DE102018127270A1 - Method and control unit for longitudinal and / or transverse guidance of a vehicle - Google Patents

Abstract

A control unit for a vehicle is described, the vehicle comprising a control means that enables a driver of the vehicle to make a control input for the longitudinal and / or transverse guidance of the vehicle. The control unit is set up to determine a permissible driving tube for the vehicle on the basis of a current state of the vehicle, the driving tube having a large number of dimensions and the driving tube displaying a permissible range for each dimension that is technically and / or accident-free by the vehicle can be implemented. In addition, the control unit is set up to determine one or more control inputs by the driver for longitudinal and / or transverse guidance of the vehicle, and to implement the one or more control inputs in such a way that the vehicle remains within the travel tube.

Description

The invention relates to a method and a corresponding control unit with which a vehicle can be guided longitudinally and / or transversely at times manually and at least partially in an automated manner.

A vehicle is typically guided manually by a driver of the vehicle by actuating one or more control means, in particular an accelerator pedal, a brake pedal and / or a steering means or steering wheel. The driver observes the traffic and the course of the road and uses the one or more control means to make control inputs (e.g. steering, braking and / or acceleration instructions) to the vehicle which are implemented by the vehicle. The vehicle can have control systems to increase the driving stability of the vehicle (such as ABS).

Furthermore, the vehicle can have one or more driver assistance systems which are set up to carry out the longitudinal and / or transverse guidance of the vehicle at least partially in an automated manner. A partially automated and possibly fully automated driving of the vehicle can thus be made possible.

The increasing automation of a vehicle is increasingly leading to the driver of the vehicle becoming a passenger, which can be unsatisfactory for at least some of the drivers. Furthermore, complete automation of the longitudinal and / or transverse guidance of a vehicle is associated with a relatively high level of technical complexity.

The present document deals with the technical problem of enabling an automated longitudinal and / or transverse guidance of a vehicle that can be controlled by a driver in an efficient manner, in particular in order to increase the comfort and driving pleasure for the driver of a vehicle.

The task is solved by the independent claims. Advantageous embodiments include described in the dependent claims. It is pointed out that additional features of a claim dependent on an independent claim without the features of the independent claim or only in combination with a subset of the features of the independent claim can form a separate invention that is independent of the combination of all features of the independent claim can be made the subject of an independent claim, a divisional application or a late application. This applies in the same way to the technical teachings described in the description, which can form an invention which is independent of the features of the independent claims.

According to one aspect, a control unit for a vehicle, in particular for a motor vehicle, is described. The vehicle comprises a control means which enables a driver of the vehicle to make one or more control inputs for the longitudinal and / or transverse guidance of the vehicle. In this case, the vehicle can possibly comprise only a single control means, with which control inputs can be made with respect to the longitudinal as well as with respect to the transverse guidance of the vehicle. The control means can e.g. a steering stick or a joystick. The direction of the steering stick deflection can e.g. a control input is given in relation to the lateral guidance of the vehicle. Furthermore, the extent of the deflection of the steering stick can e.g. a control input is given in relation to the longitudinal guidance of the vehicle.

Furthermore, the vehicle can comprise one or more actuators for longitudinal and / or transverse guidance of the vehicle (in particular a drive motor, a braking device and / or a steering device). The one or more actuators can be operated as a function of the one or more control inputs, in particular to enable the driver to drive the vehicle manually. As an alternative or in addition, the control unit can be set up to operate the one or more actuators in order to bring about an at least partially automated longitudinal and / or transverse guidance of the vehicle (in particular depending on environmental data relating to an environment of the vehicle).

In addition, the vehicle can include one or more environment sensors (e.g. an image camera, a radar sensor, an ultrasound sensor, a LIDAR sensor, etc.) that are configured to acquire environment data in relation to the environment of the vehicle. Furthermore, the vehicle can comprise one or more vehicle sensors which are set up to record vehicle data relating to a driving dynamic state of the vehicle (e.g. the driving speed, the yaw rate, the acceleration, etc.).

