DE102017204952A1 - Method for operating an autonomous driving system and a central unit, autonomous driving system in a motor vehicle and central unit - Google Patents

Abstract

The invention relates to a method for operating an autonomous driving system in a motor vehicle (3), comprising the steps of: receiving at least one traffic situation rule from an external data source for a current geographical vehicle position, the traffic situation rule providing an undesired situation and prior driving interventions indicating the undesired situation, performing (S7) an autonomous driving function for longitudinal and lateral guidance of the motor vehicle based on a predetermined driving algorithm as a function of the at least one traffic situation rule so that the autonomous driving function avoids the undesired driving situation indicated by the at least one traffic situation rule.

Description

Technical area

The invention relates to autonomous driving systems in motor vehicles for providing an autonomous driving function, and in particular measures for the treatment of undesirable traffic situations.

Technical background

In motor vehicles with an autonomous driving function, the vehicle environment is detected by means of sensors, the driving condition is determined and controlled via actuators longitudinal and lateral guidance of the vehicle. The autonomous driving of the vehicle takes place along a predetermined route, which was defined before the activation of the autonomous driving function.

The autonomous driving function is usually carried out in a driver assistance system of the motor vehicle, in particular in an autonomous driving system. The autonomous driving system has a central processing unit which, in order to carry out the autonomous driving function, contains a corresponding driving algorithm which takes over the longitudinal and lateral guidance of the vehicle according to certain driving rules and principles, and situation rules which also take into account certain known driving and traffic situations.

Even if the aspect of safety in the programming of the driving algorithm and setting the situation rules for the autonomous driving function is assigned a high priority, driving or traffic situations are conceivable in which the implemented autonomous driving function despite taking the situation rules to a risk to vehicle occupants, the vehicle, other road users and / or foreign objects. With such weaknesses in the driving algorithm or in the situation rules, changes may be made to the knowledge of hazards or damages that occur. However, the process of changing the driving algorithm and the situation rules of the autonomous driving function accordingly requires time and effort, so that it can not be ruled out that other motor vehicles, which come into a similar situation with a similar autonomous driving function, can also cause danger or damage.

From the publication DE 10 2015 016 956 A1 a method for learning a driving operation of an autonomously driving vehicle is known in which parameters for automatic driving operation are specified by a control unit. The parameters for the automatic driving operation are learned from a dynamic driving behavior of non-automatically driving vehicle and taken into account by the control unit as a function of a current traffic situation in addition to the parameters determined by the driver assistance systems of the automatic driving operation.

From the publication DE 10 2013 210 395 A1 a method for data communication between a plurality of motor vehicles and a vehicle-external central information pool is known, the motor vehicles each having an automatic driving mode in which the respective motor vehicle is autonomously guided longitudinally and transversely by means of a control device of the motor vehicle. Of the large number of motor vehicles data are transmitted to the central information pool, which include information on the switching on of the automatic driving mode and a Einschaltort the driving mode and / or information on switching off the automatic driving mode and a switch-off of the driving mode in the respective motor vehicle.

In the publication DE 10 2013 205 392 A1 a backend device for providing information for driver assistance functions of vehicles is disclosed. It comprises a plurality of application units that provide information for at least one driver assistance function of the vehicle for transmission to the vehicles and a database for storing information of an environment model. An interface unit is associated with the database and configured to provide access to information stored in the database. The application units can retrieve information stored in the database via the interface unit.

It is an object of the present invention to avoid hazards, damages or undesirable situations in an autonomous driving, which are caused by unusual traffic situations that are not handled by the driving algorithm or the situation rules in a proper manner.

Disclosure of the invention

This object is achieved by the method for operating an autonomous driving system in a motor vehicle according to claim 1 and by the method for operating a central unit and an overall system and by an autonomous driving system for a motor vehicle, by a central unit and by an overall system according to the independent claims.

Further embodiments are specified in the dependent claims.

• - Empfangen mindestens einer Verkehrssituationsregel von einer externen Datenquelle für eine aktuelle geografische Fahrzeugposition, wobei die Verkehrssituationsregel eine unerwünschte Situation und Fahreingriffe im Vorfeld der unerwünschten Situation angibt;
• - Durchführen einer autonomen Fahrfunktion zur Längs- und Querführung des Kraftfahrzeugs basierend auf einem vorgegebenen Fahralgorithmus abhängig von der mindestens einen Verkehrssituationsregel, so dass die autonome Fahrfunktion die durch die mindestens eine Verkehrssituationsregel angegebene unerwünschte Fahrsituation vermeidet.

