CN110779537A

CN110779537A - Vehicle navigation method

Info

Publication number: CN110779537A
Application number: CN201910670367.7A
Authority: CN
Inventors: 塞巴斯蒂安·施陶夫; 托尔斯滕·韦
Original assignee: Ford Global Technologies LLC
Current assignee: Ford Global Technologies LLC
Priority date: 2018-07-30
Filing date: 2019-07-24
Publication date: 2020-02-11
Also published as: DE102018212676A1

Abstract

A method of navigating a vehicle comprising at least one sensor device comprises at least the steps of: receiving information about road conditions (18) along the planned route; comparing the road condition (18) with the vehicle parameters; and if the comparison of the road condition with the vehicle parameters detects a non-passing, calculating an alternative route (20) of the vehicle (10) that meets the vehicle parameters.

Description

Vehicle navigation method

Technical Field

The present invention relates to a method of navigating a vehicle comprising a sensor arrangement and a processing unit according to the preamble of claim 1. The invention also relates to a vehicle with a navigation system according to the preamble of claim 10.

Background

It is known to operate navigation systems for vehicles in order to calculate road routes. In this process, known methods evaluate the GPS signal and compare it with a navigation system or a local roadmap acquired online. Some of these conventional navigation systems also utilize radio traffic information that they receive over the network or via separate radio signals. Common to all these known navigation systems is that they are not able to identify impassable road conditions, in particular on the basis of specific vehicle parameters (such as wheelbase, ground clearance, vehicle tightness and traction capacity, etc.), and are not able to display routes that correspond to the vehicle parameters as an alternative. In addition, these navigation systems also cannot perform emergency braking to prevent the vehicle from entering areas with impassable road conditions.

Although the prior art improves some of the disadvantages of the known methods, it also brings with it disadvantages, not the best solution to the problem. For example, US 9714038 discloses measuring the water depth at a predetermined distance in front of a vehicle using various sensors. Before the vehicle enters the water, if the water depth is too high for the vehicle, the vehicle will issue a warning message. Using the control program, the vehicle can be stopped according to the warning information. However, US 9714038 does not suggest any visual information about the hazardous area, nor does it suggest a route for replacing flood flooded roads.

EP 2698299 a1 discloses the use of sensors to detect water depth and to warn the driver in advance whether the vehicle is safe to drive in the water. In addition, the vehicle uses a data network to display the current and future status of the vehicle. The vehicle displays the detected information on the instrument panel display and automatically brakes the vehicle using the information about the water depth. EP 2698299 a1 does not suggest any active calculation of an alternative route using information about flood flooded roads and therefore does not show said route either.

US 9637132 discloses a system for determining the vehicle's entry into a critical water depth using additional data from sensors and other sources. The system automatically changes the vehicle state by starting or stopping the vehicle operation based on the obtained information. However, US 9637132 does not suggest a method to detect whether passage of water is safe. Furthermore, there is no intuitive information about the location of the hazardous area, nor an alternative route calculated using information about flood flooded roads.

Further, earlier US 6650244, CN 106996816, CN 105716688 and CN 105857231 discuss methods of disclosing vehicle warning systems that warn once a vehicle enters water. At present, no method for calculating the visualization of safety wading and dangerous area position information is provided, and no method for calculating an alternative route by using the information of a flood inundated road or calculating a braking action under the condition of approaching the flood inundated road is provided.

Similar methods are also disclosed in US 9110196, US 2016/0280216, US 2013/0024100 and a publication of the jet propulsion laboratory No. 4800 oak forest road, pa, ca, usa, which includes all the disadvantages previously proposed.

While known methods serve their purpose, there is still room for improvement in the field of vehicle navigation.

Disclosure of Invention

The object of the present invention is to provide a method of navigating a vehicle, which method aims at protecting the vehicle and its occupants against dangerous road conditions. The object of the invention is also to provide a vehicle that can be navigated by the above method.

The object of the invention is achieved by a method for navigating a vehicle having the features of claim 1. This object is also achieved by a vehicle with a navigation system as claimed in claim 10. The respective dependent claims further disclose particularly advantageous embodiments of the invention.

It should be noted that the features and methods mentioned individually in the following description may be combined with each other in any technically reasonable manner to disclose further embodiments of the invention. The specification also describes and describes the present invention with particular reference to the accompanying drawings.

