WO2019029832A1

WO2019029832A1 - Automated driving system and method of stimulating a driver

Info

Publication number: WO2019029832A1
Application number: PCT/EP2017/070516
Authority: WO
Inventors: Giancarlo CACCIA DOMINIONI
Original assignee: Toyota Motor Europe NV SA
Current assignee: Toyota Motor Europe NV SA
Priority date: 2017-08-11
Filing date: 2017-08-11
Publication date: 2019-02-14
Anticipated expiration: 2020-02-11
Also published as: DE112017007854T5

Abstract

The invention relates to an automated driving system (30) comprising: • a driver stimulation device (4) suitable for stimulating the driver from a plurality of different directions, • a sensor (3) configured to sense the gaze direction of the driver, and • an electronic control device (1) configured to: receive a sensor output of the sensor (3), determine the gaze direction of the driver based on the output of the sensor, and control the driver stimulation device (4) to generate a stimulation pattern based on the determined gaze direction. The invention further relates to a vehicle and a method.

Description

AUTOMATED DRIVING SYSTEM AND METHOD OF STIMULATING A

DRIVER

FIELD OF THE DISCLOSURE

[0001] The present disclosure is related to an automated driving system, a vehicle, and a method of stimulating a driver in a vehicle having an automated driving system.

[0002] An automated driving system is a motor vehicle driving automation system that is capable of performing part or all of the dynamic driving task (DDT) on a sustained basis. An automated driving system may be mounted or is to be mounted in a vehicle (such as a car, a truck, an airplane).

[0003] In the case of road vehicles in particular, it may range in level from no driving automation (level 0) to full driving automation (level 5) according to SAE norm J3016.

[0004] In order to realize this function, an automated driving system normally comprises at least one sensor, an electronic control unit, and feedback devices which transmit information to the driver and/or act on control member(s) of the vehicle (for instance the steering shaft, the brake, the accelerator pedal or the like) instead of the driver to take some driving load off the driver.

[0005] An automated driving system is at least capable of assuming part of the driving task (for instance, to perform longitudinal control of the vehicle). In particular, many automated driving systems are designed to assist the driver and are therefore called Advanced Driver Assistance Systems (ADAS). Some automated driving systems are capable of assuming the whole driving task, at least during some periods. Such systems are classified at level 3, 4 or 5 according to SAE norm J3016.

[0006] The present disclosure concerns an automated driving system classified desirably at level 3 or more according to SAE norm J3016.

BACKGROUND OF THE DISCLOSURE

[0007] During the periods when the automated driving system is activated, in many cases the driver still has to be able to be ready to take back control of his vehicle. Indeed, in some circumstances the automated driving system can possibly be unable to react properly to the circumstances; it is then necessary for the driver to take over within a certain time and to control his or her vehicle by braking, turning, etc., in order to avoid any accident.

[0008] Despite this obligation, during these periods and thanks to the automated driving system, the driver may perform to some extent non-driving- related tasks such as using his/her smartphone, texting, etc., but he or she still remains in the obligation to be able to safely take over at any moment.

[0009] Now, various studies have shown that drivers, when they perform non-driving related tasks, tend quickly to focus on the non-driving related-task; it becomes therefore soon more difficult for them to react and to take over if it becomes necessary to do so.

[0010] US 2016/0052394 Al discloses a visual feedback system providing a sense of safety and reliance to the driver, and to avoid sudden warnings in case of critical situation, by using Head-Up Display.

[0011] However, at such system the driver can see or perceive the visual feedback only if he/she looks straight ahead at the traffic scene, as, by definition, the Head-Up Display information is displayed onto the windshield. Anyhow, during Automated Driving Level 3 drivers may tend to perform a secondary task, such as using their Smartphone, texting, or reading some documents. This means that during this time, the drivers will not be able to perceive the feedback.

SUMMARY OF THE DISCLOSURE

[0012] Currently, it remains desirable to provide an automated driving system and a method of stimulating a driver in a vehicle having an automated driving system which supports the driver to remain ready and able to control the vehicle when the automated driving system is activated.

[0013] Therefore, according to the embodiments of the present disclosure, an automated driving system is provided. The automated driving system comprises:

- a driver stimulation device suitable for stimulating the driver from a plurality of different directions,

- a sensor configured to sense the gaze direction of the driver, and

- an electronic control device (1). The control device being configured to:

- receive a sensor output of the sensor, - determine the gaze direction of the driver based on the output of the sensor, and

- control the driver stimulation device to generate a stimulation pattern based on the determined gaze direction.