According to a first aspect, a method for operating an autonomous driving system in a motor vehicle is provided, comprising the following steps:

• - receiving at least one traffic situation rule from an external data source for a current geographic vehicle location, the traffic situation rule indicating an undesirable situation and driving interventions prior to the undesired situation;
• - Carrying out an autonomous driving function for longitudinal and lateral guidance of the motor vehicle based on a predetermined driving algorithm depending on the at least one traffic situation rule, so that the autonomous driving function avoids the specified by the at least one traffic situation rule unwanted driving situation.

An idea of the above method is, when activated autonomous driving function, which performs an autonomous driving of the motor vehicle based on an implemented driving function algorithm and possibly implemented situation rules, should additionally be taken into account traffic situations that externally z. B. be provided by a central unit or a back-end unit. The traffic situation rules correspond to rules which, depending on a current traffic situation, indicate a possible danger to the motor vehicle when it is operated with the implemented autonomous driving function.

The traffic situation rules specify driving scenarios for the motor vehicle which should be avoided in the traffic situation present at the geographical position or geographical area of the motor vehicle in order to avoid an undesired situation. The traffic situation rules may be provided by an external central processing unit and depending on the geographic vehicle location or geographic area in which the motor vehicle is located.

In particular, the autonomous driving system can either be connected permanently online with the central unit or carry out inquiries in accordance with the respective traffic situation and the respective geographical vehicle position, or beforehand download traffic situation rules for expected traffic situations. The traffic situation is determined in particular by the location of the motor vehicle, the speed of the motor vehicle, the positions of other road users and objects in the vicinity of the motor vehicle, the weather conditions and the like.

• - eine geografische Fahrzeugposition;
• - mindestens einen Fahrzeugzustand (der z. B. einen der Parameter Beladung, Bremsvermögen, Lenkvermögen, Beschleunigungsvermögen umfasst),
• - mindestens einen Fahrzustand (der z. B. eine der Parameter Geschwindigkeit, Beschleunigung, Lenkwinkel, Gierrate, Traktion umfasst),
• - die Gültigkeit von Verkehrszeichen und -regeln,
• - Umgebungsbedingungen, insbesondere Position, Bewegungsrichtung und Geschwindigkeit mindestens eines dynamischen Umgebungsobjektes und/oder Position mindestens eines statischen Umgebungsobjektes,
• - Fahreingriffe durch die autonome Fahrfunktion oder manuelle Fahreingriffe, die zu der unerwünschten Situation geführt haben,
• - Umweltbedingungen, insbesondere Wetter-, Licht- und Fahrbahnverhältnisse, wie Außentemperatur, Fahrbahnzustand mit Reibwert, Niederschlag, Windrichtung und Windstärke, Lichtverhältnisse und dergleichen.

Furthermore, the traffic situation rule may indicate a driving scenario that has led to the undesired situation, wherein the driving scenario is defined by one or more of the following aspects:

• - a geographical vehicle position;
• at least one vehicle condition (eg comprising one of the parameters load, braking capacity, steering ability, acceleration capacity),
• at least one driving condition (eg comprising one of the parameters speed, acceleration, steering angle, yaw rate, traction),
• - the validity of traffic signs and rules,
• Environmental conditions, in particular position, direction of movement and velocity of at least one dynamic environment object and / or position of at least one static environment object,
• - driving interventions by the autonomous driving function or manual driving interventions, which led to the undesired situation,
• - Environmental conditions, in particular weather, light and road conditions, such as outside temperature, road condition with coefficient of friction, precipitation, wind direction and wind force, lighting conditions and the like.

According to an embodiment, the at least one traffic situation rule may be received continuously for the current vehicle position, in advance for a geographical area along a preceding route, or at predetermined times for a geographical area from the external data source.

Furthermore, the traffic situation underlying the traffic situation rule can be compared with a current traffic situation of the motor vehicle, wherein in accordance with the determined by the traffic situation rule driving interventions are avoided by the autonomous driving function. The driving interventions should be replaced in particular by other driving interventions in order to avert the unwanted traffic situation.