The method according to the invention for navigating a vehicle comprising at least one sensor device and a processing unit comprises at least the following method steps:

receiving information about road conditions along a planned route;

preferably along the planned route and/or continuously comparing road conditions with vehicle parameters; and

and if the comparison of the road condition information and the vehicle parameters detects that the vehicle cannot pass, calculating the alternative route of the vehicle according with the vehicle parameters.

This method gives the user the opportunity to bypass places where there is a danger of road conditions. This type of dangerous road conditions occurs in particular when the vehicle cannot pass through the road to be traveled because of the vehicle parameters. This may be detected, for example, in the case of an insufficient wheelbase, ground clearance, vehicle tightness and/or traction capacity to travel through a road area with impassable road conditions. Thus, it is advantageous for the vehicle to obtain information about whether the route, according to its vehicle parameters, the vehicle is available for traffic. This information is compared to the vehicle parameters by a processing unit (e.g., a microprocessor), the central processor of the vehicle, and/or a navigation system. This processing unit may also calculate alternative routes for the vehicle. Taking the wheelbase as an example, this means that the determined course has at least the width of the wheelbase. Taking the ground clearance as an example, the passable road condition cannot include any protrusion higher than the ground clearance. With respect to the example of vehicle sealability, the water level will be determined as the height at which no water enters the vehicle interior and/or reaches the water sensitive components. Examples of the tractive capacity of a vehicle relate to grade and/or slope road conditions. The tractive capacity may include engine power and/or wheel adhesion to the road surface. For high grades, the engine should have adequate power and the wheels should have adequate traction. Particularly good wheel adhesion is required when the road surface is slippery.

Furthermore, it is advantageous to display alternative routes and areas with inaccessible road conditions on the display. The display may be provided in the instrument panel or may be configured as a screen of a vehicle navigation system. The speaker may also be used to emit an audible output or warning signal. Furthermore, vibration means may be provided, for example to output a vibration signal via the steering wheel, the seat, the lining and/or the dashboard. By displaying alternative routes and areas with impassable road conditions, the vehicle can navigate along the safe route to the destination.

In a preferred embodiment, the road condition is determined by at least one signal provided by a sensor device for detecting a surrounding area of the vehicle. Thus, the vehicle peripheral region can be detected by the sensor and/or the sensor device. Information obtained by detecting road conditions in an area outside the vehicle is compared with vehicle parameters. And if the comparison result is that the road condition is not consistent with the vehicle parameters, namely the vehicle and the geometric structure of the road condition are in serious conflict risk, suggesting an alternative route. Thus, the vehicle can avoid a serious conflict of this nature by the sensor device. These factors can be determined and the comparison can be made continuously, particularly while driving along the route. If the impassable feature is determined, a clear warning signal may be issued and/or an alternative route may be determined that is impassable to the vehicle and safe to the occupants of the vehicle.

Furthermore, the sensor device may emit ultrasound and/or laser and/or radar signals and/or lidar signals, and/or the camera may capture one or more images. For transmitting ultrasound, an ultrasound transceiver is provided which can determine the geometrical properties of the road conditions in the area surrounding the vehicle. For example, the ultrasonic transceiver may determine the height of the bump, the depth of the water-bearing area, and/or the grade of the road. For laser, a laser transmitter and a laser receiver may be provided, which, like the ultrasonic transmitter, may also determine road condition parameters. Radar signals may determine the same nature of the road condition, although radar transceivers are required to generate radar signals. The same applies to lidar signals. The camera captures images of the surrounding area, and the processing unit analyzes the images to obtain the geometric characteristics of road conditions in the surrounding area of the vehicle. For example, the camera may be a rear view camera and/or a camera of an automatic driving system and/or a camera specifically arranged for measuring road conditions. By using such a sensor device and camera, the geometrical properties of the road conditions can be determined simply and safely even during driving.

In an advantageous embodiment, weather information and/or traffic information and/or disaster information and/or topographic information and/or information from other vehicles is received by the receiver, in particular via the internet. In this case, the information may be provided through the cloud and/or the information server. Information from other vehicles may be transmitted directly to the vehicle performing the method according to the invention and/or to the cloud and/or to the information server. For example, topographical information may be used to determine a crack in a depressed area or road, or a bump in a road or the slope of a road. Weather information may also be used to predict impassable areas, for example, to forecast rainstorms. By proposing alternative routes, the processing unit can avoid low lying areas where flooding may occur. Likewise, if it is determined that an increased degree of traffic congestion has occurred before reaching certain regions, traffic information may be used to provide information about the impassable area. In the event of a disaster such as an earthquake, flood, high wind, armed conflict, fire, atomic or chemical storage or phytosanitary damage, lightning strike, and/or meteorite strike, the processing unit may obtain information for determining impassable areas along the roadway. Other ways of vehicle travel may provide information of the impassable area. For example, a significant reduction in vehicle speed, information from sensor devices, avoidance of the road, and/or other active warning signals from vehicles may be used to assess whether an area is impassable. These different methods of collecting information make it possible to determine a safe route for the vehicle along the way, rather than before departure.