[0014] By providing such a control device, it becomes possible to stimulate the driver such that he/she is motivated to direct the gaze back to toward the driving direction. This is in particular desirable, when the driver's gaze has deviated from the driving direction during automated driving, i.e. when the driver is looking in a different direction than the driving direction.

[0015] The driver stimulation device may comprise a plurality of driver stimulation elements surrounding the driver, the driver stimulation elements being configured to generate each a stimulation signal.

[0016] In other words, the driver stimulation device may be suitable for stimulating the driver from a plurality of different directions, such that the driver can perceive the generated stimulation at any possible gaze direction, including particular looking downward, to the (left) driver's side, to the (right) passenger's side and to the back of the vehicle.

[0017] Each driver stimulation element may comprise at least one light source configured to generate light of at least one predetermined color, a sound-emitting device, and/or a haptic signal-emitting device.

[0018] The electronic control unit may be configured to activate the driver stimulation elements selectively based on the determined gaze direction. In other words, the electronic control unit desirably activates only some driver stimulation elements and doesn't activate others based on the determined gaze direction. In this way, a specific stimulation pattern may be created by the driver stimulation device. However, the stimulation pattern may also or further be configured such that the selection of activated driver stimulation elements are not constantly ON but emit a predetermined stimulation pattern, e.g. in case of used light sources by blinking or by emitting a dynamic light output. Such a dynamic light output may run (e.g. repeatedly) along the selection of light sources, as it is explained in more detail below. Accordingly, the other non-selected driver stimulation elements are desirably deactivated. Thus, the automated driving system is able to control the gaze direction of the designated driver without disturbing other passengers having different gaze directions. [0019] The driver stimulation elements may be arranged along at least one line. The line may have one end in the periphery of the driver's gaze, when the driver's gaze is directed to the driving direction, and the line is directed from said one end toward the driving direction. Accordingly, the line begins in the periphery of the driving direction, e.g. on the side of the passenger's cabin or on its back and extends toward the driving direction, e.g. ends on the dashboard of the vehicle. Such a line consists of e.g. a plurality of LEDs.

[0020] The stimulation pattern may be configured to guide the driver's gaze direction toward the driving direction.

[0021] In particular, the stimulation pattern may guide the driver's gaze direction to the driving direction by comprising a dynamic stimulation output running toward the driving direction.

[0022] In other words, the stimulation emitted by all driver stimulation elements together may move toward the driving direction. This may be achieved by emitting a stimulation pulse first by the driver stimulation element of the line being most deviated from the driving direction (and/or by the element where the driver's gaze is directed to), subsequently at the next driver stimulation element of the line closer to the driving direction, etc., until the driver stimulation element closest to the driving direction emits a light pulse. Such a dynamic output pattern may be repeated several times, e.g. until the driver's gaze is directed again toward the driving direction or at least has approached the driving direction to deviate less than a predetermined threshold from it.

[0023] The stimulation pattern may also comprise a periodic stimulation pulse at a predetermined frequency. The pulse may be output by a predetermined selection of driver stimulation elements. The predetermined selection may be based on the determined gaze direction of the driver. Accordingly, it is possible that in such stimulation pattern a selection of (or in exceptional cases all) driver stimulation elements may output pulses in synchronized manner, i.e. at the same time. Furthermore, only those driver stimulation elements may be selected to emit the pulses, where the driver is looking to.

[0024] The stimulation pattern may comprise such a periodic stimulation pulse when the deviation of the determined gaze direction from the driving direction does not exceed a predetermined deviation threshold value. [0025] Furthermore, the stimulation pattern may comprise a dynamic stimulation output running toward the driving direction when the deviation of the determined gaze direction from the driving direction exceeds the predetermined deviation threshold value.

[0026] Accordingly, the dynamic stimulation output creating a higher stimulation than the synchronized pulses may be used, when the driver's gaze significantly deviates from the driving direction, e.g. when he/she looks to the side or to the back of the vehicle.

[0027] The stimulation pattern may comprise changing an intensity and/or a colour of light (in cases of used light sources), changing an intensity and/or a type of sound (in cased of used speakers), and/or changing an intensity and/or a type of haptic signal (in case of used vibration elements, integrated e.g. in the driver seat).

