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1. WO2020064200 - METHOD FOR TRANSFERRING VEHICLE CONTROL FROM AUTOMATED VEHICLE CONTROL TO MANUAL VEHICLE CONTROL

Publication Number WO/2020/064200
Publication Date 02.04.2020
International Application No. PCT/EP2019/071554
International Filing Date 12.08.2019
IPC
G05D 1/00 2006.01
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
B60W 50/14 2012.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
50Details of control systems for road vehicle drive control not related to the control of a particular sub-unit
08Interaction between the driver and the control system
14Means for informing the driver, warning the driver or prompting a driver intervention
G05G 9/047 2006.01
GPHYSICS
05CONTROLLING; REGULATING
GCONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
9Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
02the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
04in which movement in two or more ways can occur simultaneously
047the controlling member being movable by hand about orthogonal axes, e.g. joysticks
CPC
B60K 2370/135
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
KARRANGEMENT 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
2370Details of arrangements or adaptations of instruments specially adapted for vehicles, not covered by groups B60K35/00, B60K37/00
10Input devices or features thereof
12Input devices or input features
133Multidirectional input devices
135Joysticks
B60K 2370/1438
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
KARRANGEMENT 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
2370Details of arrangements or adaptations of instruments specially adapted for vehicles, not covered by groups B60K35/00, B60K37/00
10Input devices or features thereof
12Input devices or input features
143Touch sensitive input devices
1438Touch screens
B60K 2370/166
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
KARRANGEMENT 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
2370Details of arrangements or adaptations of instruments specially adapted for vehicles, not covered by groups B60K35/00, B60K37/00
16Type of information
166Navigation
B60K 2370/167
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
KARRANGEMENT 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
2370Details of arrangements or adaptations of instruments specially adapted for vehicles, not covered by groups B60K35/00, B60K37/00
16Type of information
167Vehicle dynamics information
B60K 2370/175
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
KARRANGEMENT 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
2370Details of arrangements or adaptations of instruments specially adapted for vehicles, not covered by groups B60K35/00, B60K37/00
16Type of information
175Autonomous driving
B60W 2050/146
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT 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
50Details 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
08Interaction between the driver and the control system
14Means for informing the driver, warning the driver or prompting a driver intervention
146Display means
Applicants
  • ZF FRIEDRICHSHAFEN AG [DE]/[DE]
  • FAURECIA INNENRAUM SYSTEME GMBH [DE]/[DE]
Inventors
  • JUNG, Steffen
  • KRAMME, Andreas
  • HAVERKAMP, Maximilian
  • BAVENDIEK, Jan
  • ECKSTEIN, Lutz
  • TENBROCK, Alexander
  • TUZAR, Gert-Dieter
  • UHLIG, Markus
  • SULZBACH, Thomas
Priority Data
10 2018 007 506.124.09.2018DE
Publication Language German (DE)
Filing Language German (DE)
Designated States
Title
(DE) VERFAHREN ZUR ÜBERGABE EINER FAHRZEUGSTEUERUNG VON EINER AUTOMATISIERTEN FAHRZEUGSTEUERUNG AN EINE MANUELLE FAHRZEUGSTEUERUNG
(EN) METHOD FOR TRANSFERRING VEHICLE CONTROL FROM AUTOMATED VEHICLE CONTROL TO MANUAL VEHICLE CONTROL
(FR) PROCÉDÉ POUR LE TRANSFERT D’UNE COMMANDE DE VÉHICULE D’UNE COMMANDE DE VÉHICULE AUTOMATISÉE À UNE COMMANDE DE VÉHICULE MANUELLE
Abstract
(DE)
Die Erfindung betrifft ein Verfahren zur Übergabe einer Fahrzeugsteuerung eines Fahrzeugs (1) von einer automatisierten Fahrzeugsteuerung durch eine Steuervorrichtung (2) an eine manuelle Fahrzeugsteuerung durch einen Fahrzeugführer mittels eines Steuerhebels (3), wobei der manuell bedienbare Steuerhebel (3) zumindest zum Beschleunigen, Bremsen und Lenken des Fahrzeugs (1) vorgesehen ist, wobei ferner zumindest eine erste Anzeigevorrichtung (4a) zur Fahrinformationsanzeige vorgesehen ist, wobei auf der ersten Anzeigevorrichtung (4a) zumindest eine Ist- Geschwindigkeit (5a) und eine Ist-Trajektorie (6a) des Fahrzeugs (1) sowie eine auf die Ist-Position des Steuerhebels (3) basierende Geschwindigkeit (5b) und eine auf die Ist-Position des Steuerhebels (3) basierende Trajektorie (6b) grafisch dargestellt wird, und wobei die Übergabe von der automatisierten Fahrzeugsteuerung an die manuelle Fahrzeugsteuerung bei einer grafischen Übereinstimmung der Ist- Geschwindigkeit (5a) des Fahrzeugs (1) und der auf die Ist-Position des Steuerhebels (3) basierenden Geschwindigkeit (5b) sowie bei einer grafischen Übereinstimmung der Ist-Trajektorie (6a) des Fahrzeugs (1) und der auf die Ist-Position des Steuerhebels (3) basierenden Trajektorie (6b) auf der ersten Anzeigevorrichtung (4a) vorgenommen wird.
(EN)
The invention relates to a method for transferring control of a vehicle (1) from automated vehicle control by a control device (2) to manual vehicle control by a vehicle driver by means of a control lever (3), wherein: the manually operable control lever (3) is provided at least to accelerate, brake and steer the vehicle (1); at least one first display device (4a) is also provided to display driving information; at least one actual speed (5a) and one actual trajectory (6a) of the vehicle (1) as well as a speed (5b) based on the actual position of the control lever (3) and a trajectory (6b) based on the actual position of the control lever (3) are displayed graphically on the first display device (4a); and the transfer from automated vehicle control to manual vehicle control is made if there is a graphical match of the actual speed (5a) of the vehicle (1) and the speed (5b) based on the actual position of the control lever (3), and if there is a graphical match of the actual trajectory (6a) of the vehicle (1) and the trajectory (6b) based on the actual position of the control lever (3) on the first display device (4a).
(FR)
L’invention concerne un procédé pour le transfert d’une commande de véhicule d’un véhicule (1) d’une commande de véhicule automatisée par un dispositif de commande (2) à une commande de véhicule manuelle par un conducteur de véhicule au moyen d’un levier de commande (3), le levier de commande (3) actionnable manuellement étant conçu au moins pour l'accélération, le freinage et la direction du véhicule (1), un premier dispositif d’affichage (4a) étant en outre prévu pour l’affichage d’informations de conduite, le premier dispositif d’affichage (4a) affichant au moins la vitesse réelle (5a) et une trajectoire réelle (6a) du véhicule (1) ainsi qu’une représentation graphique d’au moins une vitesse (5b) basée sur la position réelle du levier de commande (3) et d’une trajectoire (6b) basée sur la position réelle du levier de commande (3), et le transfert de la commande de véhicule automatisée à la commande de véhicule manuelle étant réalisée dans le cas d’une concordance graphique de la vitesse réelle (5a) du véhicule et de la vitesse (5b) basée sur la position réelle du levier de commande (3) ainsi que dans le cas d’une concordance graphique entre la trajectoire réelle (6a) du véhicule et la trajectoire (6b) basée sur la position réelle du levier de commande (3) dans le premier dispositif d’affichage (4a).
Also published as
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