DE102017200477A1 - A method, apparatus, mobile user equipment and a corresponding computer program for providing information for influencing the guidance of the vehicle in connection with local terrain artifacts - Google Patents

Abstract

A method for providing information for influencing the guidance of the vehicle in connection with local terrain artifacts, comprises the steps of: acquiring information about a terrain artifact or an arrangement of a plurality of terrain artifacts, determining data for influencing the guidance of the vehicle to the detected terrain artifact or the arrangement of several terrain artifacts, - associating data for influencing the guidance of the vehicle to detection information in connection with the terrain artifact or the arrangement of several terrain artifacts, - providing information dependent on the assigned data to a computing unit for use in a user Vehicle.

Description

The invention relates to a method of a device and a corresponding computer program for providing information for influencing the guidance of the vehicle in connection with local terrain artifacts. The invention further relates to the use of the information provided. The invention further relates to a mobile user device which is set up to carry out the method.

Modern vehicles sometimes have many sensors, which are used, for example, to adapt the guidance of the vehicle, for example a longitudinal guide or the transverse guidance of the vehicle, to the circumstances of the vehicle environment. In this case, a regulation is typically carried out on specific objects, for example on a vehicle in front.

In many cases occurring in practice, the information detectable by a sensor of the vehicle can be provided about a terrain artifact, e.g. a depth of a pothole in time, before reaching the pothole, determined and used to guide the vehicle useful. For example, it may happen that a terrain artifact, e.g. a pothole in the roadway, e.g. is covered by a preceding vehicle. Also, the depth of a terrain artifact in many cases can not be detected in good time even with a very high-quality sensors and then, if necessary, bring about a avoidance of the vehicle in time.

The object underlying the invention is to provide an improved method for providing information for influencing the guidance of the vehicle in connection with local terrain artifacts, in particular in connection with local terrain artifacts, which have much smaller dimensions than the dimensions of the vehicle.

The object is solved by the features of the independent claim. Advantageous embodiments are characterized in the subclaims.

The invention is characterized in a first aspect by a method for providing information for influencing the guidance of the vehicle in connection with local terrain artifacts. The method includes detecting information about a terrain artifact or an array of multiple terrain artifacts. The method further includes determining data to influence the guidance of the vehicle to the detected terrain artifact or the arrangement of multiple terrain artifacts. The method comprises associating one or more data sets for influencing the guidance of the vehicle to recognition information associated with the terrain artifact or the arrangement of multiple terrain artifacts. The method further comprises providing information dependent on the associated data to a computing unit for use in a (further) user vehicle.

• - Es können für bestimmte lokale Geländeartefakten jeweils passende, insbesondere jeweils optimierte Beeinflussungen der Führung des Fahrzeugs ermittelt werden.
• - Das Verfahren kann mit sehr geringen, in einem Anwender-Fahrzeug benötigten Ressourcen realisiert werden. Beispielsweise kann das Verfahren ohne eine äußerst kostspielige, hochpräzise Sensorik in Anwender-Fahrzeugen realisiert werden. Auch kann eine zu leistende Rechenleistung, anstatt in einer (sehr kostspieligen Recheneinheit des Fahrzeugs) in einer weiteren Recheneinheit, z.B. in einem Backend-Rechner und/oder in einem, z.B. mit dem Fahrzeug mitgeführten mobilen Anwendergerät kostensparend und ggf. parallel zu den im Fahrzeug ablaufenden Rechenprozessen, geleistet werden.
• - Es werden hochpräzise Maßnahmen, insbesondere Maßnahmen umfassend eine Steuerung oder Regelung der Aktoren des Fahrwerks in einem Anwender-Fahrzeug, z.B. ein sehr präzises oder mehrfaches Ausweichen (oder eine Ausweichinformation für den Fahrer) auch basierend auf relativ ungenauen GPS-Daten ermöglicht. Dadurch können sonst notwendige zu großzügige (und entsprechend gefährliche) Ausweichmanöver oder abrupte Bremsungen, auf das Erkennen eines Geländeartefakts, welches nur potentiell gefährlich sein kann, vermieden werden. Beispielsweise kann die Führung des Anwender-Fahrzeugs derart beeinflusst werden, dass ein Schaden am Fahrzeug oder Störung der Insassen vermieden werden durch ein zumindest teilweises Ausweichen oder ein Manövrieren des Fahrzeugs ausgeführt wird, ohne dabei die aktuelle Fahrspur einer mehrspurigen Straße zu verlassen. Somit kann ein weiterer Schaden oder Störung des Verkehrs vermieden werden.
• - Bestimmte Maßnahmen zur Beeinflussung der Führung des Fahrzeugs können während der Entwicklung des Fahrzeugs bzw. einer entsprechenden Fahrzeugfunktion als ein oder mehrere Datensätze, insbesondere ein „Baukasten“ aus bestimmten kombinierbaren mit den Datensätzen repräsentierten Mustern einzeln entwickelt, erprobt und abgesichert werden. Dabei kann vorab sichergestellt werden, dass die später im realen Umfeld auszuführenden Maßnahmen bestimmten Performancekriterien genügen. Somit resultieren auch Vorteile bei der Entwicklung und Erprobung des Fahrzeugs beim Fahrzeughersteller.

By way of example, the method provides the following advantages:

• - It can be determined for certain local terrain artifacts respectively appropriate, in particular each optimized influences the leadership of the vehicle.
• The method can be realized with very little resources required in a user vehicle. For example, the method can be realized without an extremely expensive, high-precision sensor technology in user vehicles. Also, a computing power to be paid, instead of in a (very expensive computing unit of the vehicle) in another computing unit, eg in a back-end computer and / or in a, for example, with the vehicle entrained mobile user device cost-saving and possibly parallel to those in the vehicle ongoing computing processes.
• There are highly precise measures, in particular measures comprising controlling or regulating the actuators of the chassis in a user vehicle, for example, a very precise or multiple evasion (or avoidance information for the driver) also based on relatively inaccurate GPS data allows. As a result, otherwise too generous (and correspondingly dangerous) evasive maneuvers or abrupt braking can be avoided on the detection of a terrain artifact, which can only be potentially dangerous. For example, the guidance of the user vehicle can be influenced in such a way that damage to the vehicle or disruption of the occupants is avoided by an at least partial avoidance or maneuvering of the vehicle without leaving the current lane of a multi-lane road. Thus, further damage or disruption of traffic can be avoided.
• Certain measures for influencing the guidance of the vehicle may be used during the development of the vehicle or a corresponding vehicle function as one or more datasets, in particular a "kit" of certain combinable with the Records are individually developed, tested and secured. It can be ensured in advance that the measures to be carried out later in the real environment meet certain performance criteria. This also results in advantages in the development and testing of the vehicle at the vehicle manufacturer.

Particularly preferably, the associated data comprises a mathematical combination of at least one of a position of a terrain artifact or an arrangement of the terrain artifacts or a corresponding detection information and one or more data sets for influencing the guidance of the vehicle.

Particularly preferably, the information dependent on the assigned data comprises the determined assigned data. These may be provided, for example, in a compressed form and / or a one or more data packets or portions of a data stream.

In particular, the provision of the information dependent on the assigned data comprises a wireless transmission of corresponding data packets and / or sections of the data stream in a so-called "push process" initiated or controlled, in particular, by a computing unit arranged outside the vehicle. by a "pull method" initiated or controlled by a computing unit of the vehicle. The provision of the information dependent on the assigned data can be carried out directly to a computing unit of a user vehicle or by means of a further computing unit, in particular a backend and / or the mobile user device carried in particular in the vehicle.

In general, it can be brought about by the method that, from the perspective of a user vehicle, very rough detection information is also available in connection with a terrain artifact or another potential danger source, whereupon a very precise influencing of the guidance of the vehicle can take place.

In this case, influencing a corresponding movement of the vehicle can be carried out such that e.g. Influence of the terrain artifact on the vehicle, for example on vehicle wheels or vehicle passenger compartment or vehicle underbody are minimized and / or a necessary Querführungseingriff, in particular evasive movement of the vehicle are minimized transversely to its direction of travel. The influencing of the guidance of the vehicle can be designed as an over-tunable by the driver of the vehicle engaging in the transverse guidance of the vehicle.