The control unit is set up to determine a permissible driving tube for the vehicle on the basis of a current state of the vehicle. The current state includes, for example, a current position of the vehicle and / or a current dynamic driving state of the vehicle. The current state and / or the driving tube (also referred to as “driving envelope”) can be based on the environment data and / or the vehicle data are determined.

The driving tube has a variety of dimensions (e.g. 3, 4, 5, 10 or more dimensions). The travel tube can indicate a permissible range for each dimension, which can be implemented technically and / or accident-free and / or collision-free by the vehicle. The permissible range of a dimension can be limited by a boundary and / or by a wall, the boundary and / or the wall being able to indicate maximum or minimum permissible values of the respective dimension. The walls or boundaries of the individual dimensions thus define a multidimensional wall or boundary of the multidimensional travel tube.

The plurality of dimensions can include at least one spatial dimension in relation to a space in which the vehicle can move without collision, starting from the current position of the vehicle. Furthermore, the multiplicity of dimensions can include at least one driving dynamics dimension with regard to the driving dynamics of the vehicle (for example a driving speed, longitudinal acceleration, lateral acceleration, yaw rate etc.), which is more stable based on the current driving dynamics state of the vehicle Way can be implemented.

Alternatively or in addition, the plurality of dimensions of the travel tube can include at least one alignment dimension with respect to a permissible change in the alignment of the vehicle based on a current alignment of the vehicle (for example an alignment relative to the course of the road on which the vehicle is traveling). . Alternatively or in addition, the plurality of dimensions can include at least one legal dimension with regard to legal regulations in a surrounding area of the vehicle.

Alternatively or in addition, the plurality of dimensions can include at least one dimension with respect to a possible temporary travel of the vehicle in a lane with the opposite direction of travel.

The control unit can be set up to determine the driving tube (and monitor it while the vehicle is operating) in such a way that the driver can manually steer the vehicle longitudinally and / or transversely within the driving tube without collision, accident-free and in compliance with the regulations using one or more control inputs. The driving hose can thus define the spatial and / or dynamic driving range in which manual driving can take place (without partially and / or fully automated intervention by the vehicle).

The control unit is also set up to determine one or more driver control inputs for the longitudinal and / or transverse guidance of the vehicle. Furthermore, the control unit is set up to implement one or more control inputs in such a way that the vehicle remains within the travel tube.

The control unit can be set up to guide the vehicle longitudinally and / or transversely solely on the basis of the driver's one or more control inputs (without partially and / or fully automated interventions), as long as the one or more control inputs cause the vehicle to be within the travel tube remains. Furthermore, the control unit can be set up (possibly only then) to effect an automatic intervention in the longitudinal and / or transverse guidance of the vehicle that deviates from a control input by the driver, in order to keep the vehicle within the travel tube if it is detected that the driver's control input would cause the vehicle to leave the driving tube.

In other words, the control unit can be set up to implement one of the driver's wishes indicated by the driver's one or more control inputs (possibly without automatic interventions in the longitudinal and / or transverse guidance), as long as the vehicle remains within the travel tube. In particular, the control unit can be set up to effect a manual longitudinal and / or transverse guidance of the vehicle based on the one or more control inputs by the driver, as long as the vehicle remains within the travel tube. The control unit can particularly preferably be set up to intervene (correctively and / or automatically) in the manual longitudinal and / or transverse guidance of the vehicle only when it is detected that the manual longitudinal and / or transverse guidance of the vehicle cause the travel tube to leave would.

The driver of a vehicle can thus be enabled in an efficient manner to guide a vehicle longitudinally and transversely by means of relatively rough control inputs. The vehicle then automatically ensures that the vehicle remains within the permissible travel tube (and thus accidents are reliably avoided). Within the driving hose, the driver can still be given full control over the longitudinal and lateral guidance of the vehicle. In this way, comfort and driving pleasure for the driver of a vehicle can be increased in a safe manner.

The control unit can be set up to repeatedly (in particular periodically, for example with a frequency of 1 Hz, 0.1 Hz or more) determine an updated driving hose and guide the vehicle as a function of one or more control inputs of the vehicle, so that the vehicle within each updated travel tube remains.

