DE102011077592A1 - Method for guiding vehicle on track, involves operating or disabling vehicle guidance system for guiding the vehicle on track, based on coordinate dependent release information in database - Google Patents

Method for guiding vehicle on track, involves operating or disabling vehicle guidance system for guiding the vehicle on track, based on coordinate dependent release information in database Download PDF

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Publication number
DE102011077592A1
DE102011077592A1 DE102011077592A DE102011077592A DE102011077592A1 DE 102011077592 A1 DE102011077592 A1 DE 102011077592A1 DE 102011077592 A DE102011077592 A DE 102011077592A DE 102011077592 A DE102011077592 A DE 102011077592A DE 102011077592 A1 DE102011077592 A1 DE 102011077592A1
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Germany
Prior art keywords
vehicle
information
database
guidance
lane
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
DE102011077592A
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German (de)
Inventor
Dirk Engert
Toralf Trautmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hochschule fur Technik und Wirtschaft Dresden
Dresden Hochschule fur Technik und Wirtschaft
Original Assignee
Hochschule fur Technik und Wirtschaft Dresden
Dresden Hochschule fur Technik und Wirtschaft
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Filing date
Publication date
Priority to DE102010064402 priority Critical
Priority to DE102010064402.1 priority
Application filed by Hochschule fur Technik und Wirtschaft Dresden, Dresden Hochschule fur Technik und Wirtschaft filed Critical Hochschule fur Technik und Wirtschaft Dresden
Priority to DE102011077592A priority patent/DE102011077592A1/en
Publication of DE102011077592A1 publication Critical patent/DE102011077592A1/en
Ceased legal-status Critical Current

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    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems
    • G08G1/167Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14Adaptive cruise control
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/09Arrangements for giving variable traffic instructions
    • G08G1/0962Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09626Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/09Arrangements for giving variable traffic instructions
    • G08G1/0962Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details 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
    • B60W2050/0062Adapting control system settings
    • B60W2050/0075Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0077Automatic parameter input, automatic initialising or calibrating means involving external transmission of data to or from the vehicle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details 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
    • B60W2050/0062Adapting control system settings
    • B60W2050/0075Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0083Setting, resetting, calibration
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W50/00Details 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
    • B60W2050/0062Adapting control system settings
    • B60W2050/0075Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0089Historical data record of previous events
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2420/00Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/42Image sensing, e.g. optical camera
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W2556/00Input parameters relating to data
    • B60W2556/45External transmission of data to or from the vehicle

Abstract

The object of the invention, which is a method for vehicle guidance by means of a vehicle guidance system in which a vehicle is controlled by route-specific information, is to support a vehicle assistance system in the guidance of vehicles by providing information about the quality of the lane marking. According to the invention, the object is achieved in that the vehicle guidance system is released or blocked for vehicle guidance on the basis of information from a database which contains coordinate-dependent release information.