For example, the influence of the leadership of the vehicle can be performed as an intervention in the steering line of the vehicle, the intervention of the driver at any time by the steering wheel or another control element for steering the vehicle overcome, changed or confirmed. In this case, a corresponding data record can represent the qualitative and / or quantitative parameters of such a steering intervention.

The detection of information about a terrain artifact or an arrangement of multiple terrain artifacts may, for example, be done with a special "data providing vehicle" that differs from the (average) user vehicles. For example, a data-supplying vehicle may be equipped with a particularly precise sensor system.

Alternatively or additionally, the detection of information about a terrain artifact or an arrangement of multiple terrain artifacts with a normal vehicle, in particular with a substantially identical vehicle as the user vehicle done.

A vehicle with which information about a terrain artifact or an arrangement of multiple terrain artifacts is detected in the method will be referred to as a "data providing vehicle" hereinafter.

The assigned data can be determined in the method on the basis of the data of a data-supplying vehicle, in which case subsequently influencing the guidance of the vehicle can relate to one or more user vehicles.

In particular, the data-providing vehicle (at a time later than detecting the information about a terrain artifact) may be one of a plurality of user vehicles (repeatedly driving the same route).

Particularly preferably, the information dependent on the associated data is provided and used by one or more (plurality) of the data-supplying vehicles for determining the influence of the guidance of at least one user vehicle in connection with certain terrain artifacts.

In particular, the information dependent on the assigned data can also be used for entry in a digital map and / or assignment to the data of a digital map, in particular for a (for example, regular or event-controlled) map update.

A terrain artifact is characterized in particular by a deviation from a (predetermined) standard or regularity which a passable area of a road, in particular road. Also, a terrain artifact may be part of an uneven terrain area, particularly a so-called "off-road terrain".

A terrain artifact may be characterized by a roughness exceeding a predetermined level. Such a measure may e.g. a dimension (e.g., depth of the pothole or height of an elevation relative to the surrounding terrain) or a feature of the shape (e.g., at least one sharp edge, particularly with a particular orientation).

An off-road terrain terrain artifact may be a location of the terrain that exceeds (locally) a predetermined altitude, depth, grade, slope, and may be particularly critical to the vehicle. In this sense, an off-road route can be handled in the process as a (layout) pattern of a plurality of such terrain artifacts.

In the context of this invention, the terrain artifacts include, in particular, potholes, curb (section), bulges, channels, erosion phenomena, blow-up, an open gap and / or specific area of an unpaved roadside.

A terrain artifact may also be a particular part of a larger terrain artifact within the scope of this invention. For example, a particular portion of an eroded roadside may be considered a terrain terrain artifact.

Alternatively or additionally, a movable and / or immovable object on the terrain area may also be considered as a terrain artifact. The procedure can be applied analogously. In addition, in this case, further properties of the object, in particular with regard to its object class and / or movement parameters and / or mobility and / or a consequence of certain terrain artifacts when driving over it for a user vehicle, in particular a specific vehicle or vehicle of a specific type, can result be taken into account.

The method may be optimized for one or more particular types of terrain artifacts, in particular to obtain certain benefits for at least one user vehicle, or may be performed differently for different types of terrain artifacts. All of the features of the method described herein may be qualitatively or quantitatively varied depending on the type of terrain artifact detected (e.g., by means of the data providing vehicle), in particular, adjusted according to predetermined criteria (to achieve a particular goal.

• - durch einen wesentlich niedrigeren Bereich als die umgebenden Geländebereiche gekennzeichnet sind, insbesondere ein Schlagloch, eine Wasserrinne oder ein erodierter Fahrbahnrand, und/oder
• - durch einen wesentlich höheren Bereich als die umgebenden Geländebereiche gekennzeichnet sind, insbesondere eine Welle, Wölbung, Blow-Up, etc.,
• - durch ein mit dem Gelände verbundenes Objekt oder einen Bordstein, Pfosten, etc., insbesondere höher als eine vorausbestimmte Höhe und/oder mit einer bestimmten Form, und/oder für einen auf dem Gelände liegender oder befestigter Gegenstand gekennzeichnet sind.

For example, the method can be carried out differently, in particular with different perceptible for the driver or user of the vehicle influencing the leadership of the vehicle, for terrain artifacts, for example:

• - Are characterized by a much lower range than the surrounding terrain areas, in particular a pothole, a gully or an eroded roadway edge, and / or
• are characterized by a much higher area than the surrounding terrain areas, in particular a wave, curvature, blow-up, etc.,
• - characterized by an object connected to the terrain or a curb, posts, etc., in particular higher than a predetermined height and / or shape, and / or for an object lying or secured on the site.

Particularly preferably, at least two different types of terrain artifacts are distinguished in the process. In this case, each of the features of the method, in particular the features of influencing the guidance of the vehicle, depending on the recognized type of or the (specific) terrain artifact varies, in particular be adjusted.

The type of the terrain artifact may e.g. be indicative of a pothole or elevation, whether the point of danger is sharp or smooth, and / or whether it extends in the direction of travel, round, transverse, e.g. relative to the direction of travel, is extended.

Furthermore, the type and / or a parameter of the terrain artifact can be taken into account, in particular assigned to the assigned data. A parameter of the terrain artifact, in particular, its character may e.g. the depth, height, shape, shape pattern, act. Also, a terrain artifact parameter may be indicative of the consequence of traversing the terrain artifact. The parameter of the terrain artifact may refer to a range of values of the speed of the vehicle as it travels.

The recognition information may in a simplified case position information on a correspond to digital map. In this case, the recognition information can also be an imprecise recognition information that merely roughly reproduces, for example, the spatial position or spatial conditions of the terrain artifact or its nature.

The method may include a step of determining the recognition information associated with the terrain artifact. The detection information may or may not be determined based on terrain artifact information. For example, the recognition information may represent one another for recognizing the at least one (specific) terrain artifact or for distinguishing the at least one terrain artifact from further terrain artifacts, in particular in a closer environment. In this case, the recognition information may include a, e.g. have very small data size compared to the total process usable information about the terrain artifact. Thus, this can be handled largely in real time.

Therefore, a user vehicle does not have to collect all the necessary information about the terrain artifact itself, which is hardly possible in practice. Preferably, when driving the route section with the terrain artifact, one or more data sets for influencing the guidance of the vehicle in connection with the terrain artifact based on the detection information detected by means of the user vehicle and a corresponding data portion of the information based on associated data, and determined be applied.

Thereupon, based on the data for influencing the guidance of the vehicle, the actuators of the user vehicle can be controlled in such a way that the danger emanating from the terrain artifact for the vehicle is substantially reduced. At the same time, the influence on the guidance of the vehicle can be carried out in such a way that a necessary disruption and / or danger to the safety or comfort of the vehicle occupants or other road users in the surroundings of the vehicle is minimized.

According to an advantageous embodiment, the recognition information in connection with the terrain artifact or the arrangement of terrain artifacts represents a sensory detected pattern of the terrain artifact or the arrangement of the terrain artifacts.

The recognition information is particularly preferably a recognition information with which a terrain artifact already represented in the assigned data can be recognized, and is recognized in particular in the method. This does not necessarily (completely) describe the terrain artifact. The recognition information may be limited to information recognizable by means of the user's vehicle.

In other words: Depending on the data of a data-supplying vehicle, an information possibly represented by several parameters about what has happened in connection with the terrain artefacts can be compared with the patterns (contours, point clouds, etc.) Sensed shortly before by the sensors of the data-supplying vehicle .) and (and become part of the associated data.

Even if such a pattern in the data of the sensors of the vehicle per se represents an insufficient information about the terrain artifact, this can be used according to the invention to recognize a (specific) terrain artifact by a user vehicle.

Preferably, in the method, depending on a sensorially detected pattern in the sensor vehicle data of a user vehicle and further information that a terrain artifact may be in an at least imprecisely delineated environment, a particular terrain artifact or pattern of terrain artifacts or their arrangements detected on the basis of the associated data and / or spatially localized and / or assigned.

According to a further advantageous embodiment, the detection of the information about a terrain artifact or an arrangement of several terrain artifacts, and the determination of the data for influencing the guidance of the vehicle to the detected terrain artifact or an arrangement of several terrain artifacts, outside of the user vehicle.

