Method for deactivation
An automated driving mode of a vehicle is automatically terminated if, due to a manual steering torque acting on the steering wheel of the vehicle, a system steering torque generated by a control system of an assistance system for automated driving mode in terms of amount is exceeded by a predetermined first value if at least one hand of a vehicle user is detected on the steering wheel of the vehicle, is exceeded by a predetermined second value if neither of the vehicle user's hands is detected on the steering wheel, or is exceeded by a predetermined third value if it is determined that the vehicle user is distracted from the driving situation, or if it is determined that there is a lateral collision risk for the vehicle and the manual steering torque of the vehicle user is acting in the direction of the collision risk.
1. A method for deactivating an automated driving mode of a vehicle, the method comprising:
determining a manual steering torque acting on a steering wheel of the vehicle;
determining a system steering torque, wherein the system steering torque is generated by a control system during the automated driving mode of the vehicle;
detecting whether at least one of a vehicle user's hands is on the steering wheel;
determining whether the vehicle user's gaze or head orientation is not directed towards the front of the vehicle or determining whether there is a lateral collision risk for the vehicle and a direction of the collision risk;
automatically terminating the automated driving mode when the at least one of the vehicle user's hands is detected on the steering wheel and the manual steering torque exceeds the system steering torque by an amount of a first predetermined value;
automatically terminating the automated driving mode when neither of the vehicle user's hands are detected on the steering wheel and the manual steering torque exceeds the system steering torque by an amount of a second predetermined value;
automatically terminating the automated driving mode when the manual steering torque exceeds the system steering torque by an amount of a third predetermined value and it is determined that the vehicle user's gaze or head orientation is not directed towards the front of the vehicle; and
automatically terminating the automated driving mode when the manual steering torque exceeds the system steering torque by the amount of the third predetermined value and it is determined that there is the lateral collision risk for the vehicle and the manual steering torque is acting in the direction of the collision risk,
wherein the second predetermined value is greater than the first predetermined value and the third predetermined value is greater than the second predetermined value.
2. The method of claim 1 , wherein the automated driving mode is only terminated if the exceedance of the system steering torque by the manual steering torque for a respective one of the first, second, and third predetermined values has a duration longer than a predetermined period of time.
3. The method of claim 1 , the manual steering torque acting on the steering wheel is determined based on signals of a manual steering torque detection unit.
4. The method of claim 1 , wherein whether at least one of the vehicle user's hands is on the steering wheel is detected based on signals of at least one capacitive detection unit arranged on the steering wheel.
5. The method of claim 1 , wherein whether the vehicle user's gaze or head orientation is not directed towards the front of the vehicle is determined using signals of a driver observation camera indicating a direction of gaze or a head orientation of the vehicle user.
6. The method of claim 1 , wherein whether there is the lateral collision risk is determined based on signals of an environment sensor system of the vehicle.
7. The method of claim 6 , wherein, based on the signals of the environment sensor system, it is determined whether a potential collision object is located in or is entering a safety area of a longitudinal side of the vehicle.
8. The method of claim 1 , wherein the automated driving mode is terminated if the at least one of the vehicle user's hand is on the steering wheel and an actuation of an accelerator pedal of the vehicle exceeds a predetermined minimum duration.
9. The method of claim 1 , wherein the automated driving mode is terminated if the at least one of the vehicle user's hand is on the steering wheel and a brake pedal of the vehicle is actuated longer than a predetermined minimum duration.
10. The method of claim 1 , wherein the automated driving mode is terminated if an actuating element to deactivate the automated driving mode is actuated for a predetermined minimum duration.