U.S. patent application number 14/810089 was filed with the patent office on 2016-02-11 for method and apparatus for operating a vehicle, in particular a railroad vehicle.
The applicant listed for this patent is Robert Bosch GmbH. Invention is credited to Henning Voelz.
Application Number | 20160039440 14/810089 |
Document ID | / |
Family ID | 55134718 |
Filed Date | 2016-02-11 |
United States Patent
Application |
20160039440 |
Kind Code |
A1 |
Voelz; Henning |
February 11, 2016 |
Method and apparatus for operating a vehicle, in particular a
railroad vehicle
Abstract
A method for operating a vehicle, in particular a railroad
vehicle, having a safety circuit to be actuated by a vehicle
driver, the safety circuit initiating at least one emergency action
if the vehicle driver actuates the safety circuit uninterruptedly,
or not at all, in a predefinable time interval. Provision is made
here that a condition of the vehicle driver is sensed by a camera
device; and that the at least one emergency action is initiated
depending on the condition of the vehicle driver.
Inventors: |
Voelz; Henning; (Stuttgart,
DE) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Robert Bosch GmbH |
Stuttgart |
|
DE |
|
|
Family ID: |
55134718 |
Appl. No.: |
14/810089 |
Filed: |
July 27, 2015 |
Current U.S.
Class: |
701/20 |
Current CPC
Class: |
B61L 27/04 20130101;
B61L 15/0081 20130101; B61L 15/0072 20130101 |
International
Class: |
B61L 27/04 20060101
B61L027/04; B61L 15/00 20060101 B61L015/00 |
Foreign Application Data
Date |
Code |
Application Number |
Aug 5, 2014 |
DE |
10 2014 215 461.8 |
Claims
1. A method for operating a vehicle, having a safety circuit to be
actuated by a vehicle driver, the method comprising: initiating,
via the safety circuit, at least one emergency action if the
vehicle driver actuates the safety circuit uninterruptedly, or not
at all, in a predefinable time interval; wherein a condition of the
vehicle driver is sensed by a camera device, and wherein the at
least one emergency action is initiated depending on the condition
of the vehicle driver.
2. The method of claim 1, wherein at least one of an optical
warning and an acoustic warning is outputted as an emergency action
if the safety circuit is actuated uninterruptedly, or not at all,
in the predefinable time period.
3. The method of claim 1, wherein the vehicle driver is monitored
by the camera device with regard to a reaction to the outputted
warning.
4. The method of claim 1, wherein a further emergency action is
initiated after a predefinable time following output of the
warning, the time being predefined depending on the reaction of the
vehicle driver to the outputted warning.
5. The method of claim 1, wherein the predefined time is predefined
to be shorter if no reaction by the vehicle driver to the outputted
warning has been ascertained by the camera device, and longer if a
reaction by the vehicle driver has been sensed.
6. The method of claim 1, wherein depending on the reaction of the
vehicle driver, the safety circuit initiates an emergency braking
operation as a further emergency action.
7. The method of claim 1, wherein depending on the reaction of the
vehicle driver, the safety circuit outputs at least one of a
further optical warning and a further acoustic warning as a further
emergency action.
8. The method of claim 1, wherein the vehicle driver is monitored
by the camera device with regard to a further reaction to the
further warning, and wherein the emergency braking operation is
initiated depending on the further reaction.
9. The method of claim 1, wherein a face recognition operation is
carried out to sense a reaction of the vehicle driver.
10. The method of claim 1, wherein the vehicle is a railroad
vehicle.
11. An apparatus for operating a vehicle, comprising: a safety
circuit to be actuated by a vehicle driver of the vehicle, which
safety circuit is configured to initiate at least one emergency
action if it has been actuated by the vehicle driver
uninterruptedly, or not at all, within a predefinable time
interval; and a camera device to sense a condition of the vehicle
driver; wherein the safety circuit is configured to trigger the
emergency action depending on the sensed condition of the vehicle
driver.
12. The apparatus of claim 11, wherein the vehicle is a railroad
vehicle.
Description
RELATED APPLICATION INFORMATION
[0001] The present application claims priority to and the benefit
of German patent application no. 10 2014 215 461.8, which was filed
in Germany on Aug. 5, 2014, the disclosure of which is incorporated
herein by reference.