As already explained above, the travel tube can have a wall or a boundary for each dimension, which limits the respective permissible range of the dimension. The control unit can be set up to guide the vehicle in a manner that is at least partially automated in a manner that deviates from the one or more control inputs of the driver in such a way that the vehicle does not hit the walls of the large number of dimensions of the travel tube. In particular, the control unit can be set up to run the vehicle in a partially automated manner, deviating from the driver's one or more control inputs, such that when the vehicle approaches a wall of one dimension of the travel tube, it is increasingly aligned parallel to the wall of the dimension of the travel tube, in particular in this way that the vehicle is aligned parallel to the wall of the dimension of the travel tube immediately before reaching the wall.

Automated alignment of the vehicle within a travel tube (parallel to the walls of the travel tube) can further increase the safety and comfort for a driver of the vehicle. In particular, it can be ensured in a particularly reliable manner that the vehicle does not leave the permissible driving tube.

The control means can be designed such that the control means can be actuated by the driver within a possible input range. The input area can include a deflection area and / or a printing area. In particular, the deflection of the control means can be changed. Alternatively or additionally, the pressure with which the driver presses against the control means can be changed. A control input of the vehicle can then display an input value within the input range of the control means (e.g. a certain deflection of the control means and / or a certain pressure on the control means).

The control unit can be set up to guide the vehicle longitudinally and / or transversely depending on the input value of the control input at a more or less large distance from a boundary of the travel tube. In particular, the control unit can be set up to reduce the distance to the boundary or the wall of the travel tube with increasing input value, in particular such that the vehicle along and / or at the maximum possible input value on the limit or on the wall of the travel tube is carried out. In this way, the comfort and driving pleasure for the driver of a vehicle can be further increased.

The control unit can be set up to determine a driving mode selected by the driver from a plurality of different driving modes of the vehicle. Exemplary driving modes are: an ecological, a dynamic, a sporty and / or a comfortable driving mode. The driving mode can e.g. can be selected via a control element (e.g. via a switch) of the vehicle. The driving hose can then be determined depending on the selected driving mode. In this way, the comfort and driving pleasure for the driver of a vehicle can be further increased.

According to a further aspect, a method for longitudinal and / or transverse guidance of a vehicle is described. The vehicle comprises a control means which enables a driver of the vehicle to make a control input for the longitudinal and / or transverse guidance of the vehicle,

The method comprises determining a permissible travel tube for the vehicle on the basis of a current state of the vehicle, the travel tube having a large number of dimensions. The travel tube can indicate a permissible range for each dimension, which can be implemented technically and / or accident-free by the vehicle. The method also includes determining one or more driver driver control inputs for longitudinal and / or transverse guidance of the vehicle. Furthermore, the method comprises converting the one or more control inputs in such a way that the vehicle remains within the travel tube.

According to a further aspect, a (road) motor vehicle (in particular a passenger car or a truck or a bus or a motorcycle) is described, which comprises the control unit described in this document.

According to a further aspect, a software (SW) program is described. The software program can be set up to run on a processor (for example on a control unit of a vehicle) and to thereby carry out the method described in this document.

According to a further aspect, a storage medium is described. The storage medium can comprise a software program which is set up to be executed on a processor and thereby to carry out the method described in this document.