[0028] The electronic control unit may be configured to activate the driver stimulation device only when automated driving of the vehicle is activated. Hence, a stimulation is desirably only generated in case of automated driving, i.e. when the driver is not mandatorily looking toward the driving direction but e.g. to the side or the back of the vehicle.

[0029] The electronic control unit may be configured to assess periodically a confidence level representing an assessment by the automated driving system of its own capability to drive the vehicle safely. The stimulation pattern may be further based on the confidence level. Accordingly, the stimulation pattern may express the vehicle's "anxiety level" depending on the traffic situation complexity. The driver is hence motivated to react by checking more or less frequently the traffic situation, and by getting more or less prepared to take over, if requested by the system, or if driver wants to.

[0030] The electronic control unit is configured to select a first stimulation pattern for a relatively high confidence level, and a second stimulation pattern for a lower confidence level, wherein the second stimulation pattern:

a) comprises a stimulation pulse at a frequency higher than a frequency of a stimulation pulse of the first stimulation pattern;

b) involves more driver stimulation elements than the first stimulation pattern or all driver stimulation elements;

c) comprises emitting at least one stronger light or noise or haptic signal to the driver, and/or d) comprises emitting light having a different colour, noise having a different frequency, and/or haptic signal having a different frequency, than respectively the colour, noise, or haptic signal of the first stimulation pattern.

[0031] The electronic control unit may be configured, in order to determine the confidence level, to assess at least one of the following conditions:

a) a speed of the vehicle exceeds a predetermined threshold;

b) a temperature exceeds a predetermined maximum temperature threshold; c) a temperature falls below a predetermined minimum temperature threshold;

d) a number of mobile elements detected by the automated driving system around the vehicle exceeds a predetermined threshold;

e) at least one of sensors of the driving assistance system has a failure;

f) a risk of dysfunction of the automated driving system increases;

g) a specific traffic behaviour is detected;

h) specific weather conditions are detected; and

i) a predetermined road infrastructure design is detected.

[0032] The disclosure further relates to a vehicle comprising an automated driving system as described above.

[0033] The disclosure further relates to a method of stimulating a driver in a vehicle having an automated driving system. The method comprises the steps of:

• determining the gaze direction of the driver,

• stimulating the driver from a plurality of different directions with a stimulation medium perceivable by the driver, and

· controlling said stimulation medium to generate a stimulation pattern based on the determined gaze direction.

[0034] The method may comprise further method steps which correspond to the functions of the automated driving system, as described above. The further desirable method steps are described in the following.

[0035] The stimulation medium may be generated by a plurality of sources surrounding the driver.

[0036] The stimulation medium may comprise light of at least one predetermined colour, a sound, and/or a haptic signal.

[0037] The plurality of sources may be selectively activated based on the determined gaze direction. [0038] The sources may be arranged along at least one line. The line may have one end in the periphery of the driver's gaze, when the driver's gaze is directed to the driving direction, and the line is directed from said one end toward the driving direction.

[0039] The stimulation pattern may be configured to guide the driver's gaze direction toward the driving direction.

[0040] In particular, the stimulation pattern may guide the driver's gaze direction to the driving direction by comprising a dynamic stimulation output running toward the driving direction.

[0041] The stimulation pattern may also comprise a periodic stimulation pulse at a predetermined frequency. The pulse may be output by a predetermined selection of sources. The predetermined selection may be based on the determined gaze direction of the driver.

[0042] The stimulation pattern may comprise a periodic stimulation pulse when the deviation of the determined gaze direction from the driving direction does not exceed a predetermined deviation threshold value.

[0043] Furthermore, the stimulation pattern may comprise a dynamic stimulation output running toward the driving direction when the deviation of the determined gaze direction from the driving direction exceeds the predetermined deviation threshold value.

[0044] The stimulation pattern may comprise changing an intensity and/or a colour of light, changing an intensity and/or a type of sound, and/or changing an intensity and/or a type of haptic signal.

[0045] The driver stimulation may be activated only when automated driving of the vehicle is activated.

[0046] A confidence level may be regularly assessed representing an assessment by the automated driving system of its own capability to drive the vehicle safely. The stimulation pattern may be further based on the confidence level.