It may be provided that when an undesirable situation is detected, situation data for the undesirable situation is collected and transmitted to a central processing unit to create a traffic situation rule.

• - einen Lenkeingriff, der zu Querkräften über einen vorgegebenen Schwellenwert führt;
• - einen Bremseingriff, der zu einer Verzögerung über einen vorgegebenen Schwellenwert führt, manuell oder durch die autonome Fahrfunktion; und
• - eine Gefährdung von umgebenden dynamischen und/oder statischen Objekten durch das Unterschreiten von Mindestabständen zu den umgebenden dynamischen und/oder statischen Objekten,
• - eine Kollision mit einem anderen Objekt,
• - ein Schlupf an den Reifen, der über einem Schwellwert liegt;
• - eine Seitenkraftübertragung, d. h. ein Verhältnis einer gewünschter Kurvenfahrt zu einer realen Kurvenfahrt), die unterhalb eines Mindestwertes liegt; und
• - eine fehlerhafte Erkennung oder fehlerhafte Interpretation von Objekten.

Furthermore, the undesirable situation can be determined by at least one of the following events:

• - a steering intervention that results in lateral forces exceeding a predetermined threshold;
• a braking intervention which leads to a deceleration above a predetermined threshold value, manually or by the autonomous driving function; and
• a danger to surrounding dynamic and / or static objects due to falling below minimum distances to the surrounding dynamic and / or static objects,
• a collision with another object,
• a slip on the tire which is above a threshold;
• a lateral force transmission, ie a ratio of a desired cornering to a real cornering), which is below a minimum value; and
• - an erroneous recognition or incorrect interpretation of objects.

Furthermore, a signaling device can monitor the driving of the autonomous driving system in a motor vehicle, and in an undesirable situation, for example, by a strong braking, which was caused either by the driver or the autonomous driving system, or by a steering intervention, to undesirably high lateral forces on the Car has led information about the traffic situation and the corresponding intervention on the motor vehicle to a central unit, which performs an analysis of the traffic situation and determines a corresponding traffic situation rule for the driving scenario of the motor vehicle.

Furthermore, a rule can be derived in the central unit from the traffic situation, according to which a reaction to the corresponding traffic situation by further subsequent motor vehicles is to be avoided. Thus, a traffic situation rule set can be provided in the central unit which indicates for vehicle positions and environmental conditions which driving situations are to be avoided, so that the autonomous driving system which has retrieved these traffic situations can take these into account in the autonomous guidance of the motor vehicle. In this way, it is possible to detect traffic situations immediately after the occurrence of an undesirable situation in a motor vehicle and to evaluate and collect them in a central unit, so that traffic situation rules generated therefrom can be made available to other motor vehicles. Thus, empirical values can be transmitted to other motor vehicles at any time, so that the rapid implementation of traffic situation rules in an adapted driving function algorithm and driving function rules in the motor vehicle is not required, since the overall system independently detects and avoids undesirable situations. Thus, accidents with motor vehicles, which are guided by the autonomous driving function, can be avoided to an improved extent.

• - Empfangen von Situationsdaten;
• - Erstellen einer Verkehrssituationsregel aus den empfangenen Situationsdaten;
• - Aktualisieren einer Datenbank mit der Verkehrssituationsregel; und
• - Bereitstellen von Verkehrssituationsregeln für den Abruf von Kraftfahrzeugen, insbesondere abhängig von einer übermittelten geografischen Position.

According to a further aspect, a method for operating a central unit is provided, with the following steps:

• - receiving situation data;
• - creating a traffic situation rule from the received situation data;
• Updating a database with the traffic situation rule; and
• - Provide traffic situation rules for the retrieval of motor vehicles, in particular depending on a transmitted geographical position.

• - Empfangen mindestens einer Verkehrssituationsregel von einer externen Datenquelle für eine aktuelle geografische Fahrzeugposition in dem Kraftfahrzeug, wobei die Verkehrssituationsregel eine unerwünschte Situation und Fahreingriffe im Vorfeld der unerwünschten Situation angeben;
• - Durchführen einer autonomen Fahrfunktion in einer Autonomfahreinrichtung zur Längs- und Querführung des Kraftfahrzeugs basierend auf einem vorgegebenen Fahralgorithmus abhängig von der mindestens einen Verkehrssituationsregel, so dass die autonome Fahrfunktion die durch die mindestens eine Verkehrssituationsregel angegebene unerwünschte Fahrsituation vermeidet;

• - Empfangen von Situationsdaten in der Zentraleinheit;
• - Erstellen einer Verkehrssituationsregel aus den empfangenen Situationsdaten in der Zentraleinheit;
• - Aktualisieren einer Datenbank mit der Verkehrssituationsregel; und
• - Bereitstellen mindestens einer Verkehrssituationsregel für den Abruf von Kraftfahrzeugen, insbesondere abhängig von einer übermittelten geografischen Position.