In the context of the document, the term “automated driving” can be understood to mean driving with automated longitudinal or transverse guidance or autonomous driving with automated longitudinal and transverse guidance. Automated driving can be, for example, driving on the motorway for a longer period of time or driving for a limited time as part of parking or maneuvering. The term “automated driving” encompasses automated driving with any degree of automation. Exemplary degrees of automation are assisted, partially automated, highly automated or fully automated driving. These levels of automation were defined by the Federal Highway Research Institute (BASt) (see BASt publication "Research compact", edition 11/2012). In assisted driving, the driver continuously performs longitudinal or lateral guidance, while the system takes on the other function within certain limits. In semi-automated driving (TAF), the system takes over the longitudinal and lateral guidance for a certain period of time and / or in specific situations, whereby the driver has to monitor the system permanently, as with assisted driving. In highly automated driving (HAF), the system takes over longitudinal and lateral guidance for a certain period of time without the driver having to monitor the system continuously; however, the driver must be able to take control of the vehicle within a certain period of time. With fully automated driving (VAF), the system can automatically handle driving in all situations for a specific application; no driver is required for this application. The above four levels of automation correspond to SAE levels 1 to 4 of the SAE J3016 standard (SAE - Society of Automotive Engineering). For example, highly automated driving (HAF) Level 3 corresponds to the SAE J3016 standard. SAE J3016 also provides SAE level 5 as the highest level of automation, which is not included in the BASt definition. SAE Level 5 corresponds to driverless driving, in which the system can automatically handle all situations like a human driver throughout the journey; a driver is generally no longer required.

The aspects described in this document make it possible to provide a smooth transition between manual driving and partially or fully automated driving. In particular, manual driving by the driver (possibly with stabilizing interventions in the driving dynamics) can take place as long as the vehicle is guided within the driving hose on the basis of the one or more control inputs by the driver. Only when it is detected that the vehicle is being brought up to a boundary of the travel tube and could possibly leave the travel tube, can a partially or fully automated driving be effected automatically (ie without explicit handover by the driver) in order to keep the vehicle within the travel tube to keep. Partially or fully automated driving can be ended automatically (i.e. without an explicit handover to the driver) as soon as it is recognized that the driver is guiding the vehicle manually within the driving tube by one or more control inputs.

It should be noted that the methods, devices and systems described in this document can be used both alone and in combination with other methods, devices and systems described in this document. Furthermore, all aspects of the methods, devices and systems described in this document can be combined with one another in a variety of ways. In particular, the features of the claims can be combined with one another in a variety of ways.

• 1 einen beispielhaften Fahrschlauch für ein Fahrzeug;
• 2 beispielhafte Komponenten eines Fahrzeugs;
• 3 ein Ablaufdiagramm eines beispielhaften Verfahrens zur (Längs- und Quer-) Führung eines Fahrzeugs; und
• 4 zeigt einen beispielhaften Regelkreis eines Fahrzeugs.

The invention is described in more detail below on the basis of exemplary embodiments. Show

• 1 an exemplary driving hose for a vehicle;
• 2nd exemplary components of a vehicle;
• 3rd a flow diagram of an exemplary method for (longitudinal and transverse) guidance of a vehicle; and
• 4th shows an exemplary control loop of a vehicle.

As stated at the beginning, the present document is concerned with the provision of an operating mode for a vehicle that enables a driver of the vehicle to control the vehicle manually in a comfortable and safe manner, in particular in order to increase driving pleasure for a driver. In this context shows 1 an exemplary driving situation of a vehicle 100 (also referred to as ego vehicle in this document) on a (multi-lane) road 102 . In the vicinity of the ego vehicle 100 there are one or more other road users 101 . Furthermore, the lane points 102 to delimit the road 102 and the lanes markings. The vehicle also points 100 technical restrictions (such as a maximum possible driving speed, a maximum possible steering angle, a maximum possible acceleration, etc.). Through such aspects, the possible range of movement of the ego vehicle becomes 100 limited. In particular, it can be used for the ego vehicle 100 a driving tube 110 be defined, which describes how the ego vehicle 100 can be moved based on a current state.

2nd shows exemplary components of a ego vehicle 100 . The vehicle 100 includes one or more environment sensors 201 (for example an image camera, a radar sensor, a LIDAR sensor, an ultrasound sensor, etc.), which are set up, environmental data in relation to an environment of the vehicle 100 capture. The vehicle also includes 100 one or more vehicle sensors 202 (eg a speed sensor, an acceleration sensor, etc.), which are set up, vehicle data relating to a driving dynamic state of the vehicle 100 capture. The control unit 200 of the vehicle 100 can be set up the driving tube 110 of the vehicle 100 to be determined on the basis of the environment data and / or on the basis of the vehicle data.

