Device and method for interacting between a vehicle capable of being driven in an at least partially automated manner and a vehicle user
A device and operating method are provided for an interaction between a vehicle, which can travel in an at least partially automated manner, with an operator control element, which can be operated by the user of the vehicle for influencing at least the transverse guidance of the vehicle. A wheel positioning angle and/or a drive torque or braking torque at at least one wheel of the vehicle can be controlled in response to an operator control action at the operator control element or as a function of a control unit for controlling at least partially automated travel. Depending on the degree of haptic contact between the user of the vehicle and the operator control element, at least one movement of the vehicle can be executed on the basis of one or more operator control actions of the user and/or on the basis of data of the control unit for controlling the at least partially automated travel.
1 . A device for an interaction between a vehicle and a user of the vehicle, wherein the vehicle is capable of being driven in an at least partially automated manner with an operating element that is capable of being operated by the user of the vehicle for influencing at least lateral guidance of the vehicle, the device comprising a processor, wherein the device is configured to:
control a wheel-setting angle and/or a driving torque or braking torque on at least one wheel of the vehicle in response to one or more operating actions on the operating element or in a manner depending on a control unit for controlling at least partially automated driving,
execute at least one movement of the vehicle depending on a change in a degree of haptic contact between the user of the vehicle and the operating element, on the basis of data from the one or more operating actions of the user and/or on the basis of data from the control unit for controlling the at least partially automated driving,
evaluate one or more first operating actions of the user in a first time-interval,
perform a comparison of a first movement of the vehicle that would result on the basis of the one or more first operating actions of the user with a second movement of the vehicle that would result on the basis of a movement preset from the control unit for controlling at least partially automated driving, and
bring about at least one of the first movement of the vehicle or the second movement of the vehicle in a second time-interval which differs from the first time-interval based on a result of the comparison.
2 . The device according to claim 1 , wherein the device is further configured to:
decide, depending on the degree of the haptic contact, whether a movement of the vehicle of the at least one movement of the vehicle is to be executed on the basis of the data from the one or more operating actions of the user and/or whether the movement of the vehicle of the at least one movement of the vehicle is to be executed on the basis of the data from the control unit for controlling at least partially automated driving.
3 . The device according to claim 1 , wherein
one or more movement parameters of the at least one movement of the vehicle is/are capable of being ascertained by a predetermined first mathematical function on the basis of the data from the one or more operating actions of the user and/or on the basis of the data from the control unit for controlling at least partially automated driving.
4 . The device according to claim 1 , wherein the device is further configured to:
determine or change one or more decision criteria for a decision between a first movement of the vehicle that is based at least predominantly on the data from the one or more operating actions of the user or a second movement of the vehicle that is based at least predominantly on the movement preset from the control unit for controlling at least partially automated driving, depending on the degree of the haptic contact.
5 . The device according to claim 1 , wherein
a decision is made about a movement of the vehicle of the at least one movement of the vehicle on the basis of the one or more operating actions and/or depending on the movement preset from the control unit for controlling at least partially automated driving, depending on a global or local minimum of a function that represents a measurement of a disadvantage depending on the movement of the vehicle of the at least one movement of the vehicle and/or on a global or local maximum of a function that represents a measurement of an advantage depending on the movement of the vehicle.
6 . The device according to claim 1 , wherein
a decision is made about a movement of the vehicle of the at least one movement of the vehicle on the basis of the one or more operating actions and/or depending on the movement preset from the control unit for controlling at least partially automated driving, depending on a variable representing an available degree of automation.
7 . The device according to claim 1 , wherein
the data relating to the movement preset from the control unit for controlling at least partially automated driving are ascertained on the basis of environment data from one or more time-intervals that have been ascertained prior to the second time-interval and/or prior to the first time-interval.
8 . The device according to claim 1 , wherein the device is further configured to:
decide, depending on a currently relevant driving situation or on a roadway section currently to be driven along and/or on traffic rules applying currently or locally, to execute a movement of the vehicle of the at least one movement of the vehicle on the basis of the one or more operating actions and/or depending on the movement preset from the control unit for controlling at least partially automated driving.
9 . The device according to claim 4 , wherein
a degree of coupling between at least a first part of the operating element and at least one wheel-angle regulator of the vehicle is capable of being set or changed, depending on the decision as to whether a movement of the vehicle of the at least one movement of the vehicle is to be executed on the basis of the data from the one or more operating actions of the user and/or whether the movement of the vehicle of the at least one movement of the vehicle is to be executed on the basis of the movement preset from a control unit for controlling at least partially automated driving.