In a further preferred embodiment, the vehicle state, in particular the torque of the drive system and/or the tire pressure, is determined by means of a sensor device. Thus, the sensors may be used to determine tire pressure to provide relevant road condition information. For example, if a tire enters a puddle, the instantaneous depth of the puddle is determined by the water pressure. Furthermore, tire pressure sensors are used to determine ambient air pressure in order to detect, for example, nearby fires and/or strong winds. The torque of the drive system may provide information on the instantaneous depth of the puddle, the nature of the ground, the grade of the road currently being traversed and/or the intensity of the wind. The thermometer may be used to identify fires, large temperature changes, and/or cold winds, which, for example, reduce the internal temperature and/or affect the engine temperature and/or the tire rubber temperature. In particular, the instantaneous state of the vehicle can be determined very precisely by means of these sensor devices and, depending on these values, timely warnings and alternative routes can be output, which can even be done along the way.

It is advantageous to analyze the vehicle parameters with respect to information from the receiver (i.e. from the antenna) and/or the at least one sensor device and/or the camera. Thus, the processing unit may analyze information from various sources (e.g., external and internal sensor devices, cameras, etc.) and/or information obtained online to obtain a complete image of whether the area is impassable. Thus, even contradictory information can be correctly interpreted, which is particularly useful along the way.

It is also possible to identify areas with impassable road conditions and then decelerate the vehicle to ensure that the vehicle does not enter the impassable area. The deceleration may perform a sharp deceleration or a smooth deceleration. For example, a sudden change in road conditions occurs in close proximity, and a sudden deceleration may be performed in an emergency braking operation. This can occur, for example, if a tree falls on the road. Smooth deceleration can be achieved when there is no need to react quickly to the road conditions immediately. It is conceivable that the user cannot drive the vehicle to an area with impassable road conditions, but only along an alternative route.

To ensure that the method is performed as efficiently as possible, road conditions are classified as impassable if the slope is greater than 31 ° and/or the bulge exceeds 200mm, and/or the slope of a high-rise slope is greater than 17.5 °, and/or the slope of the slope to be driven is greater than 25 ° and/or the water level is greater than 500 mm. These geometric road conditions can be designed for a variety of vehicles according to category, so the method does not require readjustment for each vehicle type. Obviously, the above parameters can be customized for a particular vehicle and then preset as limits. These parameters are obviously mentioned only as examples and should be understood as not limiting.

Vehicles with a navigation system and sensor devices and/or antennas and/or cameras, on which methods for detecting, displaying and bypassing and/or braking at areas with non-accessible road conditions can be carried out, show particularly high safety for the user. At least some of the above-mentioned characteristics of the method according to the invention are implementable on a navigation system.

Drawings

Further advantageous embodiments of the invention are disclosed in the dependent claims and in the following description of the drawings. In the figure:

FIG. 1 illustrates a method for vehicle navigation under impassable road conditions in accordance with the present invention;

FIG. 2 shows a screen of a navigation system displaying a no-pass area;

FIG. 3 shows a screen where the navigation system displays an alternative route that avoids the impassable area;

FIG. 4 shows a schematic view of a vehicle in front of an impassable area due to an excessively high water level; and

fig. 5a) to e) show different classes of non-passable road conditions.

Detailed Description

In the different figures, identical components always have the same reference numerals, so that these components are generally described only once.

FIG. 1 is a flow chart of a method of navigating a vehicle 10 (not shown) in accordance with the present invention. The vehicle 10 navigated according to the method of the present invention includes a sensor device 26 for detecting the perimeter region, and/or a camera 28 for capturing an image 30 of the perimeter region, and/or an antenna 32 for receiving radio signals from, for example, the internet 34 and/or other vehicles 12 (see fig. 4), and/or a sensor device 36 for sensing a vehicle condition 38.