The vehicle can also 100 (if necessary exactly) a tax resource 110 have a driver of the vehicle 100 allows a control input to the vehicle 100 to be carried out by the driver's will in relation to the longitudinal and / or transverse guidance of the vehicle 100 is shown. The tax resource 110 can include a joystick or a joystick, for example. The tax resource 110 can the driver of the vehicle 100 allow to make steering and acceleration or deceleration inputs by means of a single control element.

The control unit 200 can be set up, the driver's control inputs for longitudinal and / or transverse guidance of the vehicle 100 implement such that the vehicle 100 within the previously defined travel tube 110 remains. This enables the driver to specify the general direction of travel and / or the generally desired driving speed. It can then go through the vehicle automatically 100 cause the vehicle 100 within the permissible travel tube 110 remains, so that collisions with other road users in a reliable manner 101 and / or an agreement off the road 102 can be avoided.

• • Fahrbahnbegrenzungen, wie z.B. Striche, Kanten, Abgründe, Wände, Hänge, etc.;
• • GPS-Daten bzw. Positionsdaten (in Zusammenhang mit digitaler Karteninformation), durch die z.B. vorausliegende Kurven erkannt werden können;
• • Fahrbahnbeschaffenheit, wie z.B. die Neigung und/oder der Reibwerte der Fahrbahn 102 als Funktion von Temperatur, Feuchte, etc.; diese Information kann z.B. auf Basis von Daten von anderen Fahrzeugen 101 ermittelt werden;
• • unsichtbare Hindernisse auf der Fahrbahn 101 (z.B. ein abgestelltes Fahrzeug 101 hinter einer Kurve, Kuppe, etc.), die auf Basis von Daten aus einer Daten-Cloud ermittelt werden können (basierend auf den Daten von anderen Fahrzeugen 101); und/oder
• • gesetzliche Randbedingungen wie z.B. Geschwindigkeitsbegrenzungen, Fahrverbote, etc.

This enables semi-autonomous and / or highly assisted driving. This can be achieved by having the driver of the vehicle 100 no longer the classic control task for manual longitudinal and lateral guidance of the vehicle 100 must comply. Partial autonomy of the vehicle 100 To enable a driving hose (in English "driving envelope") for the vehicle 100 determined. The driving hose 110 can be determined on the basis of the fusion of the following multidimensional data

• • Road boundaries, such as lines, edges, abysses, walls, slopes, etc .;
• • GPS data or position data (in connection with digital map information), by means of which, for example, curves ahead can be recognized;
• • Road conditions, such as the inclination and / or the friction values of the road 102 as a function of temperature, humidity, etc .; this information can be based, for example, on data from other vehicles 101 be determined;
• • invisible obstacles on the road 101 (e.g. a parked vehicle 101 behind a curve, crest, etc.) that can be determined based on data from a data cloud (based on the data from other vehicles 101 ); and or
• • legal boundary conditions such as speed limits, driving bans, etc.

The driver has an input device or control means 203 that allows the driver to change the direction of the vehicle 100 to enter. The vehicle 100 However, this may not directly follow an input on the control means 203 (e.g. by the vehicle 100 eg do not immediately turn left just because the driver specifies it). Instead, the vehicle adapts 100 automatically changes to the road conditions, flashes if necessary and then performs a smooth turning process. The vehicle 100 This ensures the safety of the driving maneuver and calculates the best possible way to implement the driver's control input (and within the driving hose) 110 to stay).

The measures described in this document make it possible for even inexperienced drivers to make running gear designed critically with regard to driving stability (e.g. to reduce driving resistance, etc.). Thus, undercarriages of vehicles 100 may be designed without taking into account a certain driving experience.

Proportional control can also be enabled. A driver can be able to switch to manual control relatively quickly or by applying a relatively large force to the input device 203 of the vehicle 100 to drive faster than this from the vehicle 100 is provided.