[0047] A first stimulation pattern may be selected for a relatively high confidence level, and a second stimulation pattern for a lower confidence level, wherein the second stimulation pattern:

a) comprises a stimulation pulse at a frequency higher than a frequency of a stimulation pulse of the first stimulation pattern; b) involves more driver stimulation elements than the first stimulation pattern or all driver stimulation elements;

c) comprises emitting at least one stronger light or noise or haptic signal to the driver, and/or

d) comprises emitting light having a different colour, noise having a different frequency, and/or haptic signal having a different frequency, than respectively the colour, noise, or haptic signal of the first stimulation pattern.

[0048] In order to determine the confidence level, at least one of the following conditions may be assessed:

a) a speed of the vehicle exceeds a predetermined threshold;

e) at least one of sensors of the driving assistance system has a failure;

f) a risk of dysfunction of the automated driving system increases;

g) a specific traffic behaviour is detected;

h) specific weather conditions are detected; and

i) a predetermined road infrastructure design is detected.

[0049] It is intended that combinations of the above-described elements and those within the specification may be made, except where otherwise contradictory.

[0050] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure, as claimed.

[0051] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, and serve to explain the principles thereof.

BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Fig. 1 shows a block diagram of an automated driving system with a control device according to embodiments of the present disclosure; [0053] Fig. 2 shows a schematic flow chart illustrating an exemplary method of determining the stimulation of the driver according to embodiments of the present disclosure;

[0054] Fig. 3 shows a schematic representation of a plurality of driver stimulation elements installed in a vehicle cabin according to embodiments of the present disclosure;

[0055] Fig. 4 shows a schematic representation of the positioning of driver stimulation elements in a vehicle cabin (top view) based on the driver's gaze direction according to embodiments of the present disclosure;

[0056] Fig. 5A shows a schematic representation of a first stimulation pattern based on the driver's gaze direction (side view) according to embodiments of the present disclosure;

[0057] Fig. 5B shows a schematic representation of a second stimulation pattern based on the driver's gaze direction (side view) according to embodiments of the present disclosure;

[0058] Fig. 6 shows a schematic representation of a third stimulation pattern based on the driver's gaze direction (top view) according to embodiments of the present disclosure;

[0059] Fig. 7 shows a schematic representation of a fourth stimulation pattern based on the driver's gaze direction (top view) according to embodiments of the present disclosure;

[0060] Fig. 8 shows a schematic representation of a fifth stimulation pattern based on the driver's gaze direction (top view) according to embodiments of the present disclosure;

[0061] Fig. 9 shows a schematic representation of a sixth stimulation pattern based on the driver's gaze direction (top view) according to embodiments of the present disclosure;

[0062] Fig. 10 shows a schematic representation of a seventh stimulation pattern based on the driver's gaze direction (top view) according to embodiments of the present disclosure; and

[0063] Fig. 11 shows a schematic representation of an eighth stimulation pattern based on the driver's gaze direction (top view) according to embodiments of the present disclosure. DESCRIPTION OF THE EMBODIMENTS

[0064] Reference will now be made in detail to exemplary embodiments of the disclosure, examples of which are illustrated in the accompanying drawings. Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts.

[0065] Fig. 1 shows a block diagram of an automated driving system 30 with a control device 1 according to embodiments of the present disclosure.

[0066] The control device 1 is connected to or comprises data storage 2. Said data storage may be used to store one or a plurality of predefined stimulation patterns. As described in the following, said stimulation patterns may be used to determine a stimulation pattern generated by the driver stimulation device based on the gaze direction of the driver.

[0067] The control device 1 may additionally carry out further functions in the vehicle 10. For example, the control device may also act as the general purpose ECU (electronic control unit) of the vehicle. The control device 1 may comprise an electronic circuit, a processor (shared, dedicated, or group), a combinational logic circuit, a memory that executes one or more software programs, and/or other suitable components that provide the described functionality.

[0068] The control device 1 is further connected to a sensor 3, in particular an optical sensor, e.g. a digital camera. The digital camera 3 is configured such that it can sense the driver's gaze direction. The digital camera is desirably oriented toward the driver, i.e. such that it senses the driver's eyes. It is also possible to use several cameras 3. Accordingly, it may also be reasonable to use several sensors (e.g. cameras), in order to sense the driver from every side, including sensing a side view of the driver or a driver's view directed toward the back of the vehicle.

[0069] The output of the digital camera 3, in particular a recorded video stream or single images recorded at a predetermined sampling frequency (e.g. every second), is transmitted to the control device 1. Desirably, the output is transmitted instantaneously, i.e. in real time or in quasi real time. Hence, the driver's gaze direction can also be determined by the control device in real time or in quasi real time.