Description

  • The invention relates to a method for vehicle guidance, by means of a vehicle guidance system, in which a vehicle is controlled by route-specific information.
  • The invention also relates to an arrangement for vehicle guidance, comprising a vehicle guidance system, which is connected on the input side with sensors for detecting route-specific information and on the output side with devices for longitudinal and / or lateral control of a vehicle.
  • Driver assistance systems increasingly intervene both in the longitudinal guidance of vehicles, for example for automatically maintaining a predetermined distance to a vehicle in front or for automatic emergency braking in case of danger, as well as in the transverse guidance, for example as a lane departure warning and thus relieve the driver.
  • Perspectively, an autonomous vehicle guidance in clear situations, for example in the event of a traffic jam, can be expected. The necessary data on the vehicle environment are recorded by special sensors and evaluated by a situation detection.
  • In the case of a transverse guidance assistance, the primary information is the lane marking applied to the roadway, which is converted via video sensors into information that can be further processed digitally.
  • A misjudgment and thus a faulty intervention can occur if the lane marking either is not detected correctly, for example due to external influences such as sunlight or the lane marking does not have sufficient quality for a transverse guide, due to wear and aging. Since so far both cases can not be detected in a clear way, so far there is no autonomous Querführungsassistenz, as on a driver intervention, by holding the steering wheel, can not be waived.
  • Previous lane-marking inspection systems do not determine how an autonomous vehicle would react to lane marking. It is only the visual condition of the lane marking, usually only at low speeds, checked.
  • The object of the invention is to assist a vehicle assistance system in the guidance of vehicles by providing information about the quality of the lane marking.
  • According to the invention, the object is achieved in terms of the method in that the vehicle guidance system is enabled or disabled for vehicle guidance on the basis of information from a database which contains coordinate-dependent release information.
  • According to the invention, the object is also achieved by carrying out a detection of lane data in a lane section which is delimited by an initial coordinate and an end coordinate, that a qualitative assessment of the detected lane data is carried out on the basis of predefined parameters and that the thus generated Information about the state of the lane can be stored in a database.
  • This release information relates to a delimited lane section, such as a highway section, which is cyclically monitored and for which clearance is provided for use of a vehicle guidance system.
  • In this case, vehicle guidance systems for autonomous lateral guidance in the presence of release information for a roadway section can offer a higher degree of lateral guidance than in other unauthorized areas.
  • The release may include both a release or a blockage of the vehicle guidance system as well as various levels of release for the vehicle guidance system.
  • The invention provides for cycling the areas to be released by means of special measuring vehicles and for recording and evaluating the condition of the lane marking and other relevant lane information, such as guide posts or boundaries, with appropriate measuring technology and storing them in a database.
  • This database can be accessed online by the appropriate vehicle guidance systems. Thus, the information associated with a lane section currently being traveled by a vehicle can be retrieved from the database and made available to the vehicle guidance system. However, it is also possible to retrieve information from one or more lane sections that are likely to be traveled subsequently in a forward-looking manner. Possibilities of online transmission of data from the database to the vehicle management system exist for example in the form of additional information on GPS information, wireless services such as radio or the use of wireless telephone and / or data networks.
  • The availability of an online connection is not mandatory for the use of the invention. Thus, the information of the database can be made available to a vehicle guidance system also offline, for example by means of access to an in-vehicle data carrier such as CD, DVD, memory card or USB stick.
  • In addition to the possibility to retrieve data for a vehicle guidance system from the database, it is also possible to transfer data to the database. In this way, vehicle guidance systems can transmit current data of a vehicle section, which can contribute to the confirmation of the state information of the database. In the case of deviations of the transmitted data of a vehicle section from the data stored in the database, it is possible, for example, to conclude a change in the state of the lane marking and to re-drive the lane by means of the special measuring vehicle.
  • In the case of release, the autonomous lateral control function can be activated. If no release is stored, the function must not be activated.
  • In contrast to a simple recording of the lane marking, it is absolutely necessary to consider the behavior of an autonomous regulator during track recording. Therefore, the measuring vehicle must have the appropriate control and also determine the maximum possible speeds that are still allowed for autonomous driving.