Preference is also given to the assignment of data for influencing the guidance of the vehicle to a global position and / or local position which characterizes a terrain artifact or an arrangement of several terrain artifacts, also outside the vehicle, in particular in a backend.

The detection of at least one quantitative or qualitative parameter of the terrain artifact, in particular the type of terrain artifact or a (arrangement) pattern of several terrain artifacts can alternatively or additionally be carried out from a highly accurate map in the process. In this variant of the method is driving on the Terrain artifacts with a data-delivering vehicle not necessary.

The determination of the data for influencing the guidance of the vehicle can be made dependent on the qualitative and quantitative parameters of the terrain artifact or the arrangement of the terrain artifacts.

In this case, at least one quantitative or qualitative parameter, in particular the nature of the terrain artifact can also be ascertained depending on or during a closer approach and / or contact with the terrain artifact (for example when driving over), i. also data that the first vehicle could not use itself.

The type of terrain artifact may be e.g. be indicative of a pothole or elevation, whether the point of danger is sharp or smooth, and / or whether it extends in the direction of travel, round, transverse, e.g. relative to the direction of travel, is extended. A parameter of the terrain artifact, in particular, its character may e.g. the depth, height, shape, shape pattern, act. Furthermore, a parameter of the terrain artifact may be indicative of the consequence of passing it through a vehicle.

A parameter of the terrain artifact may refer to a value range of the speed when driving over.

Furthermore, at the latest when using the information in a user vehicle, a decision about influencing the guidance of the vehicle can be made depending on the nature of the particular terrain artifact and / or at least one parameter influencing the guidance of the vehicle depending on at least one Parameters of the terrain artifact can be determined or adjusted. That For certain types and parameters of terrain artifacts, appropriate influencing of the guidance of the user vehicle with suitable parameters can be determined and, if necessary, executed.

According to a further advantageous embodiment, the detection information in connection with the terrain artifact or the arrangement of terrain artifacts comprises a mathematical relationship, in particular an assignment of a global position, at least characterizing the position of the terrain artifact or the arrangement of terrain artifacts in the longitudinal direction and / or at least one relative local position at least characteristic of the position of the terrain artifact or the arrangement of terrain artifacts in the transverse direction.

The latter is not absolutely necessary in the procedure. For example, the associated data and / or recognition information need not necessarily include information about the terrain artifact as such. For example, they also need not explicitly represent a parameter of terrain artifacts. According to the invention, it may be sufficient in the method that the associated data represent only a mathematical relationship between the recognition information associated with terrain artifacts and one or more datasets for influencing the guidance of the vehicle in conjunction with the terrain artifact or an array of terrain artifacts.

Furthermore, the method can also do without a complex and precise mapping of the terrain artifacts. In other words, neither positions nor the nature of the terrain artifact or layout of the terrain artifact need necessarily be known to apply the associated data in a user vehicle to suitably affect the guidance of the user vehicle.

According to a further advantageous embodiment, the associated data comprise a global position of at least one terrain artifact and / or a position at which an influencing of the guidance of the vehicle is to take place, at least characterizing a longitudinal direction, and a local position of at least one terrain artifact and / or a position at which an influence of the leadership of the vehicle is to take place, at least characterizing a transverse direction. The local position may be in the process, e.g. in a backend, from a relative position of the terrain artifact or the location of the terrain artifacts to a road marking and / or guardrail and / or roadway boundary.

Particularly preferably, the information dependent on the assigned data represents at least one mathematical relationship between at least one global (absolute) position at which the influencing of the guidance of the vehicle is to be carried out and its local, relative position at which the influencing of the guidance of the vehicle is to take place. in particular relative to a road marking, guardrail, and / or roadway edge.

Also, the information dependent on the associated data may have at least one mathematical relationship between at least one global (absolute) position of a corresponding terrain artifact (which is the reason for influencing the guidance of the vehicle) and its local relative position, preferably relative to a road marking. Guardrail, and / or Road edge and one or more records to influence the leadership of the vehicle include.

In particular, the associated data may include a mathematical relationship between the data of the named type.

This is in particular a suitably designed mathematical relationship. The mathematical relationship can represent coefficients for one or more in particular predetermined equations, polynomials or a simulation. Preferably, the mathematical relationship is one-unique and / or designed such that this allows a recalculation of the (one-to-one) local positions of the terrain artifacts and / or a spatial and / or temporal assignment of the influencing influence of the guidance of the vehicle depending on the corresponding global positions ,

Particularly preferably, the mathematical relationship also represents or takes into account the information about the (optionally existing) data-supplying vehicle, in particular parameters which have an influence on the detected parameters of the terrain artifact and / or on the chassis properties of the data-supplying vehicle (at the corresponding time interval).

The application of the data for influencing the guidance of the vehicle can in turn take place in a specific user vehicle (taking into account) the known or expected properties of the user vehicle, for example the permanent or adjustable properties of the chassis of the user vehicle.

According to a further advantageous embodiment, one or more data sets for influencing the guidance of the vehicle represent a spatial reference to a terrain artifact or the arrangement of terrain artifacts and / or detection information related to the terrain artifact or the arrangement of terrain artifacts.

In this case, the data for influencing the guidance of the vehicle can be spatially related between a movement to be carried out by the user vehicle, e.g. an evasive maneuver and a corresponding terrain artifact or the arrangement of terrain artifacts and / or a recognition information related to the terrain artifact.

In other words, the influencing of its movement to be performed in the user's vehicle may be performed in relation to the then-detected detection information and / or at the local position of a terrain artifact.

According to a further advantageous embodiment, one or more datasets for influencing the guidance of the one spatial reference to at least one local, relative position, preferably relative to a road marking, represents a guardrail and / or roadway edge in an environment of the terrain artifact.

In this case, the data for influencing the guidance of the vehicle may be related spatially between a movement to be carried out by the user vehicle, e.g. an evasive maneuver and at least one local relative position, preferably relative to a road marking, guardrail, and / or roadway edge in an environment of the terrain artifact.

In other words, if it is determined that a terrain artifact is present in the environment of the user vehicle, the influence to be exerted on the user vehicle in relation to the then detected local relative position, preferably relative to a road marking, guardrail, can be carried out. and / or roadway edge in an environment of the terrain artifact.

These variants of the method also offer a decisive advantage in that, for carrying out an influencing of the guidance of the vehicle, taking into account the information which can be reliably detected and recognized by a sensor system of the vehicle, for example the course of the tracks or crash barriers. This therefore does not have to be based on very difficult to detect, e.g. a terrain artifact that is not a priori known or assessable in its nature.

The influencing of the guidance of the vehicle can preferably be represented as a data record comprising a parameter sequence and / or an instruction sequence. In this case, a data record for influencing the guidance of the vehicle may include a parameter set for a variant of influencing the guidance of the vehicle. For example, such a data record can refer to one of several variants of influencing the guidance of the vehicle, which is intended for a certain speed range or another application condition. A data set may represent a trajectory pattern or a trajectory with qualitative values for the vehicle, in particular for the trajectory of specific parts of the vehicle (Achen, wheels, outer limits of the vehicle).

Particularly influencing the guidance of the vehicle can be a parameter sequence and / or a sequence of instructions represent the geometric values, for example distance and / or angle values, for example in relation to each other and / or to the local positions to the terrain artifact, to the arrangement of terrain artifacts, to recognition information, to a lane marker, guardrail , Roadside, etc.

The influencing of the guidance of the vehicle can therefore also be a variant of a maneuver which is suitable in connection with the particular terrain artifact and in particular related to this, which in turn can be achieved by a sequence of parameters to be achieved for controlling the actuators of the vehicle, e.g. a front wheel steering or a rear wheel steering is represented.

When storing the data for influencing the guidance of the vehicle, qualitative and / or quantitative parameters which are characteristic for the desired movement, for example the desired trajectory of the vehicle or trajectory of one or more wheels of the vehicle, can be determined, for example, as a data sequence or instruction sequence. stored and provided depending on the predetermined condition.