According to a further aspect, a method for operating an overall system with an autonomous driving system in a motor vehicle and a central unit is provided, with the following steps:

• - receiving at least one traffic situation rule from an external data source for a current geographical vehicle position in the motor vehicle, the traffic situation rule indicating an undesirable situation and driving interventions prior to the undesired situation;
• Performing an autonomous driving function in an autonomous driving device for longitudinal and lateral guidance of the motor vehicle based on a predetermined driving algorithm depending on the at least one traffic situation rule, so that the autonomous driving function avoids the specified by the at least one traffic situation rule unwanted driving situation;

• - Receiving situation data in the central unit;
• - creating a traffic situation rule from the received situation data in the central unit;
• Updating a database with the traffic situation rule; and
• Providing at least one traffic situation rule for the retrieval of motor vehicles, in particular depending on a transmitted geographical position.

• - eine Kommunikationseinrichtung zum Empfangen mindestens einer Verkehrssituationsregel von einer externen Datenquelle für eine aktuelle geografische Fahrzeugposition, wobei die Verkehrssituationsregel eine unerwünschte Situation und Fahreingriffe im Vorfeld der unerwünschten Situation angibt;
• - eine Autonomfahreinrichtung zum Durchführen einer autonomen Fahrfunktion zur Längs- und Querführung des Kraftfahrzeugs basierend auf einem vorgegebenen Fahralgorithmus abhängig von der mindestens einen Verkehrssituationsregel, so dass die autonome Fahrfunktion die durch die mindestens eine Verkehrssituationsregel angegebene unerwünschte Fahrsituation vermeidet.

In another aspect, an autonomous driving system is provided in a motor vehicle, comprising:

• a communication device for receiving at least one traffic situation rule from an external data source for a current geographical vehicle position, the traffic situation rule indicating an undesired situation and driving interventions in advance of the undesired situation;
• an autonomous driving device for performing an autonomous driving function for longitudinal and lateral guidance of the motor vehicle based on a predetermined driving algorithm depending on the at least one traffic situation rule, so that the autonomous driving function avoids the undesired driving situation indicated by the at least one traffic situation rule.

• - Situationsdaten zu empfangen;
• - eine Verkehrssituationsregel aus den empfangenen Situationsdaten zu erstellen;
• - eine Datenbank mit der Verkehrssituationsregel zu aktualisieren; und
• - Verkehrssituationsregeln für den Abruf von Kraftfahrzeugen, insbesondere abhängig von einer übermittelten geografischen Position, bereitzustellen.

According to a further aspect, a central unit for an overall system for communication with a plurality of motor vehicles is provided, wherein the central unit is designed to

• - receive situation data;
• to create a traffic situation rule from the received situation data;
• - update a database with the traffic situation rule; and
• To provide traffic situation rules for the retrieval of motor vehicles, in particular depending on a transmitted geographical position.

In another aspect, an overall system is provided with the above autonomous driving system and the above central processing unit.

Brief description of the drawings

• 1 eine schematische Darstellung eines Gesamtsystems mit einem Kraftfahrzeug mit einem autonomen Fahrsystem und mit einer Zentraleinheit, die über eine Kommunikationsverbindung mit dem Kraftfahrzeug in Verbindung steht;
• 2 ein Flussdiagramm zur Veranschaulichung eines Verfahrens zum Betreiben eines Autonomfahrsystems in einem Kraftfahrzeug; und
• 3 ein Flussdiagramm zur Veranschaulichung eines Verfahrens zum Betreiben einer Zentraleinheit.

Embodiments are explained below with reference to the accompanying drawings. Show it:

• 1 a schematic representation of an overall system with a motor vehicle with an autonomous driving system and with a central unit, which communicates via a communication link with the motor vehicle;
• 2 a flowchart illustrating a method for operating an autonomous driving system in a motor vehicle; and
• 3 a flowchart illustrating a method for operating a central processing unit.

