US 12,071,166 B2
Method for transferring a motor vehicle from an autonomous into a manual driving mode, taking a cognitive model of the driver into consideration
Marlene Susanne Lisa Scharfe-Scherf, Heilbronn (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Filed by Robert Bosch GmbH, Stuttgart (DE)
Filed on Jul. 16, 2021, as Appl. No. 17/378,076.
Claims priority of application No. 102020209099.8 (DE), filed on Jul. 21, 2020.
Prior Publication US 2022/0024489 A1, Jan. 27, 2022
Int. Cl. B60W 60/00 (2020.01); B60W 40/04 (2006.01); B60W 40/08 (2012.01)
CPC B60W 60/0053 (2020.02) [B60W 40/04 (2013.01); B60W 40/08 (2013.01); B60W 60/0057 (2020.02); B60W 2040/0863 (2013.01); B60W 2540/229 (2020.02)] 10 Claims
OG exemplary drawing
 
1. A method for transferring a motor vehicle from an autonomous driving mode, in which the motor vehicle is guided autonomously, into a manual driving mode, in which the motor vehicle is guided by a vehicle driver, the method comprising:
using a sensor system to sense parameters of a current state of the motor vehicle and of the vehicle driver;
simulating a predicted driver behavior by applying the sensed parameters to a cognitive model of the vehicle driver, wherein:
the cognitive model maps, with a plurality of nodes, a hierarchical sequence of a perception by the vehicle driver of a takeover request issued by the vehicle and predefined behavioral alternatives of the vehicle driver for each of a plurality of predefined driving situation alternatives;
the predefined behavioral alternatives include possible reactions to the takeover request issued by the vehicle and predefined alternative decisions to perform according to a respective action option;
the mapping of the plurality of nodes by the cognitive model is with a hierarchical organization by which the plurality of nodes are distributed over a plurality of hierarchical levels; and
for each respective one of a subset of the hierarchical levels, the respective hierarchical level includes a respective plurality of the nodes (a) that represent at least alternative possibilities of the perception and the predefined behavioral alternatives for respective ones of the plurality of predefined driving situation alternatives and (b) at least some of which each branches to a respective further plurality of the nodes that are of a lower one of the hierarchical levels than the respective hierarchical level; and
performing the transferring of the motor vehicle from the autonomous driving mode into the manual driving mode with a timing that is selected based on a result of the simulation.