[0070] The control device 1 is further connected to a driver stimulation device 4. The driver stimulation device 4 may be configured to generate a stimulation signal according to a stimulation pattern. Based on the output of the sensor 3, the control device determines the stimulation pattern of the stimulation signal. The driver stimulation device 4 may comprise one or desirably several driver stimulation elements (not shown). These elements may comprise desirably a plurality of LEDs, however, also other media than the optical medium might be envisaged. For example, the elements may also comprise a plurality of speakers and/or haptic signal-emitting device. The LEDs or and the speakers may be integrated in the inner side of the driver's cabin of the vehicle such that the driver is capable to see/hear the emitted signal and especially can recognize the direction where it is coming from. The haptic signal-emitting device may be integrated e.g. in the driver's seat.

[0071] Desirably the driver stimulation elements are installed around the driver, i.e. such that any possible gaze direction of the driver is covered by the driver stimulation elements, also including a side view of the driver or a driver's view directed toward the back of the vehicle.

[0072] The control device 1, driver stimulation device 4 and the sensor 3 may be comprised by a vehicle 10. In other words, the automated driving system 30 may be art of the vehicle 10.

[0073] Fig. 2 shows a schematic flow chart illustrating an exemplary method of determining the stimulation of the driver according to embodiments of the present disclosure. The determined stimulation pattern is desirably not only depending the driver's gaze direction, but also on a confidence level representing an assessment by the automated driving system of its own capability to drive the vehicle safely.

[0074] The stimulation patterns may have three predefined levels and one Take-Over Request state. Said levels or state are selected based on the confidence level that the Automated Driving system has in detecting, understanding, and predicting the traffic situation, and in being able to cope with it, described hereunder with reference to the flow chart of fig. 2.

[0075] In step SI the surrounding state information is acquired, based on which the confidence level is determined.

[0076] In step S2, it is determined, whether automated driving is activated or not. The driver is desirably only stimulated when automated driving is activated. [0077] In case of automated driving the confidence level is determined in step S3. Based on said determination one of the three levels and the Take-Over Request state is selected. Based on this selection and the driver's gaze direction the stimulation pattern is determined.

[0078] The first stimulation level selected in step S4 corresponds to a "No- event light stimuli" comprising the generation of neutral colour light at a relatively low pulse frequency. Desirably, the light is emitted at the pulse rate by all LEDs or at least by those LEDs which are visible by the driver, as determined based on the driver's gaze direction. When the traffic conditions are very simple, such as on a straight road during a clear day with perfect visibility, and no other vehicles are around, for example, the pulse rate is low, and the other modality characteristic (colour) will be neutral to express calmness (i.e. not alerting). The neutral colour (e.g. white or green) and the low frequency rate of the stimuli would emulate a very calm and confident "breathing rate".

[0079] The second stimulation level selected in step S5 corresponds to a "High-confidence event mild stimuli" comprising the generation of neutral colour light at mid pulse frequency. When the traffic conditions are getting more complex, such as on a curve, or by the presence of some other vehicles around, for example, the pulse rate will be relatively higher, as the other modality characteristic (colour) will be kept neutral. The neutral colour (white or green for ex.) and the slightly higher frequency rate of the stimuli would emulate a less relaxed breathing rate compared to the "No-event light stimuli".

[0080] The third stimulation level selected in step S6 corresponds to a "Low- confidence event strong stimuli" comprising the generation of intermediate colour light at a medium pulse frequency. When the traffic conditions are very complex, getting close to the system's limits, such as on a curve during a rainy night with low visibility, and many other vehicles around, for example, the pulse rate will be kept relatively high, and the other modality characteristic (colour) will be expressing more alertness. The intermediate colour (e.g. blue or yellow) and the frequency rate of the stimuli would emulate a more anxious and unconfident breathing rate.

[0081] The Take-Over Request state selected in step S7 corresponds to a "Over system's limits Take-Over Request stimuli" comprising the generation of a warning colour light at a relatively high pulse frequency. When reaching the system's limits, such as a sudden unexpected obstacle or event, the pulse rate will be further increased, and the other modality characteristic (colour) will be expressing alertness and urgency. All light sources may be active at the same time, e.g. three vertically positioned light sources on the dashboard (as described in the following) may create a dynamic vertical line of light from bottom to top, and four horizontally positioned light sources on the sides will create a dynamic horizontal line of light from back to front, in order to guide and invite the driver to look to the traffic ahead through the windshield. The warning lights may be accompanied by a warning sound. The warning colour (e.g. red or orange) and the higher frequency rate of the stimuli would emulate a very anxious pulse rate, as well as the request to take over the situation.