FIELD OF THE INVENTION
[0002] The present invention relates to a method for operating a
vehicle, in particular a railroad vehicle, that has a safety
circuit to be actuated by a vehicle driver, the safety circuit
initiating at least one emergency action if the vehicle driver
actuates the safety circuit uninterruptedly, or not at all, in a
predefinable time interval. Also described is an apparatus, in
particular a control device, for operating a vehicle, in particular
a railroad vehicle, having a safety circuit to be actuated by a
vehicle driver of the vehicle, which circuit is configured to
initiate at least one emergency action if it has been actuated by
the vehicle driver uninterruptedly, or not at all, within a
predefinable time interval.
BACKGROUND INFORMATION
[0003] Methods and apparatuses of the kind recited above are known
from the existing art. Safety circuits are used as a rule in
railroad vehicles. The vehicle driver continuously actuates a
button or a pedal of the safety circuit, said actuation being
monitored by the safety circuit. Within a predefinable time period,
as a rule 30 seconds, the operating element must be briefly
released once or at least otherwise actuated, for example with an
elevated or decreased actuation force, in order to signal that the
vehicle driver, for example, is still awake. Also known are
opposite methods in which the vehicle driver must actuate the
safety circuit or the operating element once during the time
interval in order to avoid initiation of an emergency action. If
that activity is absent, i.e. if the operating element is actuated
uninterruptedly or not at all within the predefinable time
interval, the safety circuit then triggers at least one emergency
action. An "uninterrupted actuation" is understood in this instance
also as a modification-free actuation, as was described above with
reference to constant actuation force. The warning can be, in known
fashion, an optical or acoustic warning. If the warning is ignored
by the driver, i.e. if the operating element continues not to be
released, the safety circuit recognizes from this that the vehicle
driver is no longer functionally capable and initiates an emergency
braking operation in order to bring the vehicle to a stop. Safety
circuits of this kind are also known as a "dead-man's switch."
SUMMARY OF THE INVENTION
[0004] The method according to the present invention having the
features described herein has the advantage that operation of the
safety circuit by the vehicle driver is plausibilized by an
additional system. The result is to ensure on the one hand that the
emergency action is justifiably initiated, and on the other hand
that an emergency action is initiated, if applicable, sooner than
hitherto, when it is recognized that the vehicle driver is not
functionally capable. Provision is made for this purpose, according
to the present invention, that a condition of the vehicle driver is
sensed by way of a camera device; and that the at least one
emergency action is initiated depending on the sensed condition of
the vehicle driver. The actuation of the safety circuit is thus
plausibilized by sensing the condition of the driver. In
particular, if the camera device senses that the vehicle driver is
functionally incapable, for example because the camera device
cannot sense the vehicle driver at all, for example because he has
left the operator's cabin, the emergency action is initiated
immediately. The camera device is configured in particular to sense
the driver's face and, by face recognition, to detect and
optionally evaluate reactions of the driver. Carrying out face
recognition using a camera device is known in principle from the
existing art, so that this need not be discussed here in further
detail. Face recognition allows the identification of reactions by
the driver that allow inferences as to the vehicle driver's
condition.
[0005] Provision may be made that an optical and/or acoustic
warning is outputted as an emergency action if the safety circuit
is actuated uninterruptedly, or not at all, in the predefinable
time period. The optical or acoustic warning informs the vehicle
driver that he or she has actuated the safety circuit
uninterruptedly during the predefinable time period. The vehicle
driver is thereby reminded that he or she must, for example,
interrupt actuation of the safety circuit in order to demonstrate
his or her functional capability. It is also conceivable to
initiate/output a haptic warning as an emergency action. This first
emergency action offers the possibility that, for example, the
uninterrupted actuation involves an unintentional and in particular
inattentive uninterrupted actuation of the safety circuit, even
though the vehicle driver is functionally capable. If the vehicle
driver then actuates the safety circuit, in particular within a
second predefinable interval that begins upon output of the
warning, the driver's functional capability is then recognized and
the safety circuit is shifted into its initial state.
[0006] According to an advantageous refinement of the invention,
provision is made that the vehicle driver is monitored by the
camera device with regard to a reaction to the outputted warning.
Outputting of the optical or acoustic warning, constituting a first
emergency action, should cause the vehicle driver, if he or she is
functionally capable, to recognize the warning and react thereto,
possibly unconsciously, with a change in his or her facial
features. This reaction is sensed by the camera device. If the
vehicle driver therefore does react to the outputted warning, it is
inferred therefrom that the vehicle driver is in principle
functionally capable. If no reaction is sensed by the camera
device, it is then inferred that the vehicle driver is functionally
incapable.