Description of embodiments

1 shows a schematic representation of a system with a central processing unit 2 that are in communication 3 with a variety of motor vehicles 3 a vehicle fleet is. In 1 is exemplary only a single motor vehicle 3 exemplified.

The car 3 comprises an autonomous driving system with an autonomous driving device 31 in a manner known per se using environmental sensors 32 and under specification of a driving route to an autonomous driving function perceives. The autonomous driving function can be activated or deactivated manually or automatically. It controls a longitudinal and transverse guidance of the motor vehicle 3 depending on the given route and the environmental sensors 32 captured environmental information via the environmental sensors 32 have been recorded. The preceding route to be traveled, for example, after entering a destination by a navigation system 33 to be provided.

To realize the autonomous driving function, the Autonomfahreinrichtung 31 with a drive system 35, a braking system 36 and a steering system 37 be in communication in a conventional manner appropriate Beschleuni_gungs-, braking and steering intervention as a driving reaction automatically.

Furthermore stands the Autonomfahreinrichtung 31 with a communication device 34 in connection to over the communication connection 3 with the central unit 2 to communicate and data to the central unit 2 to send and receive from this.

The autonomous vehicle 31 is formed, the motor vehicle 3 to control according to a predetermined driving algorithm and possibly implemented situation rules by generating driving reactions. The implemented situation rules serve to evaluate various traffic situations and to intervene in a rule-based corrective manner in the actions of the driving algorithm. The driving algorithm and the situation rules are at commissioning of the motor vehicle 3 in the autonomous driving device 31 and may be updated at specific times or regularly by software updates.

Furthermore, the control of the motor vehicle 3 in the autonomous driving function, on the basis of traffic situation rules provided in addition to the situation rules, which are issued by the central unit 2 be received. The Traffic situation rules can change permanently and may be from the motor vehicle 3 based on a current geographical position of the motor vehicle 3 and a planned preceding route before departure, while driving or when reaching a geographical position or geographical area.

The traffic situation rules define a driving scenario and include vehicle conditions, such as vehicle conditions. Speed, yaw rate, steering angle and the like, vehicle actions, validity of traffic signs and rules, environmental conditions such as outside temperature, weather, lighting conditions, road condition and the like, and interaction objects such as dynamic (pedestrians, other automobiles, animals and the like) and static environment objects (road obstacles, lane boundaries, and the like). In particular, the driving scenario may comprise one or more of the above indications or movement trajectories of the motor vehicle and dynamic objects within a predetermined time period before the occurrence of the undesired situation, such that a traffic situation is defined. Furthermore, the traffic situation rules indicate which driving interventions by the autonomous driving function have led to undesired situations, in particular to hazards, within the given period of time.

Such driving interventions can be, for example, steering interventions, brake interventions, acceleration interventions and the like. These driving interventions can be done both manually by the driver to take over the manual operation or by the autonomous driving device 31 itself.

Undesirable situations may include, for example, hazards or damage to the vehicle, the vehicle occupants or other road users. The traffic situation rules may be from the central unit 2 to be provided. The traffic situation rules are provided by the central unit 2 of motor vehicles 3 the vehicle fleets received and evaluated.

When operating the motor vehicle 3 In autonomous driving, the traffic situation rules can be taken into account in addition to implemented situation rules. The traffic situation rules are exception rules that help to avoid unwanted situations of the motor vehicle. Thus, by comparing the traffic situation underlying a traffic situation rule with the current traffic situation of the respective motor vehicle can be detected whether it is associated with an undesirable situation or leads to an undesirable situation when a particular driving decision is made or a particular driving response is executed. Thus, the autonomous driving device 31 During the driving scenario selected by the traffic situation rule, when choosing the driving decision, take measures different from those that led to the unwanted driving situation.

In 2 FIG. 3 is a flow chart illustrating a method of operating the car-drive device 31.

In step S1, it is checked whether the current vehicle position or vehicle positions which are on the most likely to travel route, traffic situation rules from the central processing unit 2 have been received. If this is the case (alternative: yes), the method is continued with step S2, otherwise (alternative: no), the method continues with step S3.