The sensor device 26 for detecting the peripheral region may be an ultrasonic device that transmits and receives ultrasonic waves. For example, the ultrasonic device may be part of a parking assist system. Furthermore, the sensor device 26 may alternatively or additionally serve as a laser device for transmitting and receiving laser light. The laser device may be part of the distance measuring device. Furthermore, the sensor device 26 may alternatively or additionally serve as a radar device and/or a lidar device for transmitting and receiving radar and/or lidar radiation. The radar/lidar means may be part of the object detection means. The sensor device 26 for detecting the surrounding area senses the road condition 18 in the surrounding area of the vehicle 10. The road condition 18 determined in this way is converted by the sensor device 26 into an external signal 24, which external signal 24 is transmitted to the processing unit 14. The processing unit may be embodied as a separate processing unit or may be integrated in the Central Processing Unit (CPU) of the vehicle.

The camera 28 for capturing images 30 of the area surrounding the vehicle 10 may be a night vision camera and/or a daylight camera and/or an infrared camera and/or an ultraviolet camera. The camera 28 may capture still images or moving images. Further, the camera 28 may be part of a rear view camera and/or an autopilot system and/or a surround view camera. The image 30 captured by the camera 28 is also sent to the processing unit 14.

The antennas for receiving information by radio have: such as a Wireless Local Area Network (WLAN) antenna, a radio antenna, a data antenna, a Long Term Evolution (LTE) antenna, a Universal Mobile Telecommunications System (UMTS) antenna, and/or other antenna that receives terrestrial electromagnetic radiation and/or satellite electromagnetic radiation. For example, the antenna 32 receives weather information and/or traffic information and/or disaster information and/or terrain profile information and/or other vehicle 12 information from the internet 34 and/or through a particular radio service, such as from the vehicle manufacturer. Information, including information from the internet 34, is communicated to the processing unit 14.

A sensor device 36 for determining a vehicle state 38 is provided in the vehicle 10. The torque of the drive system and/or the tire pressure is determined by a sensor device 36. In this case, the sensor device 36 is part of a system that determines tire pressure and/or determines drive system torque. The sensors used to determine tire pressure acquire information about the road condition 18, for example, pressure acting on the exterior of the tire causes the pressure inside the tire to rise. If the tires of the vehicle 10 enter the puddle 50 (fig. 4 and 5), the instantaneous depth of the puddle 50 is determined by the water pressure. Furthermore, tire pressure sensors are used to determine an increase in air pressure in order to detect nearby fires and/or strong winds. The torque of the drive system provides information about the instantaneous depth of the sump 50 because the resistance is greater when advancing through the water. In this case, the deeper the vehicle 10 is in the water, the greater the resistance and therefore the greater the torque required to advance. Further, torque is defined by the nature of the ground, the grade of the road currently being traversed and/or the intensity of the wind. For example, the torque may be determined by a Central Processing Unit (CPU)42 of the vehicle 10. It is contemplated that the engine temperature or the outside temperature and/or the inside temperature of the vehicle 10 is determined. The temperature is determined by a thermometer. The thermometer may be used to identify fires, large temperature changes, and/or cold winds, for example, which reduce or increase the interior temperature of the vehicle 10 and/or the engine temperature and/or the tire rubber temperature. The vehicle state 38 determined by the sensor device 36 is transmitted to the processing unit 14.

The processing unit 14 may be integrated within a Central Processing Unit (CPU)42 and/or a navigation system 44 of the vehicle 10. A Central Processing Unit (CPU)42 and a navigation system 44 perform processing operations, either alone or in combination, to analyze information, determine alternate routes 20, and/or compare vehicle parameters to road conditions 18.

Information from the external signals 24 and/or from the images 30 and/or from the vehicle status 38 and/or from the internet 34 is aggregated in the processing unit 14. Such information includes the geometry of road conditions 18, including, inter alia, the elevation height, the depth of the water zone, and/or the slope of the road. The processing unit 14 compares the information with vehicle parameters. The vehicle parameters are preferably wheelbase, ground clearance, sealability, and/or tractive capacity of the vehicle 10. By comparing the vehicle parameters with the information, it is determined whether the vehicle 10 can travel within the road area determined by the information. For example, if the processing unit 14 determines that a bump on the road is above ground clearance, or that the water level 46 is too high or the grade is too steep, the processing unit 14 will distinguish between the two output options.

