DE102013222294A1 - Method for automated driving of vehicle, involves determining automation level for guiding vehicle in accordance with judged complexity of upcoming traffic situation on highway or road - Google Patents

Method for automated driving of vehicle, involves determining automation level for guiding vehicle in accordance with judged complexity of upcoming traffic situation on highway or road Download PDF

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Publication number
DE102013222294A1
DE102013222294A1 DE201310222294 DE102013222294A DE102013222294A1 DE 102013222294 A1 DE102013222294 A1 DE 102013222294A1 DE 201310222294 DE201310222294 DE 201310222294 DE 102013222294 A DE102013222294 A DE 102013222294A DE 102013222294 A1 DE102013222294 A1 DE 102013222294A1
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DE
Germany
Prior art keywords
vehicle
driver
automated
automation
traffic situation
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.)
Pending
Application number
DE201310222294
Other languages
German (de)
Inventor
Martin Gasser
Andreas Geier
Matthias Strauss
Gergely Ungvàry
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.)
Continental Autonomous Mobility Germany GmbH
Original Assignee
Conti Temic Microelectronic GmbH
Continental Teves AG and Co OHG
Priority date (The priority date 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 date listed.)
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Publication date
Application filed by Conti Temic Microelectronic GmbH, Continental Teves AG and Co OHG filed Critical Conti Temic Microelectronic GmbH
Priority to DE201310222294 priority Critical patent/DE102013222294A1/en
Publication of DE102013222294A1 publication Critical patent/DE102013222294A1/en
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096783—Systems 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 roadside individual element
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/096758—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where no selection takes place on the transmitted or the received information
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096791—Systems 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 another vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/22—Psychological state; Stress level or workload
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W30/00—Purposes 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18154—Approaching an intersection
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

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  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

The automated guiding of vehicle is performed for different levels of automation. The complexity of an upcoming traffic situation on highway or road is judged based on the information from the global positioning system (GPS) map or radio-based information. The automation level for guiding the vehicle is determined in accordance with the judged complexity of upcoming traffic situation. An independent claim is included for a control unit for vehicle.

Description

Fahrerassistenzsysteme, die den Fahrer beim Führen eines Fahrzeugs unterstützen (z.B. ACC, LDW, Lichtsteuerung etc) werden seit einigen Jahren in Serienfahrzeugen umgesetzt. Die Verantwortung für die Fahrzeugführung liegt weiterhin beim Fahrer, er muss zu jeder Zeit aufmerksam sein, um ggf. die Führung des Fahrzeugs zu übernehmen. Driver assistance systems that assist the driver in driving a vehicle (for example, ACC, LDW, light control, etc.) have been implemented in production vehicles for several years. The responsibility for the vehicle management remains with the driver, he must be attentive at all times, if necessary, to take over the leadership of the vehicle.

Das automatisierte Führen eines Fahrzeugs, d.h. das Fahrzeug fährt autonom und der Fahrer darf seine Aufmerksamkeit auch anderen Tätigkeiten zuwenden, ist noch nicht verbreitet. Nach heutigem Stand der Technik wäre das automatisierte Führen eines Fahrzeugs vor allem auf Autobahnen und autobahnähnlichen Straßen gut umsetzbar, da es sich hier um eine weniger komplexe Fahrsituation handelt, die durch Umfeldsensoren gut erfasst werden kann. Automated driving of a vehicle, i. the vehicle drives autonomously and the driver may turn his attention to other activities is not yet widespread. According to the current state of the art, the automated driving of a vehicle, especially on motorways and motorway-like roads would be well implemented, since this is a less complex driving situation, which can be well detected by environmental sensors.

Es ist die Aufgabe der hier vorliegenden Erfindung ein verbessertes Verfahren und Vorrichtung zum automatisierten Führen eines Fahrzeugs anzugeben. It is the object of the present invention to provide an improved method and apparatus for automatically guiding a vehicle.