  • In one embodiment of the invention, it is provided that a detection of lane data in a lane section by means of an optical detection of a lane marking.
  • The special measuring vehicle can optically record the state of a roadway section by means of a camera located in or on the measuring vehicle, the video information thus obtained being evaluated by a computer system connected to the camera according to specifications.
  • In addition to this computer-aided evaluation, information of a vehicle guidance system or regulator arranged in the vehicle is also evaluated.
  • In order to adapt the information obtained in this way via a roadway section to the state of the roadway section which changes, for example, as a result of wear and aging, the measurement is repeated cyclically by the measuring vehicle and the information in the database is updated.
  • In a further embodiment of the invention it is provided that vehicles access the information from the database online.
  • The information from the database can be queried online, for example via a connection to the Internet. Other options include using a telephone or radio connection.
  • In one embodiment of the invention it is provided that the vehicles access the information via guide posts equipped with transmission devices.
  • In addition to above or below the lane or lane used by a vehicle, transmitting devices may be installed, such as guide posts on the roadway edge, which radiate release information. These are received by a receiving device in the vehicle and provided to the vehicle guidance system. In this case, this information can send only the information associated with the respective roadway section information from the database.
  • In a further embodiment of the invention it is provided that the vehicles access the information at regular or irregular intervals.
  • In addition to a continuous connection to a database, it is also possible to access data from the database at regular or irregular intervals or intervals. Thus, during access to the database information about several successive lane sections can be transmitted. Only when the vehicle is in the last transferred lane section, a new query of the database necessary.
  • In an embodiment of the invention, it is provided that the information from the database is used to evaluate a regulator of a vehicle used for the lateral guidance.
  • The information from the database can be used not only to control a vehicle guidance system, but also to test the operation or quality of the onboard vehicle guidance system. In this case, the data of the database contain so-called set or default information, which is compared with the information generated by the vehicle guidance system. Thus, a conclusion on the functioning of the Vehicle guidance system possible. For example, due to aging or contamination, the data generated by the vehicle guidance system may deviate from the desired information. For example, a display for testing the vehicle guidance system can be generated.
  • In one embodiment of the invention, it is provided that the information from the database is compared with corresponding information, which is generated by a regulator used for the lateral guidance of a vehicle, and that an error signal is generated and output when a predefined deviation is exceeded.
  • For example, optically recorded information about a lane marking with various parameters such as curvature, track width and marking type are compared with the corresponding information provided from the database for these parameters. In a conventional recognizability of the lane marking and a proper operation of the detecting camera and the associated controller, the parameters are within a predetermined tolerance limit. If this limit is exceeded in a comparison, for example, there is a fault in the operation of the controller. In this case, an error signal is generated and output.
  • In another embodiment of the invention, it is provided that when a fault signal is generated, the vehicle guidance system is blocked.
  • The error signal generated according to the invention is used to block the vehicle guidance system or leads to a limited functioning of the vehicle guidance system by reducing the permissible speed of the vehicle when using a transverse guidance assistance.
  • According to the invention, the object on the arrangement side is achieved in that the vehicle guidance system is connected to a release unit which can be connected to a database.
  • According to the invention, a vehicle guidance system is arranged in a vehicle. This input side is connected to sensors, such as a video camera, which record environmental data and transmitted to the vehicle navigation system. On the output side, the vehicle guidance system is connected to a device for the lateral control of the vehicle, which controls the vehicle according to the specifications of the vehicle guidance system. Furthermore, on the output side, a device for longitudinal control of the vehicle can be arranged.
  • According to the invention, a release unit is further arranged in the vehicle, which can query and evaluate information from a database. This release unit generates a release signal by means of which the vehicle guidance system is controlled. By means of this release signal, the vehicle guidance system can be blocked or released, for example, for the transverse guidance of the vehicle, wherein a release can be subdivided into different levels of release.