The determination of the at least the data for influencing the guidance of the vehicle can be an assignment of the specific influencing of the guidance of the vehicle to be used, e.g. a trajectory pattern from a set of possible (previously individually developed and proven) trajectory patterns. B

For example, a plurality of data sets for influencing the guidance of the vehicle are provided, which represent different evasion trajectories with or without an accompanying control of the longitudinal guidance and / or a vertical dynamics actuators, which relate to different speed ranges and / or presence of objects adjacent to the vehicle. In the user vehicle, the appropriate data set, and in particular the corresponding appropriate influencing of the guidance of the vehicle, can then be selected as a function of the relevant speed range and / or surrounding objects and applied with or without a further adaptation of the parameters.

According to the invention, such data sets for influencing the guidance of the vehicle in connection with certain terrain artifacts can also be stored in conjunction with a digital map. Such data sets for influencing the guidance of the vehicle may, if appropriate, also be made available to certain vehicle groups (for example vehicle type, vehicle brand, membership in a vehicle or person group). This results in the additional advantage that the reaction of a specific user vehicle to a recognition information in connection with a terrain artifact corresponds to a target (or expectation in the context of a development) or expectation. Thus, more security and predictability of the result in a real environment can be achieved.

The application of the allocated data provided in a user vehicle can also be performed in the method with a (technically imprecise) global longitudinal position, and the mathematical relationship contained in the associated data with the (very precise, in particular relative) local transverse position respectively.

On this basis, a very precise assignment, in particular a "reassignment" of applicable data for influencing the guidance of the user vehicle in connection with certain local terrain artifacts.

For example, in the method instead of a (according to the state of the art necessary) automatic braking or a large-scale avoidance or large-scale evasion, a fundamentally different, improved measure, e.g. a local maneuvering of the vehicle to be performed. In this case, in the event of a dangerous pothole within its lane, e.g. also make such an influence on its transverse guidance that it remains within the lane.

The global position may be in the process from a navigation system or other system, e.g. a GPS receiver (even without a navigation system) are read. This can be an absolute position, e.g. global coordinates, represent. The method can therefore also be carried out without a navigation system in the user vehicle.

The at least one local position in the invention may preferably have a relative position, e.g. a distance value between the road marking and / or guardrail and / or roadway boundary measured by the LIDAR, RADAR or sensor-based vehicle camera of the data-supplying vehicle, e.g. to be a sward.

The local position, at least in the transverse direction, can also be determined from the transverse placement of the vehicle to a lane marking, lane boundary or guardrail, and the transverse placement of the terrain artifact to the vehicle.

The determination of the data for influencing the guidance of the vehicle can be determined prior to reaching the relevant terrain area by the user vehicle by means of a mathematical simulation, wherein the action of one or more terrain artifacts and / or at least an influence on the guidance of the vehicle to the vehicle in advance be simulated.

These steps of the method preferably take place "offline" or "prophylactically", for example, before reaching a terrain artifact by a particular user vehicle.

The data for influencing the guidance of the vehicle may be in the process for a specific user vehicle, or for a plurality of user vehicles of a specific group (vehicle class, vehicle type, vehicle brand, members of a community, etc.). According to the invention, this can be done by means of the user vehicle and / or by means of a user device carried along with the vehicle and / or in a computing unit arranged at a distance (for example backend).

All variants of the data for influencing the guidance of the vehicle can be simulated (in particular at a computer center or mainframe) at a distance and, in particular, "virtual-tried". When a user vehicle approaches the appropriate location, one or more variants of the data may be provided to affect the guidance of the vehicle. For example, then the variant to be applied in consideration of the current and / or local circumstances in the user vehicle, e.g. be selected immediately before reaching the relevant road section.

According to an advantageous development, one or more data sets for influencing the guidance of the vehicle can be linked to one or more specific application conditions, in particular to include an application condition. In this case, a corresponding embodiment of influencing the guidance of the vehicle depends on the fulfillment of at least one application condition in the user vehicle.

For example, a plurality of data sets may be provided for influencing the guidance of the vehicle, each of which is responsive to an application condition, e.g. refer to a range of speeds, e.g. 10-20 km / h, 20-30 km / h, ... 70-80 km / h, ... 180-210 km / h. These may then depend on the satisfaction of the application condition, e.g. current speed of the user vehicle can be applied at that time. Simplified, a data set for influencing the guidance of the vehicle in the invention may comprise a "leaflet" with one or more conditions of use, wherein the conditions of use in the user vehicle can be checked.

Preferably, the data for influencing the guidance of the vehicle for a particular user vehicle, in particular "online", in the user vehicle can be further optimized or refined. The provided information dependent on the associated data may be applied particularly in consideration of the running characteristics of the user's vehicle, for example, in a suitably optimized form.

• - Typ des Anwenderfahrzeugs oder seiner Kennzahlen, und/oder
• - aktuell erfassten und/oder prädizierten Verkehrssituation, und/oder
• - aktuellen Konfiguration des Fahrwerks des Anwender-Fahrzeugs

ermittelt und angewandt.According to a further advantageous refinement, control data for controlling the chassis of the user vehicle, in particular a specific influencing of the transverse guidance and / or longitudinal guidance in combination with a vertical dynamics of the vehicle, is obtained from the information for influencing the guidance of the vehicle and at least one of the following Data types (types of data):

• - Type of user vehicle or its codes, and / or
• - currently recorded and / or predicted traffic situation, and / or
• - Current configuration of the chassis of the user vehicle

determined and applied.

• - der im Anwender-Fahrzeug bereitgestellten Information zur Beeinflussung der Fahrzeugführung, und
• - einer aktueller Fahrzeugposition relativ zu zumindest einer Spurmarkierung, Leitplanke und/oder Fahrbahnrand und/oder
• - einer aktuellen, vorausberechnete oder vom Fahrer beabsichtigten Trajektorie oder Trajektorienplanung des Fahrzeugs, und/oder
• - einer Position zumindest eines Rads des Fahrzeugs, insbesondere einer Verbauposition, eines aktuellen Lenkwinkels oder Radsturzes des Fahrzeugs, insbesondere in Fahrzeugkoordinaten.

According to a further advantageous refinement, the method additionally comprises determining an expected overrunning of the terrain artifact with at least one wheel of the second vehicle, in particular depending on:

• - The information provided in the user vehicle for influencing the vehicle management, and
• a current vehicle position relative to at least one lane marking, guardrail and / or roadway edge and / or
• a current, pre-calculated or driver-intended trajectory or trajectory planning of the vehicle, and / or
• - A position of at least one wheel of the vehicle, in particular a mounting position, a current steering angle or camber of the vehicle, in particular in vehicle coordinates.

Here, in the simplest case, at least the fact of the upcoming or (at least with some probability) coming Override the terrain artifact with a (specific) wheel determined and taken into account.

In the method, influencing the guidance of the vehicle may include a transverse guidance measure, for example a steering intervention in a front-wheel steering and / or a rear-wheel steering of the vehicle. Furthermore, influencing the guidance of the vehicle may include such a division of the braking force on at least one right wheel of the vehicle and at least one left wheel of the second vehicle, in which a controlled lateral drifting and / or a controlled yawing of the vehicle is effected.

For example, influencing the guidance of the vehicle may include such a wheel slip control, in which a controlled lateral drift of the vehicle in a predetermined direction, in particular by a given by the corresponding record lateral displacement and / or yawing of the user vehicle in a predetermined direction, in particular by an angle specified by the corresponding data set, is effected.

Preferably, influencing the guidance of the vehicle in connection with a local danger spot may be initiated shortly before the terrain artifact is reached and / or executed while passing the terrain artifact or passing over the terrain artifact.

• - Ermitteln zumindest eines erwarteten Abstandes zwischen einer Trajektorie eines Reifen des Anwender-Fahrzeugs und zumindest eines Geländeartefakts (wenn diese in Längsrichtung erreicht wird), und/oder
• - Ermitteln zumindest einer Ausweichtrajektorie des Fahrzeugs abhängig von den Daten zur Beeinflussung der Führung des Fahrzeugs, derart, dass zumindest ein Rad des Fahrzeugs des zumindest einen Geländeartefakts ausweicht oder die Konsequenz des Überfahrens vermindert wird.

The method may also include:

• Determining at least one expected distance between a trajectory of a tire of the user vehicle and at least one terrain artifact (if this is achieved in the longitudinal direction), and / or
• Determining at least one evasion trajectory of the vehicle depending on the data for influencing the guidance of the vehicle, such that at least one wheel of the vehicle evades the at least one terrain artifact or the consequence of the override is reduced.