[0082] In case the driver's monitoring system (i.e. sensor 3) is not able to detect the driver's gaze, all light sources will be active at the same time, the three vertically positioned light sources on the dashboard will create a dynamic vertical line of light from bottom to top, and the four horizontally positioned light sources on the sides will create a dynamic horizontal line of light from back to front, in order to ensure to guide and invite the driver to look to the traffic ahead through the windshield.

[0083] The effect of the described stimulation is that the driver can detect the stimuli and "feel the vehicle's anxiety level" depending on the traffic situation complexity, but will not perceive the first three levels of stimuli as warnings. The driver will naturally react by checking more or less frequently the traffic situation, and by getting more or less prepared to take over, if requested by the system, or if driver wants to.

[0084] Fig. 3 shows a schematic representation of a plurality of driver stimulation elements installed in a vehicle cabin according to embodiments of the present disclosure.

[0085] The driver stimulation device may comprise at least 7 light sources (i.e. driver stimulation elements), e.g. at least 3 placed on the vehicle's dashboard (at least 1 on the left of the steering wheel, at least 1 on the right of the steering wheel, and at least 1 at the passenger's side edge); and at least 4 on the sides: at least 2 in the front (at least 1 on each door trim's top area), and at least 2 in the rear (at least 1 on each door trim's or side panel's top area, in case of vehicles with rear seats).

[0086] The light is emitted by pulses with variable frequency. The light colour is also variable. The 3 light sources on the dashboard are positioned vertically, in order to create a dynamic vertical line of light from bottom to top when necessary, i.e. when driver is looking down. The 4 light sources on the sides are positioned horizontally, in order to create a dynamic horizontal line of light from back to front when necessary, i.e. when driver is looking back. These dynamic lines of light have the purpose to guide and invite the driver to look to the traffic ahead through the windshield.

[0087] Fig. 4 shows a schematic representation of the positioning of driver stimulation elements in a vehicle cabin (top view) based on the driver's gaze direction according to embodiments of the present disclosure. The location of the light sources, as shown in fig. 3, has been selected in order to be perceived by the driver in peripheral vision, when the driver looks down to operate a smartphone, for example, and when the driver looks to the passenger's side to discuss with passenger, for example, or also when the driver looks back to discuss with rear passengers, for example. The arrows a to e shown in fig. 4 represent typical gaze directions of the driver. Arrow a represents looking straight ahead (toward the driving direction). Arrow b represents looking 30° to the centre (i.e. the centre display or "Display Audio" DA of the vehicle). Arrow c represents looking 45° to D-side (i.e. Driver-side) window. Arrow d represents looking 75° to P-side (i.e. Passenger-side) window. Arrow e represents looking 135° to P-side back. Fig. 4 further shows the areas /orientations where the light sources may be positioned, in order to surround the driver and to match with the possible gaze directions a to e of the driver.

[0088] In the following the operation of the automated driving system is explained with reference to figures 5A to 11. The indicated examples of degrees relate to a deviation of the driver's gaze from the driving direction.

[0089] The stimulation of the driver is activated while the Automated Driving function is active: it will start from the moment the Automated Driving function starts, after driver's demand (by pushing a specific button for example); and it will terminate when the Automated Driving function stops, as actual driver's control takeover is effective (longitudinal and/or lateral control). The stimulation will therefore provide a feedback about the Automated Driving function being on.

[0090] Fig. 5A shows a schematic representation of a first stimulation pattern based on the driver's gaze direction (side view) according to embodiments of the present disclosure. [0091] Fig. 5B shows a schematic representation of a second stimulation pattern based on the driver's gaze direction (side view) according to embodiments of the present disclosure.

[0092] As shown in fig. 5A and 5B, the at least 3 vertically positioned light sources on the dashboard can either just pulse (as indicated by fig. 5A), or create a dynamic vertical line of light from bottom to top when necessary (as indicated by fig. 5A), depending on the driver's gaze direction (based on the sensor output), in order to guide and invite the driver to look to the traffic ahead through the windshield.