  • The invention will be explained in more detail with reference to an embodiment. In the accompanying drawings shows
  • 1 a representation of road sections to which information is stored in a database,
  • 2 a schematic diagram of the control of a vehicle guidance system by means of release information stored in a database outside the vehicle;
  • 3 a flow chart for the control (enable / disable) of a vehicle guidance system,
  • 4 a process in the evaluation of a road section by a measuring vehicle and
  • 5 a representation of the inventive arrangement.
  • The invention provides, the roadway, as in the 1 shown in roadway sections 1 to divide which is an initial coordinate 2 and an end coordinate 3 exhibit.
  • One in a roadway section 1 For example, the lane being traveled is cyclically driven by a special measuring vehicle, and thus the condition of the lane marking and other relevant lane information (eg guide posts, boundaries) is recorded with appropriate measurement technology.
  • This information is evaluated and from it route-specific information on a road section 1 generated, which are stored in a database. Such a process is in the 4 represented, wherein at a high quality road marking information for release for a vehicle guidance system 4 is stored, for example, to the transverse guidance of the vehicle. If it is determined during the evaluation that the quality of the lane marking is not sufficient, an order for renewing the marking can be generated.
  • Like in the 2 illustrated, vehicle guidance systems 4 to the data of the database 5 For example, online via transmitting or transmitting and receiving devices 8th access. An in-vehicle release unit 6 receives the data from the database via an associated receiver 7 and generates the vehicle guidance system 4 controlling enable or disable signal. The release unit 6 is input side with sensors for recording environmental information such as a camera 9 connected.
  • The assignment of the coordinate-dependent information to the current position of a vehicle can be done for example by means of GPS position data. Thus, after determination of the GPS position data of the vehicle, a specific query of the database 5 coordinate-dependent.
  • In addition to the possibility online via a radio, telephone or Internet connection data from the database 5 can also query a disk in the vehicle, which with the release unit 6 which provide data from the database.
  • In the 3 By way of example, a procedure is illustrated in the use of coordinate-dependent release information. This is when driving on a new road section 1 by means of the initial coordinate 2 a query of the information in the database 5 carried out and queried the stored on this coordinate release information and transmitted to the vehicle. This results in the release unit 6 generated release for autonomous lateral guidance or only for lateral guidance support or for blocking the vehicle guidance system 4 , where the last variant is not in the 3 is shown.
  • Information from the database may also be transmitted as an adjunct to the GPS information or other wireless services, such as radio or internet. In this case, no query of the database 5 be done, it will be in the corresponding road section 1 receivable information used for the procedure.
  • In contrast to a simple recording of lane data, such as a lane marking, it is possible according to the invention to take into account the behavior of an autonomous controller for the lateral guidance in the lane data acquisition. Therefore, the measuring vehicle must have an appropriate vehicle guidance or control system and also determine the maximum possible speeds that are still allowed for autonomous driving. The data determined in this way also become coordinate-dependent in the database 5 saved.
  • What is new is the clear information about the existing quality of the lane marking. Thus, an improved error analysis is also possible for the camera system in the vehicle, since in the case of release, the quality of the lane marker for detection would have to be sufficient in any case. So far there is no information available.
  • The advantage is further increased safety for vehicles with autonomous lateral guidance. If such monitoring is not provided, autonomous vehicle functions may not be offered until much later.
  • Additional information is the targeted repair of the lane marking. If an area is found to be insufficient for autonomous lateral guidance, a renewal of the lane marking may be requested for that section.
  • In the 5 an illustration of the arrangement according to the invention is shown, which is a vehicle guidance system 4 includes. The vehicle guidance system 4 is input side with sensors 10 and on the output side with a longitudinal and / or transverse control 11 connected to the vehicle. The vehicle guidance system 4 also has another control input, which with the release unit 6 connected is. The release unit 6 can connect to a database by wire or wirelessly 5 establish data from the database 5 to query and from these data a control signal to enable or disable the vehicle navigation system 4 to create.
  • LIST OF REFERENCE NUMBERS
  • 1
    road section
    2
    Starting coordinate
    3
    end coordinate
    4
    Vehicle guidance system
    5
    Database
    6
    release unit
    7
    receiver
    8th
    transmitter
    9
    camera
    10
    sensors
    11
    Longitudinal and / or transverse control