Erfindungsgemäß wird ein Verfahren zum automatisierten Führen eines Fahrzeugs angegeben. Für das automatisierte Führen ist eine Mehrzahl von Automatisierungsgraden vorgesehen. Die Automatisierungsgrade geben an, wie weit der Fahrer seine Aufmerksamkeit anderen Tätigkeiten zuwenden darf. Anhand von Informationen von GPS und Karte oder funkbasierten Informationen, z.B. von Verkehrzeichen, -leitsystemen oder anderen Verkehrsteilnehmern, wird auf die Komplexität einer bevorstehenden Verkehrssituation geschlossen. Der Automatisierungsgrad der automatisierten Fahrzeugführung wird daran angepasst bzw. die automatisierte Fahrzeugführung wird in komplexen Verkehrsszenarien deaktiviert. According to the invention, a method for the automated guidance of a vehicle is specified. For automated guidance, a plurality of degrees of automation are provided. The degrees of automation indicate how far the driver may pay attention to other activities. Based on information from GPS and map or radio-based information, e.g. of traffic signs, traffic guidance systems or other road users, the complexity of an imminent traffic situation is The degree of automation of the automated vehicle guidance is adapted to it or the automated vehicle guidance is deactivated in complex traffic scenarios.

In einer besonderen Ausgestaltung der Erfindung ist ein erster Automatisierungsgrad ein automatisiertes Führens eines Fahrzeugs ohne oder mit geringen Anforderungen an die Aufmerksamkeit eines Fahrers und ein zweiter Automatisierungsgrad ein automatisiertes Führens eines Fahrzeugs mit relativ zum ersten Automatisierungsgrad erhöhten Anforderungen an die Aufmerksamkeit eines Fahrers. In a particular embodiment of the invention, a first degree of automation is an automated guidance of a vehicle without or with low demands on the attention of a driver and a second degree of automation of an automated guidance of a vehicle with relative to the first degree of automation increased demands on a driver's attention.

Ein erster Automatisierungsgrad ist z.B. ein automatisiertes Führens eines Fahrzeugs ohne Anforderungen an die Aufmerksamkeit eines Fahrers, ein zweiter Automatisierungsgrad ist z.B. ein automatisiertes Führen eines Fahrzeugs mit Anforderungen an die Aufmerksamkeit eines Fahrers. A first degree of automation is e.g. an automated guidance of a vehicle without demands on the attention of a driver, a second degree of automation is e.g. an automated driving of a vehicle with demands on the attention of a driver.

Ein Automatisierungsgrad kann einem Fahrer z.B. eine oder mehrere der folgenden Tätigkeiten während einer automatisierten Fahrt erlauben bzw. verbieten

  • – der Fahrer darf die Hände nur für eine vorgegebene Zeitdauer oder ganz vom Lenkrad entfernen
  • – der Fahrer darf ggf. eingeschränkt Kommunikationsmittel (Radio, Internet, Mobiltelefon ...) bedienen.
  • – der Fahrer darf bei Vorwärtsfahrt in eine andere Richtung als die Vorwärtsrichtung blicken.
An automation level may allow or prohibit a driver, for example, one or more of the following activities during an automated journey
  • - The driver may only remove his hands for a given period of time or completely from the steering wheel
  • - The driver may be allowed to operate limited means of communication (radio, Internet, mobile phone ...).
  • - The driver may look in a direction other than the forward direction when driving forward.

So kann das automatisierte Führen eines Fahrzeugs auch für eine Stauassistenz insbesondere in einem innerstädtischen Bereich angewendet werden. Dies ist bis heute nicht möglich, da die auftretenden komplexen Szenarien im Innerstädtischen Bereich von den heute verfügbaren Umfeldsensoren, wie z.B Lidar-, Radar- oder Kamerasensorsysteme, nicht sicher erfasst werden können. In diesen Situationen wird erfindungsgemäß der Automatisierungsgrad der Umgebung angepasst. Thus, the automated driving of a vehicle can also be used for congestion assistance, especially in an inner-city area. This is not possible today because the complex scenarios occurring in the urban area can not be detected reliably by the environment sensors available today, such as Lidar, radar or camera sensor systems. In these situations, the degree of automation of the environment is adjusted according to the invention.

In einer vorteilhaften Ausgestaltung der Erfindung ist ein Loslassen des Lenkrads während dem automatisierten Führen eines Fahrzeugs durch den Fahrer nur in weniger komplexen Verkehrsszenarien, z.B. auf Autobahnen oder Straßenabschnitten ohne Kreuzungen, erlaubt. Sollte der Fahrer in einer komplexen Verkehrssituation, z.B. in einem Kreuzungsbereich insbesondere mit Ampelanlagen, das Lenkrad loslassen, wird das automatisierte Führen eines Fahrzeugs deaktiviert. In an advantageous embodiment of the invention, letting go of the steering wheel during the automated driving of a vehicle by the driver is only possible in less complex traffic scenarios, e.g. on highways or on roads without intersections. Should the driver in a complex traffic situation, e.g. in an intersection area, especially with traffic lights, let go of the steering wheel, the automated driving a vehicle is disabled.