A driver is thus enabled via an input device or a control means 203 to give only a relatively rough tax instruction, which is then from the vehicle 100 is converted into a safe driving maneuver. The driver can thus from the Control loop for a safer driving of the vehicle 100 can be taken out, and can only by inputs on the input device or control means 203 Specify management parameters. The degree of autonomy of a vehicle 100 can be set in several stages if necessary.

4th shows an exemplary control loop 400 for a vehicle 100 , where the driver uses one or more control inputs 401 specifies a driver request (for example in relation to the driving speed and / or in relation to the direction of travel). A control unit 200 of the vehicle 100 then sets a (replacing the driver) controller 402 ready who ensures that the vehicle 100 within the permissible travel tube 110 remains. The regulation is based on actual data or vehicle data 403 in relation to the current state of the vehicle 100 (e.g. the driving speed and / or the course of the vehicle 100 ). Furthermore, the current driving tube can be used 110 based on environmental data 404 in terms of the environment 405 of the vehicle 100 be determined. The environmental data 404 show the traffic situation, the course of the road, etc.

By the controller 402 can presets 406 in relation to the longitudinal and / or transverse guidance of the vehicle 100 are determined (e.g. steering, shifting, acceleration and / or braking specifications). These can be from one or more control systems 407 of the vehicle 100 are taken into account (e.g. to stabilize the vehicle 100 ). The one or more longitudinal and / or transverse guide actuators of the vehicle 100 (For example, a drive motor, a braking device, a steering device, a transmission, etc.) can then depend on the specifications 406 and / or by a regulatory system 407 corrected specifications or interventions 408 operate. On the vehicle 100 typically have an impact on the environment 409 (such as fluctuations in the coefficient of friction of the road 102 , Unevenness of the road surface 102 , Cross wind, etc.) so that there is a current state of the vehicle 100 results from the actual data or the vehicle data 403 is shown.

A driving mode is thus described in which the vehicle 100 does not drive itself (autonomously), but by entering a tax 401 indicated will of the driver follows as long as the driving tube 110 of the vehicle 100 is not injured in the process. The direction of travel of the vehicle 100 can be specified by the driver.

The vehicle 100 preferably has a single control means 203 (e.g. a steering wheel with pedals, a joystick, a keyboard, etc.) and preferably does not have a multimodal input option. The vehicle 100 can be designed such that the driver is given the impression that the driver is driving the vehicle 100 actually leads manually.

• • räumliche Beschränkungen, in Bezug auf die Position des Fahrzeugs 100;
• • Beschränkungen in Bezug auf die Dynamik des Fahrzeugs 100;
• • Beschränkungen in Bezug auf die Fahrgeschwindigkeit des Fahrzeugs 100;
• • Beschränkungen in Bezug auf die Ausrichtung des Fahrzeugs 100;
• • Beschränkungen aufgrund von anderen Verkehrsteilnehmern 101 und/oder aufgrund von Gegenverkehr; und/oder
• • Beschränkungen aufgrund von gesetzlichen Vorgaben.

To guide the vehicle 100 becomes a multi-dimensional driving tube 110 determined, which includes, for example, as dimensions,

• • spatial restrictions regarding the position of the vehicle 100 ;
• • Restrictions on vehicle dynamics 100 ;
• • Limitations on vehicle speed 100 ;
• • Restrictions on vehicle orientation 100 ;
• • Restrictions due to other road users 101 and / or due to oncoming traffic; and or
• • Limitations due to legal requirements.

The vehicle 100 can depend on a tax input 401 of the driver are guided automatically, so that the vehicle 100 inside the driving tube 110 moved, and thereby bumping into the walls of the driving tube 110 or puncturing a wall of the travel tube 110 be prevented.

The driving hose 110 (ie the "driving envelope") thus provides one from the control unit 200 of the vehicle 100 calculated limit in an n-dimensional space. Within the limits of the driving hose 110 can the vehicle 100 be moved accident-free and / or in compliance with the law. Like the vehicle 100 being moved can be free of the driver of the vehicle 100 with inputs 401 on the control means 203 be decided.