[0093] As shown in fig. 5A, when the driver is looking in front e.g. until 10° under the horizon, and starting to look back up from e.g. 15° under the horizon, a stimulation pattern is selected, where the light sources on the dashboard emit synchronized light pulses.

[0094] As shown in fig. 5B, when the driver is looking down from e.g. 10° under the horizon, or looking back up until e.g. 15° under the horizon, a stimulation pattern is selected, where the light sources on the dashboard emit a dynamic vertical line of light (i.e. a dynamic stimulation output). In other words, the light emitted by all light sources together moves upwards toward the driving direction. This can be achieved by emitting a light pulse first at the lowest light source (e.g. where the driver's gaze is directed to), subsequently at the light source above, etc., until the topmost light source (i.e. the light source closest to the driving direction from the driver's view) emits a light pulse. Such a dynamic line of light may be repeated several times, e.g. until the driver's gaze is directed again toward the driving direction or at least has approached the driving direction to deviate less than a predetermined threshold from it.

[0095] The 5 front light sources (3 on the dashboard and 1 on each door panel) may be active in pairs, and the 2 rear light sources (1 on each rear door/panel) may be active alone, depending on the driver's gaze direction from top view (based on the sensor output), in order to avoid annoyance to other passengers by continuous emission of light.

[0096] Fig. 6 shows a schematic representation of a third stimulation pattern based on the driver's gaze direction (top view) according to embodiments of the present disclosure. As shown in the scenario of fig. 6, if the driver looks in front (e.g. +- 30° from driving direction), the 2 light sources on each side of the steering wheel (dashl and dash2) may be active at the same time to emit synchronized light pulses.

[0097] Fig. 7 shows a schematic representation of a fourth stimulation pattern based on the driver's gaze direction (top view) according to embodiments of the present disclosure. As shown in the scenario of fig. 7, if the driver looks to the centre of the dashboard of vehicle (e.g. 25° to 60° toward passenger's side), the light source beside the steering wheel dash2 and the light source on the dashboard at the edge of the passenger's side (dash3) may be active at the same time to emit synchronized light pulses.

[0098] Fig. 8 shows a schematic representation of a fifth stimulation pattern based on the driver's gaze direction (top view) according to embodiments of the present disclosure. As shown in the scenario of fig. 8, if the driver looks toward her/his own vehicle side (e.g. 25° to 105° own side), the light source besides the steering wheel dashl and the light source on the driver's door (Dsidel) will be active to emit a dynamic stimulation output running toward the driving direction, i.e. toward the front.

[0099] Fig. 9 shows a schematic representation of a sixth stimulation pattern based on the driver's gaze direction (top view) according to embodiments of the present disclosure. As shown in the scenario of fig. 9, if the driver looks toward the passenger's side (e.g. 55° to 105° toward passenger's side), the light source on the dashboard at the edge of the passenger's side (dash3) and the light source on the passenger's door (Psidel) may be active at the same time to emit a dynamic stimulation output running toward the driving direction, i.e. toward the front.

[0100] Fig. 10 shows a schematic representation of a seventh stimulation pattern based on the driver's gaze direction (top view) according to embodiments of the present disclosure. As shown in the scenario of fig. 10, if the driver looks toward the back on passenger's side (e.g. 100° to 180° toward passenger's side), the light source on the rear passenger's door/panel (Pside2) may be active to emit a dynamic stimulation output running toward the driving direction, i.e. toward the front.

[0101] Fig. 11 shows a schematic representation of an eighth stimulation pattern based on the driver's gaze direction (top view) according to embodiments of the present disclosure. As shown in the scenario of fig. 11, if the driver looks toward the back on his/her own vehicle side (e.g. 100° to 180° on his/her vehicle side), the light source on the rear own side door/panel (Dside2) may be active to emit a dynamic stimulation output running toward the driving direction, i.e. toward the front.

[0102] Desirably, the 4 horizontally positioned light sources on the sides always create a dynamic horizontal line of light from back to front, in order to guide and invite the driver to look to the traffic ahead through the windshield.

[0103] Throughout the description, including the claims, the term "comprising a" should be understood as being synonymous with "comprising at least one" unless otherwise stated. In addition, any range set forth in the description, including the claims should be understood as including its end value(s) unless otherwise stated. Specific values for described elements should be understood to be within accepted manufacturing or industry tolerances known to one of skill in the art, and any use of the terms "substantially" and/or "approximately" and/or "generally" should be understood to mean falling within such accepted tolerances.