Preferably, an avoidance trajectory is determined for at least two (preferably for all) wheels.

In the method, such an avoidance trajectory (or combination of avoidance trajectories) is particularly preferably determined, in which the consequence, in particular a risk (for the tires, rims, wheel suspensions, etc.) is minimized overall.

• Auswahl bzw. Entscheidung zwischen zumindest zwei aus folgenden Beeinflussungen der Führung des Fahrzeugs im Zusammengang mit einem Geländeartefakt oder einer Anordnung von Geländeartefakten:
  • - Ausweichen in eine erste Richtung mit einem bestimmten Reifen oder Reifenpaar, und/oder
  • - Ausweichen in eine zweite Richtung mit einem bestimmten Reifen oder Reifenpaar, und/oder
  • - Durchlassen des Geländeartefakts, insbesondere eines Schlaglochs zwischen dem linken Reifenpaar und dem rechten Reifenpaar, u/o
  • - Ausführung einer Bremsung im vorgegebenen Maß, und/oder
  • - ein kontrolliertes Manövrieren zumindest eines Reifen des Fahrzeugs in die Schlagloch(-mitte), derart, im die Reifen möglichst nicht beschädigt wird.

The method may also include:

• Selection or decision between at least two of the following influences on the guidance of the vehicle in conjunction with a terrain artifact or an array of terrain artifacts:
  • Dodge in a first direction with a particular tire or pair of tires, and / or
  • Dodge in a second direction with a particular tire or pair of tires, and / or
  • - Passing the terrain artifact, in particular a pothole between the left pair of tires and the right pair of tires, u / o
  • - Execution of a braking in the specified amount, and / or
  • - A controlled maneuvering at least one tire of the vehicle in the pothole (middle), in such a way that the tire is not damaged as possible.

1. 1) Das Anwender-Fahrzeug weicht nur so weit wie nötig aus, sodass die Vorderreifen und/oder Hinterreifen an einem Schlagloch vorbeifahren;
2. 2) Schlaglöcher werden wenn möglich „bewusst“ zwischen den Rädern durchgelassen.
3. 3) Bei einer Ausweichentscheidung erfolgt ein automatisches Abwägen potentieller Gefahren bzw. Komfortnachteilen. Insbesondere werden dabei Konsequenzen verglichen zwischen:
   • - Konsequenzen für Fahrzeugräder (Reifen, Aufhängung, Stoßdämpfer, etc.)
   • - Erhöhung der Kollisionsgefahr zwischen einer äußeren Kontur des Fahrzeugs und beweglichen oder unbeweglichen erhabenen Objekten in der Umgebung des Fahrzeugs:
     1. a) beim Ausweichen in eine erste Richtung,
     2. b) beim Ausweichen in eine zweite Richtung,
     3. c) beim Durchlassen des Schlaglochs zwischen den linken und rechten Reifen,
     4. d) Ausführung einer Bremsung im vorgegebenen Maß, z.B. Geschwindigkeitsreduktion
     5. e) Kontrolliertes Manövrieren in das Schlagloch (Schlaglochmitte), derart, sich ein möglichst geringes Risiko für die Reifen ergibt.
4. 4) Ein Treffen des Schlaglochs mit zumindest einem Rad in Kombination mit zumindest einer vertikaldynamischen Maßnahme. Bevorzugt wird bei der zumindest einen vertikaldynamischen Maßnahme unterschieden zwischen:
   1. a) Veränderung eines Stoßdämpferhärtegrads für zumindest ein Zeitintervall.
   2. b) Veränderung einer Stoßdämpfer-Dämpfung für zumindest ein Zeitintervall.

The following different variants are possible:

1. 1) The user vehicle evades only as far as necessary so that the front tires and / or rear tires pass a pothole;
2. 2) Potholes are "consciously" passed between the wheels if possible.
3. 3) In an alternative decision, an automatic weighing of potential dangers or comfort disadvantages takes place. In particular, the consequences are compared between:
   • - consequences for vehicle wheels (tires, suspension, shock absorbers, etc.)
   • Increasing the risk of collision between an outer contour of the vehicle and movable or stationary raised objects in the surroundings of the vehicle:
     1. a) when dodging in a first direction,
     2. b) when dodging in a second direction,
     3. c) passing the pothole between the left and right tires,
     4. d) execution of braking in the specified amount, eg speed reduction
     5. e) Controlled maneuvering into the pothole (center of the pothole) so as to minimize the risk to the tires.
4. 4) A meeting of the pothole with at least one wheel in combination with at least one vertical dynamic action. In the case of the at least one vertical dynamic measure, a distinction is preferably made between:
   1. a) change a shock absorber hardness for at least one time interval.
   2. b) changing a shock absorber damping for at least one time interval.

The one or more parameters influencing the guidance of the vehicle, in particular a time interval at which it is planned or executed, can be determined in the method at least partially in the user vehicle and / or at least partially in a spaced-apart computing unit.

The arrangement of terrain artifacts preferably involves several terrain artifacts at a small distance, smaller than 1, 2, 5, 10 meters from each other.

Here as well as possible effective and efficient maneuvering (also a multiple successive maneuvering, such as a "slalom") between the at least two local terrain artifacts (possibly in advance) can be determined and applied in the process.

In this case, the data provided for influencing the guidance of the vehicle can also be used after a comparison with other circumstances of the sensory, expected or simulated traffic situation. As a result, any risks in influencing the guidance of the vehicle can be excluded and the influence on the guidance of the vehicle can be carried out, rejected or adjusted.

Furthermore, according to a further advantageous embodiment of the method, a trajectory of at least one tire of the user vehicle is determined, depending on an arrangement pattern determined as a function of the information provided, at least two or more terrain artifacts.

In the process, an arrangement of the terrain artifacts (to one another and / or to a track marking and / or guardrail and / or roadway edge) in a class of patterns can be assigned. Several classes of patterns may in principle represent different arrangements of terrain artifacts. Thereupon, in the user vehicle, depending on the thus determined arrangement pattern, a suitable influencing of the guidance of the vehicle can be determined (in the simplest case, assigned). This can also be further optimized, for example, taking into account the data of the peripheral sensor technology of the user vehicle.

Particularly preferably, a trajectory pattern can be selected from a set of prestored trajectory patterns as a function of the arrangement pattern of the at least two or more terrain artifacts.

• - Eingriff in die Quer-Führung und in die Längsführung des Fahrzeugs, oder
• - Eingriff in die Quer-Führung und Vertikaldynamik des Fahrzeugs, oder
• - Eingriff in die Quer-Führung, Längsführung und Vertikaldynamik des Fahrzeugs

ausgeführt.According to a further advantageous embodiment, depending on the information provided for influencing the guidance of the vehicle in connection with the local terrain artifact or with an arrangement of terrain artifacts, a combination of at least one

• - Engaging in the transverse guide and in the longitudinal guide of the vehicle, or
• - intervention in the transverse guidance and vertical dynamics of the vehicle, or
• - Intervention in the transverse guidance, longitudinal guidance and vertical dynamics of the vehicle

executed.

Depending on the provided information dependent on the associated data, it is also possible to take into account influences on the guidance of the vehicle, which are recommended to the driver by issuing driver information. For example, the driver, depending on the relevant degree of automation with which the user vehicle is driven, a certain recommended avoidance trajectory, for example, be transmitted by means of haptic driver information. If the driver adheres to the action recommendation transmitted with the driver information or does not actively change it, then a corresponding influencing of the guidance of the vehicle is automatically carried out.

The information to be provided can preferably be determined on the basis of the assigned data of a plurality of the data-supplying vehicles which have passed a relevant road section.

Particularly preferably, the method comprises a data fusion between the assigned data of several data-providing vehicles, wherein the information to be provided is generated for a plurality of user vehicles. In this case, statistical offsetting based on the assigned data of several data-supplying vehicles can take place, wherein the offsetting increases the quality, precision and / or reliability of the data to be provided.

Such a data fusion can preferably take place in a backend or in a computing unit of the mobile user device.