[0007] Provision furthermore may be made that a further emergency
action is initiated after a predefinable time following output of
the optical and/or acoustic warning, the time being predefined
depending on the reaction of the vehicle driver to the outputted
warning. The result thereby achieved is that the driver is again
reminded regarding correct actuation of the safety circuit in order
to determine his or her functional capability. The further warning
is outputted earlier or later depending on the condition of the
vehicle driver. If it is has previously been ascertained by way of
the camera device that the driver has not reacted to the outputted
warning, the further emergency action is initiated earlier than in
the case in which a reaction of the driver to the outputted warning
was sensed. Because the further emergency action is outputted
earlier if the driver has not reacted to the previously outputted
warning, the method is shortened overall as compared with a
conventional method with output of a second warning, so that a
functional incapability of the vehicle driver can be reacted to
more quickly.
[0008] Provision is made for this purpose, in particular, that the
predefined time is predefined to be shorter if no reaction by the
vehicle driver to the outputted warning has been ascertained by the
camera device, and longer if a reaction by the vehicle driver has
been sensed. The advantages already recited result therefrom.
[0009] According to an advantageous refinement, provision is made
that depending on the reaction of the vehicle driver, the safety
circuit initiates an emergency braking operation as a further
emergency action. Provision is made in particular that the
emergency braking operation is initiated when it has been
determined that the vehicle driver has not reacted to the outputted
warning.
[0010] Alternatively, provision may be made that depending on the
reaction of the vehicle driver, the safety circuit outputs a
further acoustic and/or optical warning as a further emergency
action. The vehicle driver is thereby once again reminded to
operate the safety circuit. Initiation of an emergency braking
operation can thereby be delayed, and undesired initiation of an
emergency braking operation can be prevented. This is provided in
particular when a vehicle speed of the vehicle which permits
delayed initiation of an emergency braking operation is sensed.
Provision may be made for this purpose that depending on the
reaction of the vehicle driver and the present vehicle speed of the
vehicle, the safety circuit outputs as a further emergency action
either the emergency braking operation or the further acoustic
and/or optical warning. If a limit speed value is exceeded, the
emergency braking operation is then initiated immediately as a
further emergency action, in order to increase safety overall.
[0011] Provision furthermore may be made that the vehicle driver is
monitored by the camera device with regard to a further reaction to
the further outputted warning; and that the emergency braking
operation is initiated depending on the further reaction. Provision
is therefore made here that the emergency braking operation is
initiated only if there is also no reaction by the driver to the
further acoustic or optical warning.
[0012] The apparatus according to the present invention having the
features described herein is notable for the fact that a camera
device is provided which is configured to sense a condition of the
vehicle driver, the safety circuit triggering the at least one
emergency action depending on the sensed condition of the vehicle
driver. Further features and advantages are evident from what has
already been described above, and from the descriptions herein.
[0013] The present invention will be explained in further detail
below with reference to an exemplifying embodiment.
BRIEF DESCRIPTION OF THE DRAWINGS
[0014] FIG. 1 shows an apparatus for operating a railroad
vehicle.
[0015] FIG. 2 is a flow chart showing a method for operating the
vehicle by way of the apparatus.
DETAILED DESCRIPTION
[0016] FIG. 1 is a simplified depiction of a vehicle 1 that is
configured as a railroad vehicle. Vehicle 1 has a vehicle driver's
cabin 2 in which a vehicle driver 3 can operate vehicle 1. A
corresponding operating device 4 having multiple operating
elements, as well as a vehicle driver's seat 5 for a vehicle
driver, are provided for this purpose in vehicle driver's cabin
2.
[0017] Vehicle 1 furthermore has an apparatus 6 that is provided as
a dead-man's switch in order to monitor the functional capability
of vehicle driver 3. Apparatus 6 has for this purpose a safety
circuit 7 having an operating element 8, operating element 8 being
configured in the present case as a foot pedal. Alternatively,
provision can also be made to embody operating element 8 as a
manual switch, in particular as a pushbutton.
[0018] Apparatus 6 furthermore has a camera device 9 that is
configured and configured in such a way that it senses vehicle
driver 3, in particular his or her face. By face recognition,
camera device 9 senses the condition of the vehicle driver, in
particular in the form of reactions by the vehicle driver that
result from a change in the facial features of the face and/or in
the head position of vehicle driver 3.
[0019] The manner of operation of apparatus 6 will now be explained
in further detail by way of FIG. 2, referring to a flow chart.