In a first output option, the vehicle 10 executes a deceleration 40. In particular, the vehicle 10 performs sharp deceleration or smooth deceleration. If a sudden change in road conditions 18 occurs, and an immediate response is required, a rapid deceleration is performed. Smooth deceleration of the vehicle 10 may be performed if the area 22 with the impassable road conditions 18 is already known to be sufficient to react appropriately to these conditions. The central processor 42 of the vehicle 10 may control the deceleration 40 of the vehicle 10.

In a second output option, including displaying an area 22 with impassable road conditions 18 and displaying alternate routes 20 with feasible road conditions 18, wherein the feasible road conditions 18 conform to vehicle parameters. In this case, the alternative route 20 is determined by the processing unit 14, in particular by the navigation system 44. Preferably by determining GPS signals containing the current location of the vehicle 10. The alternate route 20 and the impassable area 22 may be displayed on a display/screen 48 of the navigation system 44.

The two output options can be realized simultaneously, can also be realized in sequence, and can also be realized independently without another output option. Thus, it is conceivable that the vehicle 10 performs the deceleration 40 without simultaneously suggesting the alternate route 20. Alternatively, it is contemplated that the alternate route 20 may be proposed, but no deceleration 40 is performed. In this case, for example, a warning signal can be emitted for the vehicle driver. As another example, the vehicle 10 may be decelerating while the impassable area 22 and alternate route 20 may be displayed on the display 48. In addition, a warning signal may be issued for the vehicle driver.

Fig. 2 shows a display 48 of the navigation system 44, which is part of the method of the present invention. The vehicle 10 is displayed on a map of the surrounding area by GPS signals on a display 48 of the navigation system 44. If the vehicle 10 in this way finds an area 22 with an impassable road condition 18, this area will be displayed on the display 48. For example, the flood condition of the road on the original route may be displayed. In this case, deceleration 40 may be performed to ensure that the vehicle 10 cannot drive into the area 22.

FIG. 3 shows the navigation system 44 with the alternative route 20 shown on the display 48, which is indicated in FIG. 3 by the dashed arrow. After displaying the impassable area 22 and/or the slowdown 40, the alternate route 20 may be displayed. The alternate route 20 bypasses the impassable area 22 to ensure that the vehicle 10 cannot enter an area on the alternate route 20 at any time where the road conditions 18 do not conform to the vehicle parameters of the vehicle 10.

FIG. 4 shows a schematic view of a puddle 50 with a different depth depression in the peripheral area of the vehicle 10. The vehicle 10 receives GPS signals via the antenna 32 and receives information about the road conditions 18 from the internet 34 and from other vehicles 12. Furthermore, information in the form of an image 30 of the surrounding area may also be acquired by the camera 28. Furthermore, the external signal 24 is detected by a sensor device 26 for detecting the peripheral region. With the information obtained, the area ahead of the vehicle is divided into the passable area 16 and the impassable area 22 according to the water level 46 in the sump 50. The passable area 16 is a still passable road whose road conditions 18 conform to vehicle parameters. For example, in the passable region 16, the water level 46 is below the ground clearance of the vehicle 10. The vehicle 10 may travel along a roadway within the passable area 16. Alternatively, since the water level 46 is above the safe water level 46, the impassable region 22 no longer conforms to vehicle parameters and is no longer suitable for passage. This condition prevents the vehicle operator from driving the vehicle 10 into the impassable area 22 and/or warns the vehicle operator not to drive into the area.

Fig. 5 shows different classes of impassable road conditions 18 that result in severe collisions of the vehicle 10 with the road conditions 18.

Fig. 5a) shows a puddle 50 in the depression. In this case, the water level 46 of the puddle 50 in the depression should not be higher than 500mm for the relevant vehicle, otherwise water may enter the vehicle interior or reach water-sensitive components. The water level value at which water may enter the vehicle interior makes road condition 18 classified as impassable.

Fig. 5b) shows a road comprising a protrusion 52, the protrusion 52 extending 200mm upwards from the reference road level. If the height of the protuberance 52 reaches 200mm and above, the area 22 is an impassable road condition 18 because the protuberance will collide with the associated vehicle 10, particularly the chassis of the vehicle 10. It is possible that the raised height value of the chassis footprint would make road condition 18 classified as impassable.

Fig. 5c) shows an uphill slope 54 with the vehicle 10 travelling upwards. If the uphill slope 54 reaches an angle greater than 31 deg., the road conditions 18 of the uphill slope 54 are not feasible for the relevant vehicle, because the engine power and/or the grip of the tires on the surface may no longer be sufficient to provide the necessary torque to continue launching the vehicle. The slope values that are likely to fall into a pause make the road condition 18 classified as impassable.