According to a further optional embodiment can be accompanied, preferably synchronized be executed with the influence of the leadership of the vehicle at least one further measure.

Preferably, as a further measure, the camber and / or a wheel load distribution and / or at least one stiffness of a wheel suspension, in particular a stiffness ratio of a suspension in vertical and horizontal directions, is changed in a user vehicle depending on the information dependent on the associated data, in particular customized. In this case, a short-term change of the camber, the suspension or the stiffness ratio may relate in particular to an inclination angle of the wheel to a vertical axis, in which the wheel is arranged to the roadway at the time of reaching the terrain artifact.

In this case, such a change, in particular adaptation can be carried out, in which at least one critical force of at least one particular terrain artifact or a certain part of a terrain artifact, e.g. a sharp edge of a pothole or a local increase, is avoided at least one wheel of the vehicle or significantly attenuated. Such a measure may particularly preferably comprise such a short-term activation of at least one chassis actuator of the user vehicle, in particular of an actuator of a (vertical and / or horizontal) wheel suspension. In particular, the actuator of the user vehicle can be controlled as a function of the parameter of the local danger location represented in the assigned data. In this case, such a control of one or more actuators can take place such that the at least one wheel of the vehicle is adapted in terms of its spatial arrangement or rigidity in at least one direction to the shape of the local terrain artifact. In this case, excessive local, for example shearing or lateral, force on a vehicle tire can be avoided. Preferably, it may be achieved that a tire of a wheel of the vehicle performs a "snug" fit to the shape of the local terrain artifact to a portion of the local terrain artifact.

Alternatively or additionally, at least one driver information may be output to the driver of the user vehicle in connection with the terrain artifact and / or with the influence of the guidance of the vehicle in connection with the terrain artifact, depending on the provided information dependent on the associated data. For example, the driver, in particular depending on the current degree of automation with which the vehicle is operated, a certain recommended avoidance trajectory, for example, be transmitted by means of haptic driver information. If the driver then follows the action recommendation transmitted with the driver information or does not actively change it, then an activation of a further actuator of the vehicle, in particular a vertical dynamic actuator, corresponding to his decision or suitable for this purpose can be executed.

The invention is characterized in a second aspect by a method of using the information in conjunction with a local terrain artifact. The method includes detecting a terrain artifact or arrangement of multiple terrain artifacts, with means of a user vehicle, and reading in a data portion of the information based on the association between one or more terrain artifacts or arrays of multiple terrain artifacts and data affecting the guidance of the vehicle. The method further comprises assigning the data for influencing the guidance of the vehicle to the detected terrain artifact or the arrangement of a plurality of terrain artifacts and executing an influence on the guidance of the user vehicle depending on the previously assigned data.

Preferably, the method may also include: determining, in particular selecting an influencing of the guidance of the vehicle for dealing with the terrain artifacts and performing the influencing of the guidance of the vehicle in the user vehicle.

In this case, a variable dependent on the determined relative position and / or on a parameter of the terrain artifact can be provided for at least one vehicle function, in particular for a driver assistance function and / or a vertical dynamic function of the vehicle.

Most preferably, the user vehicle is the vehicle of the same or similar type as a data-providing vehicle, e.g. in terms of driving characteristics. Thus, the assignment information is best applicable.

The method may also include: determining at least one time or time interval when at least one tire of the vehicle reaches the terrain artifact. In this case, the decision about influencing the guidance of the vehicle can be dependent on the determined time or the time interval.

The invention is characterized according to a third aspect by a mobile user device, arranged in such a way, together with the method a data-delivering vehicle and / or with a user vehicle, wherein the mobile user device is set up such at least part of the method for determining or providing associated data and / or a part of the method for determining the information for influencing the guidance of the user -car. For example, the mobile user device may also cause the execution of certain features of the method according to the first aspect and / or method according to the second aspect in the vehicle in which it is carried.

The mobile application device may in the context of this description a smartphone, tablet, smart watch, garment with an integrated electronic device in the garment, motorcycle helmet with a man-machine interface, a data glasses for the driver of the vehicle, a mitführbarer with the vehicle and be to the vehicle with a data interface connectable vehicle computer, an external navigation device, or an analogous development of such devices.

The mobile user device is designed to carry out at least one step of the method according to the first aspect and / or the second aspect of the invention, or the developments described in this document. Furthermore, the mobile user device can also be regarded as part of the system according to the invention.

For this purpose, the mobile application device can have a wired or wireless interface that is set up to carry out the method. Advantageously, alternatively or additionally, a transmission part and / or a sensor system and / or computing resources and / or a transceiver unit and / or authentication method of the mobile user device can be used or used in the method.

According to a fourth aspect, the invention is characterized by a corresponding system, in particular comprising a device in a data-supplying vehicle, in a user vehicle, a device in the back end, a mobile user device in each case for carrying out at least an essential part of the method according to the first aspect of the method and / or according to the second aspect of the method.

The method may also be in addition to another, e.g. performed on a survey of the terrain artifacts with a sensor system of the user vehicle-based method, wherein the method, a comparison, review or specification of the influence on the leadership of the vehicle is achieved. Thus, overall, an improved result can be achieved.

According to a fifth aspect, the invention is characterized by a computer program, in particular a computer program product comprising the computer program, wherein the computer program is designed, when executed on a computing unit of a first and / or user vehicle, a baking or a mobile user device a substantial part of the method according to the invention or an advantageous embodiment of the method according to one or more further features of the method. In particular, the computer program is a computer program which, for example, can run as an app (= "application") on a device installed or to be carried in the vehicle, comprising at least one arithmetic unit. A part of the device can be a mobile user device.

The computer program or computer program product in this case comprises an executable program code, which executes in an embodiment by a device comprising a computing unit, at least part of the method according to an aspect described herein or an advantageous embodiment of the method described herein. The computer program product can be designed as an update of a previous computer program, which includes, for example as part of a functional extension, for example in the context of a so-called "remote software update" the parts of the computer program or the corresponding program code for a device of the vehicle.

The vehicle may be in the process, in particular a motor vehicle or motorcycle. The method can be applied to road traffic, for example on structurally separate roads or in an urban environment. This results in several explicitly mentioned and further for the expert easily understandable advantages.

Particularly preferably, the method is used in connection with an at least partially automated, in particular highly automated moving vehicle. Thus, even with currently available resources, a driving performance when dealing with local terrain artifacts can be achieved that exceeds such an average driver's performance. Thus, the at least partially automated driving can also be made possible in the environment of real roads which are in an average and below average state. In doing so, the measures implemented in the procedure can increase the comfort and / or safety of both the occupants a highly automated moving vehicle as well as surrounding road users are aligned. This can make a significant contribution to the eligibility, establishment and social acceptance of highly automated driving.

• 1 Ein Ablaufdiagramm zum Bereitstellen einer Information zur Beeinflussung der Führung des Fahrzeugs bei lokalen Geländeartefakten
• 2 eine beispielhafte Ausgestaltung eines Computerprogramms zur Beeinflussung der Führung des Fahrzeugs bei lokalen Geländeartefakten,
• 3 eine beispielhafte Ausgestaltung von Trajektorien zum Umfahren von Geländeartefakten und
• 4 Beispielhafte Beeinflussungen der Führung des Fahrzeugs zur Beeinflussung der der Führung des Fahrzeugs.

Embodiments of the invention are explained in more detail below with reference to the schematic drawings. Show it:

• 1 A flowchart for providing information for influencing the guidance of the vehicle in local terrain artifacts
• 2 an exemplary embodiment of a computer program for influencing the guidance of the vehicle in the case of local terrain artifacts,
• 3 an exemplary embodiment of trajectories for avoiding terrain artifacts and
• 4 Exemplary influencing the leadership of the vehicle to influence the leadership of the vehicle.

The 1 shows a flowchart of a computer program for providing information for influencing the guidance of the vehicle in local terrain artifacts.

The computer program can be executed by a device or distributed by several devices. For example, the computer program or parts of the computer program can be executed by one or more mobile user devices and / or a data-supplying vehicle and / or user vehicle and / or a backend. The one or more mobile user devices and / or the data-supplying vehicle and / or the user vehicle and / or the backend comprise in each case in particular in each case a computer unit, a computer program and data memory, as well as, for example, one or more communication interfaces suitable or configured for carrying out the invention ,

The computer program is started in a step S1 in which variables can be initialized if necessary.