[0020] As already mentioned, apparatus 6 monitors the functional
capability of vehicle driver 3. Firstly, the actuation of operating
element 8 by vehicle driver 3 is monitored. Safety circuit 7
detects the functional capability of the vehicle driver when the
vehicle driver interrupts actuation of operating element 8 at least
once within a predefinable time period. A time interval of 30
seconds may be established as a predefinable time interval. If the
vehicle driver interrupts the actuation of operating element 8 or
of safety circuit 7 within this time interval, it is recognized on
that basis that the vehicle driver is functionally capable.
[0021] If it is sensed in step S1, however, that the driver is
actuating operating element 8 uninterruptedly, or not at all, in
the predefined time interval, then in a following step S2 an
optical warning is outputted by safety circuit 7, for example by
way of a light-emitting arrangement 10 provided on operating device
4.
[0022] Subsequently thereto, camera device 9 monitors the condition
of the vehicle driver in a step S3. A face recognition operation is
carried out in order to sense reactions by vehicle driver 3.
[0023] If the result of the monitoring of the vehicle driver in
step S3 is that vehicle driver 3 is attentive and, in particular,
has registered the optical warning, then in a step S4.1 an acoustic
warning is outputted after a predefined time has elapsed. If camera
device 9 detects by face recognition that the vehicle driver is
inattentive, for example because he or she does not react to the
optical warning, or reacts to the optical warning but without
interrupting or modifying the operation of operating element 8, the
acoustic warning is then outputted in a step S4.2 at a point in
time before the point in time of the acoustic warning of step S4.1,
so that the vehicle driver's attention is drawn, at an earlier
point in time, to his or her inattentiveness or to the actuation of
safety circuit 7.
[0024] If it is determined by way of the condition monitoring using
camera device 9 that the driver is functionally incapable, for
example because he or she does not react at all to the optical
warning of step S2, an emergency braking operation of vehicle 1 is
then initiated in a step S4.3. The result is that thanks to the
monitoring of the driver's condition using camera device 9,
initiation of the emergency braking operation can occur sooner than
in the case of existing dead-man's switches.
[0025] If vehicle driver 3 does not react to the acoustic warning
of step S4.1 or S4.2, and if it is ascertained by way of camera
device 9 that the vehicle driver is functionally incapable, for
example because he or she has not reacted either to the optical
warning or to the acoustic warning, another acoustic warning is
then triggered in a step S5.1 before an emergency braking operation
is triggered in a step S5.2 if the vehicle driver also does not
react to the repeated acoustic warning in step S5.1, or in steps
S4.1 or S4.2.
[0026] If a reaction by the vehicle driver to the repeated acoustic
warning in step S5.1 is detected, however, and in particular is
correspondingly verified by an actuation of operating element 8 by
a vehicle driver, then normal operation of apparatus 6 and of
vehicle 1 is resumed in a step S6.
[0027] The suppression or delaying of emergency braking as a result
of outputting a further warning in steps S4.1, S4.2, or S5.1 is to
be understood as optional. The method can be accomplished in
principle without the output of an additional or repeated acoustic
or optical warning. Known methods for face recognition can be
utilized in evaluating the image of vehicle driver 3 acquired by
camera device 9. In particular, a reaction by the vehicle driver is
identified on the basis of the position and orientation of the
face. The condition of the vehicle driver can be recognized on the
basis of these data. In particular, it is possible to infer, for
example, that the vehicle driver is inattentive if he or she is not
looking in the direction of travel or if his or her face is not
oriented in the direction of travel. Optionally, the orientation of
the vehicle driver's eyes can also be monitored, and the vehicle
driver's attentiveness can be inferred from the orientation of his
or her eyes. Corresponding face recognition methods are also used,
for example, in motor vehicles in order to sense a fatigue
condition of the motor vehicle driver.
[0028] Camera device 9 can be made up of a camera or of multiple
cameras. In particular, a stereoscopic camera device having two
cameras offers the possibility of carrying out a three-dimensional
determination of the head position, and thereby achieving greater
accuracy in ascertaining the vehicle driver's condition. It is also
conceivable to dispose multiple camera devices in distributed
fashion in vehicle driver's cabin 2, the corresponding parameters
or head position data then being calculated in combination from the
images acquired thereby.
[0029] The utilization of apparatus 3, and the execution of the
method described, are not limited to rail vehicles or railroad
vehicles. Apparatus 6 and the method described can also be used in
other types of vehicle, for example maritime vessels or motor
vehicles. It is also conceivable to output haptic warnings or
warning messages.
* * * * *