In step S3, the corresponding ones of the current vehicle positions or the expected vehicle positions or vehicle positions in the vicinity of the geographical position of the relevant motor vehicle 3 assigned traffic situation rules downloaded and in the Autonomfahreinrichtung 31 saved. In the following, the method is continued with step S2.

In step S2 it is checked whether the autonomous driving device 31 is activated to perform an autonomous driving function. If this is not the case (alternative: no), then the method is continued with step S1, otherwise (alternative: yes), the method is continued with step S4.

In step S4 is a current traffic situation of the motor vehicle 3 detected. The current traffic situation includes vehicle data, driving state data, such as speed, gear selection, pedal operations and / or their time course within the predetermined time period and the like, as well as the environmental condition, such as weather, light and road conditions, and the environmental conditions, in particular a position, Movement direction and speed of at least one dynamic environment object, such as a pedestrian, another road user, an animal or objects on the road, and / or a position of at least one static environment object, such. B. an edge development and the like. Furthermore, the traffic situation by the course of the route ahead with junctions or intersections of roads according to the map data of the navigation device 33 certainly.

In step S5, the detected traffic situation is determined by the traffic situation rules predetermined traffic situation at the specific geographical position of the motor vehicle 3 compares and determines whether certain traffic situation rules attributable to the detected traffic situation have certain driving responses to undesirable situations of the motor vehicle 3 have led.

An undesirable situation can be classified so that, for example, a distinction can be made as to whether only a slightly undesirable situation, such as a threat to non-living objects, or an average hazard, such as a threat to living objects, or a highly undesirable situation , such as damage to the vehicle, vehicle occupants, other road users or foreign objects, has occurred. The classification of the degree of the undesirable situation can be predetermined by the traffic situation rules. Optionally, the traffic situation rules can also include driving suggestions that can be applied to the relevant comparable or attributable traffic situation in order to avoid the undesired situation.

If it is determined in step S6 that one or more suitable traffic situation rules exist for the current vehicle situation, then in step S7 the driving reactions specified in the appropriate traffic situation rules, which have led to the undesired situation, are taken into account in the execution of the autonomous driving function and possibly for the autonomous driving of the motor vehicle 3 avoided at the relevant vehicle position. For example, instead of an evasive maneuver, a strong braking can be made or, instead of a strong braking, an evasive maneuver can be initiated in order to avoid an undesirable situation in accordance with the traffic situation rules.

In 3 is a method of operating the central processing unit 2 explained in more detail with reference to a flowchart. In step S11, situation data of vehicles of a vehicle fleet are received.

These are in addition to the above procedure in motor vehicles 3 Situational data created when undesirable situations occur and this via a reporting device 38 to the central unit 2 transmitted. A situation may arise from the reporting device 38 be deemed undesirable, for example, if it is detected that a strong braking or a steering intervention, which has led to undesirably high lateral forces on the motor vehicle, has been effected by the driver or the autonomous driving system. Furthermore, a situation may be considered undesirable when a threat to surrounding dynamic and / or static objects or a collision has occurred. Such situations can be detected by falling below minimum distances to the surrounding dynamic and / or static objects.

The situation data defines the driving scenario in which the undesirable situation has occurred and includes the type of an undesired situation as well as information on the driving scenario, such as the geographical position of the motor vehicle, vehicle condition data, driving condition data and measures taken by the autonomous driving function or by driver interventions immediately before occurrence the undesirable situation, d. H. z. B. within the specified time period. The traffic situation is then transmitted by a motor vehicle when the motor vehicle has detected an undesirable situation.

Once the undesirable situation has been determined, the motor vehicle compiles the situation data defining the driving scenario and the type of undesirable situation, and regularly or immediately to the central unit 2 transmitted.

The central unit 2 collects the corresponding situation data in a database 21 in step S12 and makes it available in a suitable manner to other motor vehicles than the traffic situation rules according to the geographical position on demand in step S13.

