to the motor vehicle 1.
  • the control object “motor vehicle 5" influences the driving maneuver of the motor vehicle 1.
  • the mark 8A signals the driver 1 1 1 that the rule object "motor vehicle 8" has been assigned the following category:
  • the control object "motor vehicle 8" is not located on the route of the motor vehicle 1.
  • Fig. 6 shows the illustration according to Fig. 4, but with an alternative embodiment illustrated markers 2B, 3B, 5B, 6B, 7B and 8B.
  • the marker 2B is designed as a yellow-colored rectangle, which covers the motor vehicle.
  • the mark 3B is designed as a red-colored rectangle for marking the motor vehicle 3 and supplemented by a red arrow.
  • the marking 5B is configured as a green-colored rectangle for marking the motor vehicle 5 and supplemented by a green arrow.
  • the marking 6B is configured as a yellow-colored rectangle for marking the motor vehicle 6.
  • the marking 7B is configured as a yellow-colored rectangle for marking the motor vehicle 7.
  • the marking 2B is designed as a yellow-colored rectangle, which covers the motor vehicle.
  • the mark 3B is designed as a red-colored rectangle for marking the motor vehicle 3 and supplemented by a red arrow.
  • the marking 5B is configured as a green-colored rectangle for marking the motor vehicle 5 and supplemented by a green arrow.
  • Mark 8B is designed as a yellow-colored rectangle for marking the motor vehicle 8.
  • Fig. 7 shows an alternative automatic driving system 10A, wherein like reference numerals as in Fig. 2 designate the same or similar elements or modules.
  • a regulator 16A is provided, which engages in the steering 61 of the motor vehicle 1 by means of a steering control 60 of the motor vehicle 1 and enables or implements automatic steering.
  • FIG. 8 Another modified automatic driving system 10B is shown in FIG. 8, wherein the same
  • the automatic driving system 10B accesses a database 200, which may be, for example, an internet-accessible cloud.
  • a database 200 for example, objects or rule objects can be identified. By means of such identification, it may be provided, for example, to determine the size of an object or control object. In this way, for example, the extent or in particular the height of markings can be determined.
  • Such a function may be implemented, for example, in the object recognition module of the automatic driving system 10B designated by reference numeral 15B.
  • the transformation module and the automatic driving system are separated device technology. However, it may also be provided that the transformation module 50 is implemented in an automatic driving system 10, 10A or 10B.
  • the database 200 is a performance example of a sensor for detecting the environment of the motor vehicle in the sense of the claims.
  • the database 200 may include out-of-vehicle sensing, such as Car2X (for example, providing that the vehicles use wireless technology to track each other through their trajectory, etc.).

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un véhicule automobile (1) doté d'un système de conduite automatique (10), comprenant un capteur qui détecte l'environnement du véhicule automobile (1) et un module de sélection d'objet (15) qui détermine au moins un objet cible de réglage et une catégorie associée à cet objet-cible de réglage. Le système comprend en outre des capteurs de détection de la direction du regard qui détectent la direction du regard du conducteur (111), ainsi qu'un affichage tête haute qui affiche des informations variables sur le pare-brise (19). Selon l'invention un marquage (3A, 5A) est créé autour de l'objet-cible de réglage, la position dudit marquage dépendant de la direction du regard. Le marquage peut comporter au moins une caractéristique dépendant de la catégorie de l'objet-cible de réglage.
PCT/EP2016/061247 2015-07-07 2016-05-19 Véhicule automobile doté d'un système de conduite automatique Ceased WO2017005400A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015212664.1A DE102015212664A1 (de) 2015-07-07 2015-07-07 Kraftfahrzeug mit einem automatischen Fahrsystem
DE102015212664.1 2015-07-07

Publications (1)

Publication Number Publication Date
WO2017005400A1 true WO2017005400A1 (fr) 2017-01-12

Family

ID=56112931

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2016/061247 Ceased WO2017005400A1 (fr) 2015-07-07 2016-05-19 Véhicule automobile doté d'un système de conduite automatique

Country Status (2)

Country Link
DE (1) DE102015212664A1 (fr)
WO (1) WO2017005400A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
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DE102017213301A1 (de) * 2017-08-01 2019-02-07 Osram Gmbh Steuerungsverfahren zum ausgeben einer information in einen wahrnehmungsbereich
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