Fig. 5d) shows a ramp 56 in front of the vehicle 10. If the vehicle 10 is traveling on a road surface at an angle greater than 25 ° to the incline 56 before the incline, the vehicle 10 cannot travel from the road surface to the incline 56 because the leading edge of the vehicle collides with the incline 56. The height at which a collision with the leading edge of the vehicle is likely constitutes an impassable road condition 18.

Fig. 5e) depicts a highland 58 with a ramp 60, and the vehicle 10 can be driven onto the highland 58 via the ramp 60. If the slope of the ramp 60 is greater than 17.5, the chassis of the vehicle 10 may catch on the upper end of the ramp 60 as the vehicle 10 travels from the ramp 60 to the plateau 58. Thus, it is possible that the ramp slope value stuck to the chassis is classified as unviable.

The above values are only examples of relevant vehicles and may vary by +/-5 deg.. Obviously, the values of the other vehicles may be different.

List of reference numerals:

10 vehicle

12 other vehicles

14 processing unit

16 accessible area

18 road conditions

20 alternative route

22 impassable area

24 external signal

26 sensor device for detecting a peripheral region

28 vidicon

30 images

32 aerial

34 the Internet

36 sensor device for sensing a vehicle state

38 vehicle state

40 speed reduction

42 Central Processing Unit (CPU)

44 navigation system

46 water level

48 display/screen

50 water pit

52 projection

54 ascending slope

56 ramp

58 highland

60 ramp

Claims

1. A method of navigating a vehicle (10), the vehicle (10) comprising at least one sensor device and a processing unit (14),

the method comprises at least the following steps:

receiving information about road conditions (18) along the planned route;

comparing the road condition (18) with vehicle parameters; and

if the comparison of the road condition to the vehicle parameter detects a non-passing, an alternative route (20) of the vehicle (10) is calculated, the route corresponding to the vehicle parameter.

2. The method of claim 1, wherein the first and second light sources are selected from the group consisting of,

it is characterized in that the preparation method is characterized in that,

displaying the alternative route (20) and the area (22) with the impassable road condition (18) on a display (48).

3. The method according to claim 1 and 2,

it is characterized in that the preparation method is characterized in that,

the road condition (18) is determined by means of at least one external signal (24), the external signal (24) being provided by a sensor device (26) for detecting a surrounding area of the vehicle (10).

4. The method according to any one of the preceding claims,

it is characterized in that the preparation method is characterized in that,

the sensor device (26) emits ultrasound and/or laser and/or radar signals and/or lidar signals and/or captures images (30) by means of a camera (28).

5. The method according to any one of the preceding claims,

it is characterized in that the preparation method is characterized in that,

weather information and/or traffic information and/or disaster information and/or topographic information and/or information from other vehicles (12) is received via an antenna (32), in particular via the internet (34).

6. The method according to any one of the preceding claims,

it is characterized in that the preparation method is characterized in that,

a vehicle state (38) is determined by the sensor device (36), the vehicle state (38) being in particular a torque of the drive system and/or a tire pressure.

7. The method according to any one of the preceding claims,

it is characterized in that the preparation method is characterized in that,

information from the antenna (32) and/or at least one sensor device (36, 26) and/or camera (28) is compared with the vehicle parameter.

8. The method according to any one of the preceding claims,

it is characterized in that the preparation method is characterized in that,

an area (22) having an impassable road condition (18) is identified, and the vehicle (10) is then decelerated (40) so that the vehicle (10) does not enter the impassable area (22).

9. The method according to any one of the preceding claims,

it is characterized in that the preparation method is characterized in that,

the road condition (18) is identified as impassable if an uphill slope (54) of greater than 31 ° is reached, and/or if there is a bulge (52) of more than 200mm, and/or if there is a highland (58) with a slope of greater than 17.5 °, and/or if there is a slope (56) with a slope of greater than 25 °, and/or if there is a water level (46) of greater than 500 mm.

10. A vehicle (10), the vehicle (10) comprising a navigation system (44) and a sensor device (26, 36) and/or an antenna (32) and/or a camera (28),

it is characterized in that the preparation method is characterized in that,

method for detecting, displaying and bypassing an area (22) with an impassable road condition (18) and/or braking at an area (22) with an impassable road condition (18), in particular according to any of the preceding claims, can be carried out on the navigation system (44).