In a step S3, information about a terrain artifact or an arrangement of multiple terrain artifacts is detected.

In a step S5, data for influencing the guidance of the vehicle to the detected terrain artifact or the arrangement of a plurality of terrain artifacts is determined.

In a step S7, data for influencing the guidance of the vehicle is assigned to recognition information in connection with the terrain artifact or the arrangement of several terrain artifacts.

In a step S9, information dependent on the associated data is provided to a computing unit for use in a user vehicle.

In a step S11, the computer program is ended and can optionally be started again in step S1.

2 shows an exemplary embodiment of the computer program. In step S21, the terrain artifact is detected as such.

In step S23, an influence of the guidance of the vehicle carried out by the driver is detected.

In step S27, the success of the influence performed is evaluated.

In step S25, recognition information of the terrain artifact is detected.

The information of steps S23-S27 are merged and transmitted to the backend.

Different vehicles now send position information and / or recognition information to the backend. Following this, the backend transmits data for influencing the guidance of the user vehicle with concrete influences for execution in the user vehicle.

Such influences on the guidance of the vehicle are in 4 illustrated, wherein only the influences for a wheel of the vehicle are shown. In general, influences are considered taking into account several wheels of the vehicle.

When M1 is influenced, a complete avoidance of the terrain artifact with transverse guidance takes place.

When influencing M2, a traversing of the terrain artifact with transverse guidance, longitudinal guidance (braking) and vertical dynamics action (compensation of the vertical dynamic effect in a certain degree) takes place.

When influencing M3, a partial avoidance of the terrain artifact with transverse guidance takes place.

The detection information associated with the terrain artifact or the arrangement of terrain artifacts may optionally represent a sensory detected pattern of the terrain artifact or the arrangement of the terrain artifacts.

The detection information associated with the terrain artifact or the arrangement of terrain artifacts may optionally at least characterize a mathematical relationship, particularly a global location mapping, at least indicative of the location of the terrain artifact or the location of terrain artifacts in the longitudinal direction and / or at least one relative local location for the position of the terrain artifact or the arrangement of terrain artifacts in the transverse direction.

• - eine globale Position zumindest eines Geländeartefakts und/oder einer Position an der eine Beeinflussung der der Führung des Fahrzeugs erfolgen soll, zumindest kennzeichnend für eine Längs-Richtung, und
• - eine lokale Position zumindest eines Geländeartefakts und/oder einer Position an der eine Beeinflussung der der Führung des Fahrzeugs erfolgen soll, zumindest kennzeichnend für eine Quer-Richtung,

wobei die lokale Position aus einer relativen Position des Geländeartefakts oder der Anordnung der Geländeartefakten zu einer Straßenmarkierung und/oder Leitplanke und/oder Fahrbahngrenze ermittelt wird.The associated data may optionally include:

• a global position of at least one terrain artifact and / or a position at which an influence on the guidance of the vehicle is to take place, at least characterizing a longitudinal direction, and
• a local position of at least one terrain artifact and / or a position at which an influencing of the guidance of the vehicle is to take place, at least characterizing a transverse direction,

wherein the local position is determined from a relative position of the terrain artifact or the arrangement of the terrain artifacts to a road marking and / or guardrail and / or roadway boundary.

• Einen Schritt zum Erfassen der Information über einen Geländeartefakt oder eine Anordnung von mehreren Geländeartefakten, und das
  • - Ermitteln der Daten zur Beeinflussung der Führung des Fahrzeugs zu der erfassten Geländeartefakt oder eine Anordnung von mehreren Geländeartefakten, außerhalb des Anwender-Fahrzeugs erfolgt.

The computer program may optionally include the following steps:

• A step of acquiring the information about a terrain artifact or an arrangement of multiple terrain artifacts, and the
  • - Determining the data for influencing the guidance of the vehicle to the detected terrain artifact or an array of multiple terrain artifacts, outside the user vehicle takes place.

• - Typ des Anwenderfahrzeugs oder seiner Kennzahlen, und/oder
• - aktuell erfassten und/oder prädizierten Verkehrssituation, und/oder
• - aktuellen Konfiguration des Fahrwerks des Anwender-Fahrzeugs

ermittelt und angewandt werden.A step in which control data for controlling the chassis of the user vehicle, in particular a specific influence on the transverse guide and / or longitudinal guidance in combination with a vertical dynamics of the vehicle, from the information for influencing the guidance of the vehicle and at least one of the following types of data :

• - Type of user vehicle or its codes, and / or
• - currently recorded and / or predicted traffic situation, and / or
• - Current configuration of the chassis of the user vehicle

determined and applied.

• - der im Anwender-Fahrzeug bereitgestellten Information zur Beeinflussung der Fahrzeugführung, und
• - einer aktueller Fahrzeugposition relativ zu zumindest einer Spurmarkierung, Leitplanke und/oder Fahrbahnrand und/oder
• - einer aktuellen, vorausberechnete oder vom Fahrer beabsichtigten Trajektorie oder Trajektorienplanung des Fahrzeugs, und/oder
• - einer Position zumindest eines Rads des Fahrzeugs, insbesondere einer Verbauposition, eines aktuellen Lenkwinkels oder Radsturzes des Fahrzeugs, insbesondere in Fahrzeugkoordinaten.

A step for determining an expected override of the local terrain artifact with at least one wheel of the second vehicle, in particular depending on:

• - The information provided in the user vehicle for influencing the vehicle management, and
• a current vehicle position relative to at least one lane marking, guardrail and / or roadway edge and / or
• a current, pre-calculated or driver-intended trajectory or trajectory planning of the vehicle, and / or
• - A position of at least one wheel of the vehicle, in particular a mounting position, a current steering angle or camber of the vehicle, in particular in vehicle coordinates.

A step in which a trajectory of at least one tire is determined as a function of an arrangement pattern of at least two or more terrain artifacts determined as a function of the information provided.

Such a trajectory is in 3 in which a trajectory TV for the front wheels and a trajectory TH for the rear wheels is shown, so that the potholes SL are bypassed.

• - Eingriff in die Quer-Führung und in die Längsführung des Fahrzeugs, oder
• - Eingriff in die Quer-Führung und Vertikaldynamik des Fahrzeugs, oder
• - Eingriff in die Quer-Führung, Längsführung und Vertikaldynamik des Fahrzeugs

ausgeführt wird.A step in which, depending on the information provided to influence the guidance of the vehicle in connection with the local terrain artifact or with an array of terrain artifacts, a combination of at least one

• - Engaging in the transverse guide and in the longitudinal guide of the vehicle, or
• - intervention in the transverse guidance and vertical dynamics of the vehicle, or
• - Intervention in the transverse guidance, longitudinal guidance and vertical dynamics of the vehicle

is performed.

Another computer program may be from the device or distributed by several Devices are processed. For example, the computer program can be executed by the mobile user device (s) and / or the data-supplying vehicle and / or the user vehicle and / or the backend.

The further computer program is started in a step in which, if necessary, variables can be initialized.

In a further step, a terrain artifact or an array of multiple terrain artifacts is detected by means of a user vehicle.

In a further step, a data portion of the information is read in based on the association between one or more terrain artifacts or arrays of multiple terrain artifacts and data for influencing the guidance of the vehicle.

In a further step, the data for influencing the guidance of the vehicle is assigned to the detected terrain artifact or the arrangement of several terrain artifacts.

In a further step, the influencing of the guidance of the user vehicle takes place depending on the previously assigned data.

In a further step, the computer program is terminated and can be restarted if necessary.

• - Erfassen einer Information über einen Geländeartefakt oder eine Anordnung von mehreren Geländeartefakten,
• - Ermitteln von Daten zur Beeinflussung der Führung des Fahrzeugs zu dem erfassten Geländeartefakt oder der Anordnung von mehreren Geländeartefakten,
• - Zuordnen von Daten zur Beeinflussung der Führung des Fahrzeugs zu einer Erkennungsinformation im Zusammenhang mit dem Geländeartefakt oder der Anordnung von mehreren Geländeartefakten,
• - Bereitstellen einer von den zugeordneten Daten abhängigen Information an eine Recheneinheit zur Nutzung in einem Anwender-Fahrzeug.