[0104] Although the present disclosure herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present disclosure.

[0105] It is intended that the specification and examples be considered as exemplary only, with a true scope of the disclosure being indicated by the following claims.

Claims

1. An automated driving system (30) comprising:

a driver stimulation device (4) suitable for stimulating the driver from a plurality of different directions,

a sensor (3) configured to sense the gaze direction of the driver, and

an electronic control device (1) configured to:

receive a sensor output of the sensor (3),

determine the gaze direction of the driver based on the output of the sensor, and

control the driver stimulation device (4) to generate a stimulation pattern based on the determined gaze direction.

2. The automated driving system according to claim 1, wherein the driver stimulation device comprises a plurality of driver stimulation elements surrounding the driver, the driver stimulation elements being configured to generate each a stimulation signal, wherein in particular

each driver stimulation element comprises at least one of a light source, a sound-emitting device, and/or a haptic signal-emitting device.

3. The automated driving system according to claim 2, wherein the electronic control unit is configured to activate the driver stimulation elements selectively based on the determined gaze direction.

4. The automated driving system according to any one of the preceding claims 2 and 3, wherein

the driver stimulation elements are arranged along at least one line, wherein the line has one end in the periphery of the driver's gaze, when the driver's gaze is directed to the driving direction, and

the line is directed from said one end toward the driving direction.

5. The automated driving system according to any one of the preceding claims, wherein

the stimulation pattern is configured to guide the driver's gaze direction toward the driving direction.

6. The automated driving system according to any one of the preceding claims, wherein

the stimulation pattern guides the driver's gaze direction to the driving direction by comprising a dynamic stimulation output running toward the driving direction.

7. The automated driving system according to any one of the preceding claims 2 to 6, wherein

the stimulation pattern comprises a periodic stimulation pulse at a predetermined frequency, the pulse being output by a predetermined selection of driver stimulation elements, wherein the predetermined selection is based on the determined gaze direction of the driver.

8. The automated driving system according to any one of the preceding claims, wherein

the stimulation pattern comprises a periodic stimulation pulse when the deviation of the determined gaze direction from the driving direction does not exceed a predetermined deviation threshold value, and/or

the stimulation pattern comprises a dynamic stimulation output running toward the driving direction when the deviation of the determined gaze direction from the driving direction exceeds the predetermined deviation threshold value.

9. The automated driving system according to any one of the preceding claims, wherein

said stimulation pattern comprises changing an intensity and/or a colour of light, changing an intensity and/or a type of sound, and/or changing an intensity and/or a type of haptic signal.

10. The automated driving system according to any one of the preceding claims, wherein

the electronic control unit is configured to activate the driver stimulation device only when automated driving of the vehicle is activated.

11. The automated driving system according to any one of the preceding claims, wherein the electronic control unit is configured to assess periodically a confidence level representing an assessment by the automated driving system of its own capability to drive the vehicle safely, and wherein the stimulation pattern is further based on the confidence level.

12. The automated driving system according to any one of the preceding claims, wherein

the electronic control unit is configured to select a first stimulation pattern for a relatively high confidence level, and a second stimulation pattern for a lower confidence level, wherein the second stimulation pattern:

13. The automated driving system according to any one of the preceding claims, wherein

the electronic control unit is configured, in order to determine the confidence level, to assess at least one of the following conditions:

a) a speed of the vehicle exceeds a predetermined threshold;

b) a temperature exceeds a predetermined maximum temperature threshold; c) a temperature falls below a predetermined minimum temperature threshold; d) a number of mobile elements detected by the automated driving system around the vehicle exceeds a predetermined threshold;

e) at least one of sensors of the driving assistance system has a failure;

f) a risk of dysfunction of the automated driving system increases;

g) a specific traffic behaviour is detected;

h) specific weather conditions are detected; and

i) a predetermined road infrastructure design is detected.

14. A vehicle comprising an automated driving system according to any one of the preceding claims.

15. A method of stimulating a driver in a vehicle having an automated driving system, the method comprising the steps of:

determining the gaze direction of the driver, and

stimulating the driver from a plurality of different directions with a stimulation medium perceivable by the driver, and

controlling said stimulation medium to generate a stimulation pattern based on the determined gaze direction.