In einer bevorzugten Ausgestaltung der Erfindung wird ein Loslassen des Lenkrads durch den Fahrer innerorts nur dann zugelassen wird, wenn der Fahrer aufmerksam ist. Die Aufmerksamkeitsbestimmung eines Fahrers ist Stand der Technik und kann z.B. mit einer Innenraumkamera durchgeführt werden, die die Position oder Blickrichtung des Fahrers erfasst. Die Aufmerksamkeit kann zudem über Gas-, Brems- oder Kupplungspedal, Lenkbewegung, Blinkeraktivierung o.ä. bestimmt werden. Ein Indiz für einen unaufmerksamen Fahrer ist z.B. die Beschäftigung mit dem Mobiltelefon oder einem ähnlichen Gerät oder eine falsche Blickrichtung. In einer bevorzugten Ausführungsform wird bei einem aufmerksamen Fahrer das Loslassen des Lenkrads in einer komplexeren Verkehrsituation erlaubt als bei einem unaufmerksamen Fahrer ohne das sich das System zum automatisierten Führen eines Fahrzeugs deaktiviert oder einen niedrigeren Automatisierungsgrad zulässt. In a preferred embodiment of the invention, a release of the steering wheel by the driver is only allowed in the city when the driver is attentive. The attentiveness of a driver is known in the art and may be e.g. be performed with an interior camera that detects the position or line of sight of the driver. The attention can also about gas, brake or clutch pedal, steering movement, turn signal activation or similar. be determined. An indication of an inattentive driver is e.g. employment with the mobile phone or a similar device or a wrong viewing direction. In a preferred embodiment, an attentive driver is allowed to release the steering wheel in a more complex traffic situation than an inattentive driver without the system being disabled for automated vehicle guidance or allowing for a lower level of automation.

In einer bevorzugten Ausgestaltung der Erfindung wird das automatisierte Führen eines Fahrzeugs innerorts deaktiviert, wenn eine bevorstehenden Verkehrssituation ein komplexes Szenario, insbesondere eine Kreuzung mit Ampelanlage, umfasst. In einer vorteilhaften Ausführungsform der Erfindung unterbleibt die Deaktivierung des automatisierten Führens eines Fahrzeugs in dem zuvor beschriebenen komplexen Szenario, wenn ein Funk-Signal (c2x) Informationen über das komplexe Szenario, insbesondere über die Ampelschaltung, zur Verfügung stellt. Ein c2x Signal umfasst Signale z.B. von Verkehrzeichen, -leitsystemen oder anderen Verkehrsteilnehmern. In a preferred embodiment of the invention, the automated driving of a vehicle is deactivated in-town if an upcoming traffic situation comprises a complex scenario, in particular a traffic light intersection. In an advantageous embodiment of the invention, the deactivation of the automated guidance of a vehicle in the complex scenario described above is omitted if a radio signal (c2x) provides information about the complex scenario, in particular about the traffic light circuit. A c2x signal comprises signals e.g. of traffic signs, traffic guidance systems or other road users.

Claims (7)