Claims (10)

  1. Method for vehicle guidance, by means of a vehicle guidance system, in which a vehicle is controlled by route-specific information, characterized in that the vehicle guidance system based on information from a database containing coordinate-dependent release information is enabled or disabled for vehicle guidance.
  2. A method for generating the information for performing the method according to claim 1, characterized in that a detection of lane data in a lane section, which is bounded by an initial coordinate and an end coordinate, is performed, that a qualitative assessment of the detected lane data is performed based on predetermined parameters and that the information generated about the state of the lane is stored in a database.
  3. A method according to claim 2, characterized in that a detection of lane data in a lane section by means of an optical detection of a lane marking is carried out.
  4. A method according to claim 1, characterized in that vehicles access the information from the database online.
  5. A method according to claim 1, characterized in that the vehicles access the information via equipped with transmitting devices Leitpost.
  6. Method according to one of claims 1, 4, 5, characterized in that the vehicles access the information at regular or irregular intervals.
  7. A method according to claim 1, characterized in that the information from the database for the evaluation of a used for the lateral guidance controller of a vehicle can be used.
  8. A method according to claim 7, characterized in that the information from the database with corresponding information, which are generated by a used for lateral guidance of a vehicle controller, are compared, and that when exceeding a predetermined deviation from each other an error signal is generated and output.
  9. A method according to claim 8, characterized in that upon generation of an error signal, the vehicle guidance system is locked.
  10. Arrangement for vehicle guidance, consisting of a vehicle guidance system, which is connected on the input side with sensors for detecting route-specific information and on the output side with devices for longitudinal and / or lateral control of a vehicle, characterized in that the vehicle guidance system is connected to a release unit, which with a database is connectable.
DE102011077592A 2010-12-30 2011-06-16 Method for guiding vehicle on track, involves operating or disabling vehicle guidance system for guiding the vehicle on track, based on coordinate dependent release information in database Ceased DE102011077592A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE102010064402 2010-12-30
DE102010064402.1 2010-12-30
DE102011077592A DE102011077592A1 (en) 2010-12-30 2011-06-16 Method for guiding vehicle on track, involves operating or disabling vehicle guidance system for guiding the vehicle on track, based on coordinate dependent release information in database

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102011077592A DE102011077592A1 (en) 2010-12-30 2011-06-16 Method for guiding vehicle on track, involves operating or disabling vehicle guidance system for guiding the vehicle on track, based on coordinate dependent release information in database

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DE102011077592A1 true DE102011077592A1 (en) 2012-07-19

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012021403A1 (en) 2012-10-30 2014-04-30 Audi Ag Method for identifying a vehicle detected by a sensor device
DE102013225011A1 (en) * 2013-12-05 2015-06-11 Bayerische Motoren Werke Aktiengesellschaft Approval or blocking of a road section for the highly automated driving of a motor vehicle
WO2016045759A1 (en) * 2014-09-24 2016-03-31 Daimler Ag Enabling a highly automated driving function
DE102015004550A1 (en) * 2015-04-08 2016-10-13 Audi Ag Method for operating a motor vehicle and motor vehicle
DE102016009461A1 (en) * 2016-08-03 2018-02-08 Daimler Ag Method for operating a vehicle and device for carrying out the method

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012021403A1 (en) 2012-10-30 2014-04-30 Audi Ag Method for identifying a vehicle detected by a sensor device
WO2014067646A1 (en) 2012-10-30 2014-05-08 Audi Ag Method for identifying a vehicle detected by a sensor device
US9569962B2 (en) 2012-10-30 2017-02-14 Audi Ag Method for identifying a vehicle detected by a sensor device
DE102013225011A1 (en) * 2013-12-05 2015-06-11 Bayerische Motoren Werke Aktiengesellschaft Approval or blocking of a road section for the highly automated driving of a motor vehicle
WO2016045759A1 (en) * 2014-09-24 2016-03-31 Daimler Ag Enabling a highly automated driving function
DE102015004550A1 (en) * 2015-04-08 2016-10-13 Audi Ag Method for operating a motor vehicle and motor vehicle
US10518777B2 (en) 2015-04-08 2019-12-31 Audi Ag Method for operating a motor vehicle, and motor vehicle
DE102016009461A1 (en) * 2016-08-03 2018-02-08 Daimler Ag Method for operating a vehicle and device for carrying out the method

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