Granted Patent B2

US 12,195,030 · App. 18/691,595 · Granted Jan 14, 2025

Inventors: Steffen Kempe (Ulm, DE); Rihab Laarousi (Gärtringen, DE); Daniela Wolf (Sindelfingen, DE)

Assignee: MERCEDES-BENZ GROUP AG

B60W50/14B60W60/00186B60W60/0053B60W60/0057B60W2420/403B60W2420/408B60W2556/20B60W2556/25

Abstract

Claims (14)

1. A method for operating a vehicle in an automated driving operation, the method comprising:

estimating a respective range of environment recording sensors of the vehicle by evaluating sensor signals of the environment recording sensors;

determining whether the environment recording sensors respectively have a sufficient estimated range for the automated driving operation,

wherein, if it is determined that only one of the environment recording sensors does not have a sufficient estimated range or that only a predetermined subset of the environment recording sensors respectively do not have a sufficient estimated range, the vehicle continues to be moved in the automated driving operation, wherein a speed of the vehicle is kept constant or reduced to a predetermined limited extent, and wherein a request to take over a driving task is output to a vehicle driver instantly or after a predetermined time delay,

wherein, if it is determined that all of the environment recording sensors or more or different environment recording sensors than the predetermined subset respectively do not have a sufficient estimated range, the vehicle continues to be moved in the automated driving operation, wherein the speed of the vehicle is reduced to a predetermined more significant extent, and wherein the request to take over the task of driving the vehicle is instantly output to the vehicle driver, and

wherein the automated driving operation is continued at the original speed, and no request to take over the driving task is output to the vehicle driver if, within the predetermined time delay until the request to take over the driving task is output to the vehicle driver, it is determined that the environment recording sensors respectively have a sufficient estimated range for the automated driving operation.

2. The method of claim 1 , wherein the respective estimated range is determined as being sufficient if the vehicle can be braked to a standstill within this estimated range with a predetermined delay or if the respective estimated range exceeds a minimum sensor range that is predetermined for a current speed of the vehicle.

3. The method of claim 1 , wherein the automated driving operation is ended if the vehicle driver does not take over the driving task within a predetermined or predeterminable takeover interval of time following the output of the request.

4. The method of claim 1 , wherein the respective range is estimated of those environment recording sensors of the vehicle provided to record an environment of the vehicle in a direction of travel of the vehicle.

5. The method of claim 1 , wherein the respective range of environment recording sensors of different types is estimated.

6. The method of claim 1 , wherein the respective range of at least one radar sensor, of at least one lidar sensor, and of at least one camera sensor is estimated.

7. The method of claim 1 , wherein a plausibility test of the respective estimated range is first performed, and using the respective plausibility tested estimated range, it is checked whether the environment recording sensors respectively have a sufficient estimated range for the automated driving operation.

8. The method of claim 7 , wherein the estimated range of the respective environment recording sensor is assessed as being implausible if the environment recording sensor does not record an object over a predetermined period of time which, according to its estimated range, it should have recorded.

9. The method of claim 8 , wherein if an estimated range of an environment recording sensor is assessed as being implausible, the estimated range of this environment recording sensor is corrected to a smaller value.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (23)