The proximity to a wall of the driving tube 110 can by a displacement or pressure proportional deflection of the control means 203 be achieved. The tax resource 203 can be designed such that the vehicle 100 at the stop of the control means 203 just accident-free in the border area or along the wall of the travel tube 110 moves. For example, a driver can be able to cut curves if this is possible given the current situation of oncoming traffic (and thus not through the driving tube 110 is excluded).

Possibly. a driver can be given a default for the driving tube 110 (ie for the n-dimensional spatial boundaries). For example, different driving modes (eg ecological, dynamic, sporty, comfortable, etc.) can be selected, and different driving tubes can be used for the different driving modes 110 be determined. For example, it can be a driver of the vehicle 100 be made possible to drift in a sporty driving mode without the driver having to have the necessary driving skills. The stability of the vehicle 100 can autonomously through the vehicle 100 be guaranteed. Furthermore, keeping the vehicle “on track” 100 autonomously through the vehicle 100 be effected while the driver of the vehicle 100 about the control means 203 the rough direction of travel as a control unit 401 pretends.

3rd shows a flowchart of an exemplary method 300 for longitudinal and / or lateral guidance of a vehicle 100 . The vehicle 100 comprises (if necessary exactly) a control means 203 it is a driver of the vehicle 100 allows a tax input 401 for the longitudinal and / or transverse guidance of the vehicle 100 to do. The vehicle also includes 100 typically one or more actuators for longitudinal and / or transverse guidance (for example a drive motor, a braking device and / or a steering device) which can be operated at least partially in an automated manner (for an at least partially automated travel of the vehicle 100 to enable) and / or the (possibly alone) depending on one or more tax inputs 401 of the driver can be operated (to drive the vehicle manually 100 to enable). The procedure 300 can by a control unit 200 of the vehicle 100 be carried out.

The procedure 300 includes identifying 301 an approved driving tube 110 for the vehicle 100 based on a current state of the vehicle 100 . The driving hose 110 have a variety of dimensions, the driving tube 110 for each dimension can display an allowable range that is by the vehicle 100 can be implemented technically and / or accident-free. In particular, the driving hose 110 include at least one spatial dimension with respect to a space in which the vehicle is located 100 based on a current position of the vehicle 100 can move without collision. Furthermore, the driving hose 110 at least one driving dynamics dimension in relation to the driving dynamics of the vehicle 100 include, based on a current driving dynamic state of the vehicle 100 technically from the vehicle in a stable manner 100 can be implemented. The driving hose 110 can based on environmental data 404 and / or based on vehicle data 403 be determined.

The procedure also includes 300 investigating 302 of one or more tax inputs 401 of the driver for longitudinal and / or transverse guidance of the vehicle 100 . The procedure also includes 300 the implementation 303 of one or more tax inputs 401 in a longitudinal and / or transverse guidance of the vehicle 100 such that the vehicle 100 inside the driving tube 110 remains.

The measures described in this document enable a driver of a vehicle 100 , the vehicle 100 a relatively superficial or rough tax instruction 401 to be given, since the actual regular task (for a collision-free journey) is omitted for the driver. Thus, the safety of a vehicle 100 increase. Furthermore, an intermediate step from classic, manual, driving to autonomous driving can be provided, which leads to the acceptance of at least partially automatically driving vehicles 100 can be increased.

The determination of a driving hose 110 may only take place in connection with a tax entry 401 a driver of the vehicle 100 . In other words, the driving tube 110 can depend on the one or more tax inputs 401 of the driver can be determined. Thus, a driving tube 110 can be determined in an efficient manner (typically with less effort compared to a highly automated vehicle). Through the measures described in this document, degrees of freedom in the design of a human-machine interface (HMI) 203 for a vehicle 100 increase. Furthermore, the driving comfort and driving pleasure for a driver of a vehicle 100 increase.

The present invention is not restricted to the exemplary embodiments shown. In particular, it should be noted that the description and the figures are only intended to illustrate the principle of the proposed methods, devices and systems.