10 . The device according to claim 9 , wherein
one or more operating actions of the user representing a desired movement of the vehicle are capable of being captured with the at least partially decoupled operating element.
11 . The device according to claim 1 , wherein
the operating element is a steering handle that is capable of being operated with one or two hands of one or more users and has been configured for controlling at least the lateral guidance of the vehicle in an at least partially manual driving mode and has also been configured for influencing longitudinal guidance of the vehicle in an at least partially automated driving mode.
12 . The device according to claim 1 , wherein
a movement of the vehicle of the at least one movement of the vehicle is capable of being executed on the basis of the one or more operating actions and/or depending on the movement preset from the control unit for controlling at least partially automated driving, depending on one or more of the following parameters, the parameters being characteristic of:
a state of attentiveness of the user,
a direction of vision or accommodation of vision, and
a state of the user.
13 . The device according to claim 1 , wherein the device is further configured to:
output driver information that characterizes at least one decision reason for the at least one movement of the vehicle on the basis of the data from the one or more operating actions of the user and/or on the basis of the data from the control unit for at least partially automated driving.
14 . An operating method for an interaction between a vehicle and a user of the vehicle, wherein the vehicle is capable of being driven in an at least partially automated manner with an operating element that is capable of being operated by the user of the vehicle for influencing at least lateral guidance of the vehicle, the method comprising:
controlling a wheel-setting angle and/or a driving torque or braking torque on at least one wheel of the vehicle in response to one or more operating actions of the user on the operating element or in a manner depending on a control unit for controlling at least partially automated driving,
executing at least one movement of the vehicle, depending on a change in a degree of haptic contact between the user of the vehicle and the operating element, on the basis of the one or more operating actions of the user and/or on the basis of the data from the control unit for controlling the at least partially automated driving,
evaluating one or more first operating actions of the user in a first time-interval,
performing a comparison of a first movement of the vehicle that would result on the basis of the one or more first operating actions of the user with a second movement of the vehicle that would result on the basis of a movement preset from the control unit for controlling at least partially automated driving, and
bringing about at least one of the first movement of the vehicle or the second movement of the vehicle in a second time-interval which differs from the first time-interval based on a result of the comparison.
15 . A computer product comprising a non-transitory computer readable medium having stored thereon program code which, when executed in a computational unit,
controls a wheel-setting angle and/or a driving torque or braking torque on at least one wheel of the vehicle in response to one or more operating actions of the user on the operating element or in a manner depending on a control unit for controlling at least partially automated driving,
executes at least one movement of the vehicle, depending on a change in a degree of haptic contact between the user of the vehicle and the operating element, on the basis of the one or more operating actions of the user and/or on the basis of the data from the control unit for controlling the at least partially automated driving,
evaluates one or more first operating actions of the user in a first time-interval,
performs a comparison of a first movement of the vehicle that would result on the basis of the one or more first operating actions of the user with a second movement of the vehicle that would result on the basis of a movement preset from the control unit for controlling at least partially automated driving, and
brings about at least one of the first movement of the vehicle or the second movement of the vehicle in a second time-interval which differs from the first time-interval based on a result of the comparison.
16 . The device according to claim 1 , wherein the device is further configured to:
decide, depending on the degree of the haptic contact, whether and to what extent a movement of the vehicle of the at least one movement of the vehicle is to be executed on the basis of the data from the one or more operating actions of the user and/or whether and to what extent the movement of the vehicle of the at least one movement of the vehicle is to be executed on the basis of the data from the control unit for controlling at least partially automated driving.
17 . The device according to claim 4 , wherein
a degree of coupling between at least a first part of the operating element and at least one wheel-angle regulator of the vehicle is capable of being set or changed, depending on the decision as to whether and to what extent a movement of the vehicle of the at least one movement of the vehicle is to be executed on the basis of the data from the one or more operating actions of the user and/or whether and to what extent the movement of the vehicle of the at least one movement of the vehicle is to be executed on the basis of the movement preset from the control unit for controlling at least partially automated driving.
18 . The device according to claim 1 , wherein the device is further configured to determine in steps, or to change substantially in stepless manner, a relationship between the data from the one or more operating actions of the user and the data from the control unit for controlling at least partially automated driving in a course of determining the at least one movement of the vehicle, or a respective number of features for presetting the at least one movement of the vehicle, depending on the degree of the haptic contact.