# US 9,753,459 B2 · Method for operating a motor vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,753,459 B2 - Document ID: US9753459B2 - Status: Granted - Kind: B2 - Application number: 14/962,565 - Filed: 2015-12-08 - Published: 2016-06-16 - Granted: 2017-09-05 - Earliest claimed: 2014-12-10 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Alexander Mueller - Web page: https://patentgrep.com/patent/US9753459B2 ## CPC - B60W 50/10: Interpretation of driver requests or demands - G01C 21/3664: {Details of the user input interface, e.g. buttons, knobs or sliders, including those provided on a touch screen; remote controllers; input using gestures} - B60W 30/18163: {Lane change; Overtaking manoeuvres} - B60W 50/00: Details of control systems for road vehicle drive control not related to the control of a particular sub-unit {, e.g. process diagnostic or vehicle driver interfaces} - G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00) - B60W 2050/146: {Display means} - B60W 2540/221: Physiology, e.g. weight, heartbeat, health or special needs - B60W 2720/10: Longitudinal speed - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract In a method for operating a motor vehicle which is configured to autonomously drives to a predefined travel destination, a driver's line of view is detected, and the autonomous driving operation is influenced as a function of the detected driver's line of view. ## Claims ### Claim 1 A method for operating a host motor vehicle which is configured to drive to a predefined destination autonomously, the method comprising: detecting, by at least one driver command detection device, a driver command, wherein the driver command comprises a driver of the host motor vehicle directing the driver's eyes toward an observation target, the driver command being unprompted by a control unit; determining, by the control unit, wherein the control unit has at least one processor, an autonomous driving action of the host motor vehicle corresponding to the driver command; receiving, by at least one driver verification command detection device, at least one verification command, wherein the at least one verification command actuates the autonomous driving action; and actuating, by the control unit, the autonomous driving action of the host motor vehicle upon receiving the at least one verification command. ### Claim 2 (depends on 1) The method as recited in claim 1, wherein when an adjacent traffic lane is detected as the observation target, the autonomous driving action of the host motor vehicle comprises driving the host motor vehicle to the adjacent traffic lane. ### Claim 3 (depends on 1) The method as recited in claim 1, wherein when a traffic sign indicating a speed limit is detected as the observation target, the autonomous driving action of the host motor vehicle comprises one of accelerating or decelerating the host motor vehicle to the indicated speed limit. ### Claim 4 (depends on 1) The method as recited in claim 1, further comprising: receiving, from at least one of a surround sensor system and a navigation system, data describing a surrounding environment of the host motor vehicle; comparing, by the control unit, the driver command with the data describing a surrounding environment of the host motor vehicle; and confirming, by the control unit, that the driver's eyes are directed to the observation target. ### Claim 5 (depends on 1) The method as recited in claim 1, wherein when a parking space is detected as the observation target, the autonomous driving action of the host motor vehicle comprises steering the host motor vehicle in a direction of the parking space and parking the host motor vehicle in the parking space. ### Claim 6 (depends on 1) The method as recited in claim 1, wherein when a point of interest is detected as the observation target, the autonomous driving action of the host motor vehicle comprises at least one of (i) reducing the speed of the host motor vehicle and (ii) changing a position of the motor vehicle to enable the driver's eyes to receive a better view of the point of interest. ### Claim 7 (depends on 1) The method as recited in claim 1, wherein when a point of interest is detected as the observation target, information relating to the point of interest is displayed via a display. ### Claim 8 (depends on 1) The method as recited in claim 1, wherein when a vehicle driving ahead is detected as the observation target, the autonomous driving action of the host motor vehicle comprises one or more of reducing and maintaining a constant distance between the host motor vehicle and the vehicle driving ahead. ### Claim 9 (depends on 1) The method as recited in claim 1, wherein the at least one verification command comprises at least one driver hand motion. ### Claim 10 (depends on 9) The method as recited in claim 9, wherein the at least one verification command is detected by the at least one driver verification command detection device when the at least one driver hand motion matches at least one reference motion stored by the control unit. ### Claim 11 (depends on 1) The method as recited in claim 1, wherein the at least one verification command comprises at least one vocal command. ### Claim 12 (depends on 1) The method as recited in claim 1, wherein the at least one verification command comprises a driver actuation of at least one of a virtual switching device and a real switching device. ### Claim 13 (depends on 12) The method as recited in claim 12, wherein a parking space driving operation is actuated by the driver operating at least one of the virtual switching device and the real switching device. ### Claim 14 (depends on 1) The method as recited in claim 1, wherein the at least one driver command detection device comprises one or more camera devices and one or more infrared emitter devices separate from the one or more camera devices. ### Claim 15 A control system for an autonomous driving motor vehicle configured to drive to a predefined travel destination autonomously, the control system comprising: a navigation system configured to receive data describing a surrounding environment of the motor vehicle; a surround sensor system configured to receive data describing the surrounding environment of the motor vehicle; a control unit including at least one processor; at least one driver command detection device configured to detect a driver command, wherein the driver command comprises a driver of the motor vehicle directing the driver's eyes toward an observation target, the driver command being unprompted by the control unit; the control unit being configured to determine an autonomous driving action of the motor vehicle corresponding to the driver command; at least one driver verification command detection device configured to receive at least one verification command, wherein the at least one verification command actuates the autonomous driving action; and the control unit being further configured to actuate the autonomous driving action of the motor vehicle upon receiving the at least one verification command.