For executing the above computer programs, a first mobile user device comprises, in particular, a data interface to a vehicle and / or a wireless data exchange with a remote computing unit configured to execute at least part of the method in a data-supplying vehicle, such as the following steps:

• Acquiring information about a terrain artifact or an array of multiple terrain artifacts,
• Determining data for influencing the guidance of the vehicle to the detected terrain artifact or the arrangement of several terrain artifacts,
• Assigning data for influencing the guidance of the vehicle to recognition information in connection with the terrain artifact or the arrangement of several terrain artifacts,
• - Providing a dependent of the associated data information to a computing unit for use in a user vehicle.

• Erkennen eines Geländeartefakts oder einer Anordnung von mehreren Geländeartefakten, mit Mitteln eines Anwender-Fahrzeugs,
  • - Einlesen eines Datenabschnitts der Informationen auf Basis der Zuordnung zwischen einem oder mehreren Geländeartefakten oder Anordnungen von mehreren Geländeartefakten und Daten zur Beeinflussung der Führung des Fahrzeugs,
  • - Zuordnen der Daten zur Beeinflussung der Führung des Fahrzeugs zu dem erfassten Geländeartefakt oder der Anordnung von mehreren Geländeartefakten,
  • - Ausführung einer Beeinflussung der Führung des Anwender-Fahrzeugs abhängig von den voraus zugeordneten Daten.

A second mobile user device, comprising a data interface to a vehicle and / or a wireless data exchange with a remote computing unit, is configured, for example, to execute at least part of the method in a user vehicle, such as the following steps:

• Detecting a terrain artifact or an array of multiple terrain artifacts, with means of a user vehicle,
  • Reading a data section of the information based on the association between one or more terrain artifacts or arrays of multiple terrain artifacts and data for influencing the guidance of the vehicle;
  • Assigning the data for influencing the guidance of the vehicle to the detected terrain artifact or the arrangement of several terrain artifacts,
  • - Execution of an influence on the management of the user vehicle depending on the previously assigned data.

The first and second mobile user devices may be the same user device. Furthermore, the computer programs can be integrated in the same app.

As a further example with reference to a mobile user device, a user device, referred to here by way of example as a smartphone, may also be described here.

In the invention, such a device can be operated in front of the windscreen in a holder in the vehicle, wherein at least one camera of the mobile user device, preferably the main camera, is aligned in front.

The mobile user device is designed for data exchange with the vehicle.

A computer program (app) runs on the smartphone, which recognizes the lane markings in the surroundings of the vehicle with the smartphone camera. The global position (at least as imprecise coordinates) can also be determined by means of the smartphone. The terrain artifacts, e.g. Potholes, eroded sites, etc. can be detected with the sensors of the vehicle, e.g. be detected with the vertical dynamics sensors. Alternatively or additionally with the smartphone, e.g. with the acceleration sensors of the smartphone.

Furthermore, the smartphone is set up for data exchange with the vehicle. Thus, a part of the process (in the first vehicle and / or in a second vehicle) can be performed to a considerable extent with the mobile user equipment.

Claims (16)

A method for providing information for influencing the guidance of the vehicle in connection with local terrain artifacts, comprising: Acquiring information about a terrain artifact or an array of multiple terrain artifacts, Determining one or more datasets for influencing the guidance of the vehicle in connection with the terrain artifact or the arrangement of several terrain artifacts, Assigning one or more data sets for influencing the guidance of the vehicle to recognition information in connection with the terrain artifact or the arrangement of several terrain artifacts, - Providing a dependent of the associated data information to a computing unit for use in a user vehicle. Method according to the Claim 1 wherein the detection information associated with the terrain artifact or the arrangement of terrain artifacts represents a sensory detected pattern of the terrain artifact or the layout of the terrain artifacts. Method according to the Claim 1 or 2 in which - acquiring the information associated with a terrain artifact or an array of multiple terrain artifacts, and - determining one or more data sets to influence the guidance of the vehicle to the detected terrain artifact or the array of multiple terrain artifacts outside the user vehicle he follows. Method according to one of the preceding claims, wherein the recognition information associated with the terrain artifact or the arrangement of terrain artifacts a mathematical relationship, in particular an association between a global position, characteristic of the position of the terrain artifact or the arrangement of terrain artifacts at least in the longitudinal direction and at least representing a relative local position indicative of the position of the terrain artifact or the arrangement of terrain artifacts at least in the transverse direction. The method of any one of the preceding claims, wherein the associated data comprises: a global position of at least one terrain artifact and / or a position at which an influence on the guidance of the vehicle is to take place, at least characterizing a longitudinal direction, and a local position of at least one terrain artifact and / or a position to influence the guidance of the vehicle, at least characteristic of a transverse direction, wherein the local position from a relative position of the terrain artifact or the arrangement of terrain artifacts to a road marking and / or guard rail and / or lane boundary is determined. Method according to one of the preceding claims, wherein the one or more data sets for influencing the guidance of the vehicle represent a spatial reference to a terrain artifact or the arrangement of terrain artifacts and / or on a related to the terrain artifact or the arrangement of terrain artifacts detection information. Method according to one of the preceding claims, wherein one or more data sets for influencing the guidance of the one spatial reference to at least one local, relative position, preferably relative to a road mark, guardrail, and / or road edge in an environment of the terrain artifact represent. Method according to one of the preceding claims, wherein the control data for driving the chassis of the user vehicle, in particular a specific influence on the transverse guide and / or longitudinal guidance in combination with a vertical dynamics of the vehicle, from the information dependent on the associated data and at least one the following types of data: - Type of user vehicle or its codes, and / or - currently recorded and / or predicted traffic situation, and / or - Current configuration of the chassis of the user vehicle are determined and applied. Method according to one of the preceding claims, also comprising: determining an expected crossing of the local terrain artifact with at least one wheel of the user vehicle, in particular depending on: the information provided in the user vehicle for influencing the vehicle guidance, and a current vehicle position relative to at least one lane marking, guardrail and / or lane edge and / or a current, predicted or intended by the driver trajectory or trajectory planning of the vehicle, and / or a position of at least one wheel of the user vehicle, in particular its installation position in Vehicle, a current steering angle or camber of the vehicle, especially in vehicle coordinates. Method according to one of the preceding claims, in which a trajectory of at least one tire is determined as a function of an arrangement pattern of at least two or more terrain artifacts determined as a function of the information provided. Method according to one of the preceding claims, wherein: depending on the information provided for influencing the guidance of the vehicle in connection with the terrain artifact or with an array of terrain artifacts, a combination of at least one - Engaging in the transverse guide and in the longitudinal guide of the vehicle, or - intervention in the transverse guidance and vertical dynamics of the vehicle, or - Engaging in the transverse guidance, longitudinal guidance and vertical dynamics of the vehicle is performed. Method according to one of the preceding claims, in which one or more datasets for influencing the guidance of the vehicle are linked to one or more specific application conditions, in particular an application condition, wherein the corresponding embodiment of influencing the guidance of the vehicle depends on the fulfillment of at least one application condition in the user vehicle. A method of using the information associated with a terrain artifact or an array of terrain artifacts comprising: Detecting a terrain artifact or an arrangement of a plurality of terrain artifacts, with means of a user vehicle, in particular by means of recognition information, Reading in a data portion of the information provided based on the association between one or more terrain artifacts or arrays of multiple terrain artifacts and one or more datasets for influencing the guidance of the vehicle, Assigning one or more datasets for influencing the guidance of the vehicle in connection with at least one terrain artifact to the detected terrain artifact or the arrangement of several terrain artifacts or to the corresponding identification information, - Execution of an influence on the management of the user vehicle depending on the previously assigned data. A mobile user device configured to execute the method together with a data-providing vehicle and / or with a user vehicle, wherein the mobile user device is set up such that at least part of the method for determining or providing associated data and / or a part of Method for determining the information to influence the management of the user vehicle to perform. Device, wherein the device is adapted to a method according to one of Claims 1 to 13 perform. Computer program, in particular a computer program product comprising a computer program, wherein the computer program is formed, the method when executed on a computing unit of the first vehicle, the user vehicle, a baking or a mobile user device Claim 1 perform.

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