LIST OF REFERENCE NUMBERS

1

system

2

central processing unit

21

Database

3

communication link

31

Autonomous moving device

32

environmental sensors

33

navigation system

34

communicator

35

drive system

36

braking system

37

steering system

38

signaling device

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102015016956 A1 [0005]
• DE 102013210395 A1 [0006]
• DE 102013205392 A1 [0007]

Claims (11)

Method for operating an autonomous driving system in a motor vehicle (3), comprising the following steps: - receiving (S1, S3) at least one traffic situation rule from an external data source for a current geographical vehicle position, the traffic situation rule indicating an undesirable situation and driving interventions in advance of the undesired situation; Performing (S7) an autonomous driving function for the longitudinal and lateral guidance of the motor vehicle based on a predetermined driving algorithm depending on the at least one traffic situation rule, so that the autonomous driving function avoids the undesired driving situation indicated by the at least one traffic situation rule. Method according to Claim 1 wherein the traffic situation rule indicates a driving scenario that has led to the undesirable situation, wherein the driving scenario is defined by one or more of the following aspects: a geographic vehicle position; - At least one vehicle condition, - At least one driving condition, - The validity of traffic signs and rules, - Environmental conditions, especially weather, light and road conditions, - Environmental conditions, in particular position, direction of movement and speed of at least one dynamic environment object and / or position of at least one static environment object; - driving interventions by the autonomous driving function or manual driving interventions, which led to the undesired situation; - Timing of one or more of the above information, in particular within a predetermined period of time. Method according to Claim 1 or 2 wherein the at least one traffic situation rule is continuously received by the external data source for the current vehicle position, in advance for a geographical area along a preceding route, or at predetermined times for a geographical area. Method according to one of Claims 1 to 3 in which the traffic situation on which the traffic situation rule is based is compared with a current traffic situation of the motor vehicle (3), whereby the driving interventions determined by the traffic situation rule are avoided by the autonomous driving function if they match. Method according to one of Claims 1 to 4 wherein, when an undesirable situation is detected, situation data for the undesirable situation is detected and transmitted to an external central processing unit (2) to create a traffic situation rule. Method according to one of Claims 1 to 5 wherein the undesirable situation is due to: a steering intervention that results in lateral forces exceeding a predetermined threshold; a braking intervention resulting in a deceleration above a predetermined threshold, manually or by the autonomous driving function; and - a risk to surrounding dynamic and / or static objects by falling below minimum distances to the surrounding dynamic and / or static objects; - a collision with another object; a slip on the tire which is above a threshold; a lateral force transmission, ie a ratio of a desired cornering to a real cornering, which is below a minimum value; and / or - an erroneous recognition or incorrect interpretation of objects is determined. Method for operating a central processing unit (2), comprising the following steps: - receiving (S11) situation data; - creating a traffic situation rule from the received situation data; - updating (S12) a database with the traffic situation rule; and - Providing (S13) traffic situation rules for the retrieval of motor vehicles, in particular depending on a transmitted geographical position. Method for operating an overall system with an autonomous driving system in a motor vehicle (3) and a central unit (2), comprising the following steps: - receiving (S1, S3) at least one traffic situation rule from an external data source for a current geographical vehicle position in the motor vehicle, wherein the Traffic situation rule indicates an undesirable situation and driving interventions prior to the undesired situation; - Performing (S7) an autonomous driving function in a Autonomfahreinrichtung for longitudinal and lateral guidance of the motor vehicle based on a predetermined driving algorithm depending on the at least one traffic situation rule, so that the autonomous driving function avoids the specified by the at least one traffic situation rule unwanted driving situation; - receiving (S11) situation data in the central processing unit (2); - creating a traffic situation rule from the received situation data in the central unit (2); - Updating (S12) a database (21) with the traffic situation rule; and - providing (S13) traffic situation rules for the retrieval of motor vehicles (3), in particular depending on a transmitted geographical position. Autonomous driving system in a motor vehicle (3), comprising: - a communication device (34) for receiving at least one traffic situation rule from an external data source for a current geographical vehicle position, the traffic situation rule indicating an undesirable situation and driving interventions prior to the undesired situation; - Autonomfahreinrichtung (31) for performing an autonomous driving function for longitudinal and lateral guidance of the motor vehicle based on a predetermined driving algorithm depending on the at least one traffic situation rule, so that the autonomous driving function avoids the specified by the at least one traffic situation rule unwanted driving situation. Central unit for an overall system for communication with a plurality of motor vehicles (3), wherein the central unit is designed to - receive situation data; to create a traffic situation rule from the received situation data; to update a database (21) with the traffic situation rule; and To provide traffic situation rules for the retrieval of motor vehicles, in particular depending on a transmitted geographical position. Complete system with an autonomous driving system after Claim 9 and with a central unit Claim 10 ,

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