Verfahren zum automatisierte Führen eines Fahrzeugs, dadurch gekennzeichnet, dass das automatisierte Führen eine Mehrzahl von Automatisierungsgraden vorsieht und anhand von Informationen von GPS und Karte oder funkbasierten Informationen auf die Komplexität einer bevorstehenden Verkehrssituation geschlossen wird und der Automatisierungsgrad der automatisierten Fahrzeugführung daran angepasst wird. A method for automated driving of a vehicle, characterized in that the automated guidance provides a plurality of degrees of automation and is closed on the basis of information from GPS and map or radio-based information on the complexity of an upcoming traffic situation and the degree of automation of the automated vehicle management is adjusted. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass ein Automatisierungsgrad angibt, in welchem Maße der Fahrer seine Aufmerksamkeit anderen Tätigkeiten zuwenden darf. A method according to claim 1, characterized in that a degree of automation indicates to what extent the driver may turn his attention to other activities. Verfahren nach Anspruch 1 oder 2 dadurch gekennzeichnet, dass ein Loslassen des Lenkrads während dem automatisierten Führen eines Fahrzeugs durch den Fahrer nur in weniger komplexen Verkehrsszenarien, z.B. auf Autobahnen oder Straßenabschnitten ohne Kreuzungen, erlaubt ist. A method according to claim 1 or 2, characterized in that a release of the steering wheel during the automated driving of a vehicle by the driver only in less complex traffic scenarios, eg on highways or road sections without intersections allowed. Verfahren nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass ein Loslassen des Lenkrads während dem automatisierten Führen eines Fahrzeugs durch den Fahrer innerorts nur dann zugelassen wird, wenn der Fahrer aufmerksam ist. Method according to one of the preceding claims, characterized in that a release of the steering wheel during the automatic driving of a vehicle by the driver is built-up areas permitted only when the driver is alert. Verfahren nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass das automatisierte Führen eines Fahrzeugs innerorts deaktiviert wird, wenn eine bevorstehenden Verkehrssituation ein komplexes Szenario, insbesondere eine Kreuzung mit Ampelanlage, umfasst. Method according to one of the preceding claims, characterized in that the automated driving a vehicle is deactivated in-town, when an upcoming traffic situation includes a complex scenario, in particular a junction with traffic lights. Verfahren nach Anspruch 5) dadurch gekennzeichnet, dass die Deaktivierung des automatisierten Führens eines Fahrzeugs unterbleibt, wenn ein Funksignal Informationen über das komplexe Szenario, insbesondere über die Ampelschaltung, zur Verfügung stellt. A method according to claim 5), characterized in that the deactivation of the automated guidance of a vehicle is omitted when a radio signal provides information about the complex scenario, in particular via the traffic light circuit. Steuereinheit für ein Fahrzeug mit einer Speichereinheit, auf der ein Verfahren nach Anspruch 1 hinterlegt ist Control unit for a vehicle with a storage unit on which a method according to claim 1 is stored
DE201310222294 2012-12-14 2013-11-04 Method for automated driving of vehicle, involves determining automation level for guiding vehicle in accordance with judged complexity of upcoming traffic situation on highway or road Pending DE102013222294A1 (en)

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DE102012112282 2012-12-14
DE102012112282.2 2012-12-14
DE102013103390 2013-04-05
DE102013103390.3 2013-04-05
DE201310222294 DE102013222294A1 (en) 2012-12-14 2013-11-04 Method for automated driving of vehicle, involves determining automation level for guiding vehicle in accordance with judged complexity of upcoming traffic situation on highway or road

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015205135A1 (en) * 2015-03-20 2016-09-22 Bayerische Motoren Werke Ag Method for determining a degree of automation that can be used for an at least partially automated movement of the vehicle
US9821812B2 (en) 2015-04-23 2017-11-21 Ford Global Technologies, Llc Traffic complexity estimation
DE102016210995A1 (en) 2016-06-20 2017-12-21 Bayerische Motoren Werke Aktiengesellschaft Method and apparatus for dynamically configuring user monitoring on highly automated vehicles
CN113506458A (en) * 2015-03-24 2021-10-15 日本先锋公司 Map information storage device, control method, and storage medium
US20220204024A1 (en) * 2020-12-28 2022-06-30 Honda Motor Co., Ltd. Vehicle control device, vehicle control method, and storage medium

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015205135A1 (en) * 2015-03-20 2016-09-22 Bayerische Motoren Werke Ag Method for determining a degree of automation that can be used for an at least partially automated movement of the vehicle
CN113506458A (en) * 2015-03-24 2021-10-15 日本先锋公司 Map information storage device, control method, and storage medium
US9821812B2 (en) 2015-04-23 2017-11-21 Ford Global Technologies, Llc Traffic complexity estimation
DE102016210995A1 (en) 2016-06-20 2017-12-21 Bayerische Motoren Werke Aktiengesellschaft Method and apparatus for dynamically configuring user monitoring on highly automated vehicles
US20220204024A1 (en) * 2020-12-28 2022-06-30 Honda Motor Co., Ltd. Vehicle control device, vehicle control method, and storage medium

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Owner name: CONTINENTAL AUTONOMOUS MOBILITY GERMANY GMBH, DE

Free format text: FORMER OWNERS: CONTINENTAL TEVES AG & CO. OHG, 60488 FRANKFURT, DE; CONTI TEMIC MICROELECTRONIC GMBH, 90411 NUERNBERG, DE