Conditionally Automated Driving, Basic Function - GF54.71-P-9904A
Model All (CAR)
with code 200 (Conditionally automated driving)
Overview
This document contains information on:
- General
- Function requirements
- Function
- System components
- Status displays on steering wheel
General
In conditionally automated driving SAE level 3, the DRIVE PILOT system can only take over driving under certain conditions. If DRIVE PILOT is active, the driver can concentrate on other activities, e.g. working, watching videos on the MEDIA display or using the InCAR Office. The driver must remain ready to take over control at all times, particularly in the event of a take-over-control request by the vehicle.
DRIVE PILOT regulates the speed and the distance to the vehicle in front and keeps the vehicle in the lane. Unexpected traffic situations can also be detected and handled autonomously by means of an evasive maneuver within the lane or by braking maneuvers. E.g. if other vehicles move into or out of the lane if an obstacle must be avoided over on the road or if maximum full-stop braking is required due to another vehicle.
In order to capture important traffic and road conditions in an 360 degree field of view around the vehicle, DRIVE PILOT uses various sensors: radar, LiDAR (Lighting Detecting And Ranging), cameras, road moisture and ultrasonic sensors as well as microphones. The detection ranges of various sensors overlap. The sensors offer stable and redundant detection capability by merging the signals in the control unit.
DRIVE PILOT also receives information on road geometry and course, road characteristics, traffic signs and particular traffic events (e.g. accidents or construction sites) from a digital HD map. This HD map is continuously updated via a back-end connection. Determination of the vehicle position takes place via a highly precise positioning system which, in addition to satellite positioning supported by correction data, continuously compares the sensor-captured environment with map information.
With conditionally automated driving SAE level 3, the steering and brake system and the on-board electrical system are redundant in design. The rear multifunction camera captures the area behind the vehicle and, together with the microphones in the vehicle interior, detects emergency vehicle warning lights and special signals from emergency vehicles. The camera of the driver display always has the driver in view and detects if the driver is unable to take over the driving task again.
Function requirements
DRIVE PILOT can only be activated if a multitude of different conditions are fulfilled. These conditions are essentially as follows:
- DRIVE PILOT is switched on in the multimedia system.
- The service is activated in the Mercedes me app and a mobile radio and Internet connection exists.
- Driving on a freeway which is approved for use of DRIVE PILOT.
- Operation is only approved during daytime, under dry conditions (only very slight rainfall is permitted) and at temperatures above 4°C/39°F.
- The current vehicle speed is not above 60 km/h/40 mph and the distance from the vehicle in front is suitable.
- The driving lights must be switched on (manual or automatic) and the windshield wipers must be set to automatic.
- No trailer operation or attached bicycle rack detected (via electrical connection).
- The driver camera is switched on and both eyes of the driver have been detected.
- The seat position is correctly set so that the driver can reach the steering wheel and pedals.
- No abrupt acceleration, braking or steering.
- The vehicle in front has been detected and is suitable.
- The detection areas of the sensors and cameras are not concealed (free from dirt, ice or snow slush)
- The fuel/charge range of the vehicle is sufficient.
Function
The DRIVE PILOT function allows automated driving on structurally separated freeways with at least two lines at a speed of up to 60 km/h. In heavy traffic volumes, DRIVE PILOT follows a suitable vehicle driving immediately ahead and adapts the distance from the vehicle in front depending on the speed of travel. The maximum permissible speed possible irrespective of the traffic is shown on the driver's display. The road characteristics, road events and traffic signs that lie ahead are evaluated by the system and automatically taken into account. DRIVE PILOT can also detect numerous critical traffic situations and react to them. If e.g. a vehicle located a short distance ahead suddenly moves into the vehicle's own lane, DRIVE PILOT applies the brakes or takes evasive action. In order to form an emergency corridor if traffic speed decreases (e.g. due to a traffic jam), depending on the country, the vehicle either moves off the center of the lane and toward the edge of the lane or remains in the center of the lane. If necessary, DRIVE PILOT can brake the vehicle to a standstill at the outermost edge of the road. DRIVE PILOT cannot autonomously change lanes or overtake other vehicles. A manual overtaking maneuver ends DRIVE PILOT. As soon as all requirements are met again, DRIVE PILOT can be reactivated. Manual intervention by the driver can, depending on the type and severity of the intervention, deactivate DRIVE PILOT or trigger a take-over-control request. DRIVE PILOT is deactivated as soon as the driver touches the steering wheel and operates a pedal while doing so. If the driver does not respond to the takeover request within the maximum permissible time of 10 seconds, e.g. due to a medical emergency, the vehicle's emergency braking procedure starts. The vehicle starts to brake and then comes to a standstill in the current lane; the surrounding traffic is warned by switching on the hazard warning light system. To allow access for emergency personnel, as soon as the vehicle comes to a standstill, the parking brake is applied, the Mercedes-Benz emergency call system is activated and the vehicle doors are unlocked.
System components
The conditionally automated driving SAE level 3 function is integrated in the driver assistance systems control unit.
The system also includes the following components:
- LiDAR sensor (separately described subsystem)
The object data is merged with the long-range radar.
And the lanes are detected together with the camera.
- Rear multifunction camera (separately described subsystem)
- Driver camera
The camera from the driver display detects the driver and their eyes.
The driver must at all times be capable of taking over control of the vehicle. If, for example, the driver falls asleep, looks behind for too long or leaves the driver's seat, DRIVE PILOT issues a takeover request.
- Self-learning high-precision map control unit
In addition to the sensor data, a highly precise HD map provides information regarding road geometry, road characteristics, traffic signs and particular traffic events such as construction sites, online via a backend connection.
- Position determination control unit
In combination with the interior microphones, this component has the task of e.g. detecting emergency vehicle warning lights and special signals from emergency vehicles.
- Moisture sensor
The moisture sensor is an acoustic/piezo-electric sensor for detecting spray in the wheel well.
The vehicle position is determined precisely and with centimeter accuracy using "Differential GPS (DGPS)".
Vehicles with DRIVE PILOT (code 200) have redundant steering and brake systems as well as a redundant on-board electrical system. If one of these systems fails, the vehicle remains maneuverable in order to ensure safe handover to the driver.
Status displays on steering wheel
The color of the status lamps on the steering wheel indicate the operating status of DRIVE PILOT.
| Color of status lamps | Operating state |
|---|---|
| White | DRIVE PILOT is available. |
| Turquoise pulsating | DRIVE PILOT is requested. |
| Turquoise | DRIVE PILOT is active. |
| Yellow | The road approved for DRIVE PILOT will end shortly. |
| Red pulsating | Take-over-control request (activation of DRIVE PILOT not possible or malfunction has occurred) |
| Additional basic functions | |||
| Distance control, basic function | GF30.30-P-9903A | ||
| Intelligent driving control unit, basic function | GF30.30-P-9890A | ||
| LiDAR controller unit, basic function | GF54.71-P-9892A | ||
| Rear multifunction camera, basic function | GF54.71-P-9894A | ||
| Component descriptions | |||
| Moisture sensor, component description | Model 223 | GF54.71-P-0012A | |
| Model 297 | GF54.71-P-0012D |