Claims (11)

Control unit (200) for a vehicle (100), the vehicle (100) comprising a control means (203), which enables a driver of the vehicle (100), a control input (401) for the longitudinal and / or transverse guidance of the vehicle (100) to do; wherein the control unit (200) is set up to - determine a permissible travel tube (110) for the vehicle (100) based on a current state of the vehicle (100); wherein the travel tube (110) has a plurality of dimensions; wherein the travel tube (110) indicates a permissible range for each dimension, which can be implemented technically and / or accident-free by the vehicle (100); the multitude of dimensions comprising: - a spatial dimension with respect to a space in which the vehicle (100) can move from a current position of the vehicle (100) without collision; - a vehicle dynamics dimension in relation to vehicle dynamics of the vehicle (100), which can be technically implemented in a stable manner by the vehicle (100) based on a current dynamic state of the vehicle (100); - determine one or more control inputs (401) of the driver for the longitudinal and / or transverse guidance of the vehicle (100); and - implement the one or more control inputs (401) in such a way that the vehicle (100) remains within the travel tube (110) during a journey. Control unit (200) according to Claim 1 , wherein the control unit (200) is set up - to guide the vehicle (100) longitudinally and / or transversely based solely on the one or more control inputs (401) of the driver, as long as the one or more control inputs (401) cause the vehicle (100) remains inside the travel tube (110); and / or - to effect an automatic intervention in the longitudinal and / or transverse guidance of the vehicle (100) which deviates from a control input (401) of the driver, in order to keep the vehicle (100) within the travel tube (110) when detection is carried out that the driver's control input (401) would cause the vehicle (100) to leave the driving hose (110). Control unit (200) according to any one of the preceding claims, wherein - The control unit (200) is set up to implement one of the driver's will, indicated by the driver's one or more control inputs (401), as long as the vehicle (100) remains within the travel tube (110); and or - The control unit (200) is set up to effect a manual longitudinal and / or transverse guidance of the vehicle (100) based on the one or more control inputs (401) of the driver, as long as the vehicle (100) is within the travel tube (110). remains; and or - The control unit (200) is set up to intervene in the manual longitudinal and / or transverse guidance of the vehicle (100) only when it is detected that the manual longitudinal and / or transverse guidance of the vehicle (100) is leaving the travel tube ( 110) would cause. Control unit (200) according to one of the preceding claims, wherein the vehicle (100) comprises a single control means (203), in particular a steering stick or joystick, with which both control inputs with respect to the longitudinal and transverse guidance of the vehicle (100) can be made. Control unit (200) according to one of the preceding claims, wherein the plurality of dimensions of the travel tube (110) comprises - an orientation dimension with respect to an allowable change in an orientation of the vehicle (100) based on a current orientation; - a legal dimension related to legal requirements in a vehicle's vicinity (100); and or - A dimension in relation to a possible temporary travel of the vehicle (100) in a lane with the opposite direction of travel. Control unit (200) according to any one of the preceding claims, wherein - The travel tube (110) has a wall for each dimension, which limits the respective permissible range of the dimension; - The control unit (200) is set up to guide the vehicle (100) in a partially automated manner, deviating from one or more control inputs (401) of the driver, in such a way that the vehicle (100) does not hit the walls of the plurality of dimensions of the travel tube (110). bumps; and or - The control unit (200) is set up to guide the vehicle (100) differently from one or more control inputs (401) of the driver in such a way that the vehicle (100) increasingly approaches a wall of a dimension of the travel tube (110) is aligned parallel to the wall of the dimension of the driving tube (110), and is aligned parallel to the wall of the dimension of the driving tube (110) immediately before reaching the wall. Control unit (200) according to one of the preceding claims, wherein the driving tube (110) is determined and / or monitored in such a way that the driver of the vehicle (100) within the driving tube (110) is collision-free, accident-free and compliant with one or more control inputs ( 401) can be guided longitudinally and / or transversely. Control unit (200) according to one of the preceding claims, wherein - the control means (203) can be actuated by the driver within a possible input range; the input area comprises in particular a deflection area and / or a printing area; - a control input (401) displays an input value within the input range of the control means (203); and - the control unit (200) is set up to guide the vehicle (100) longitudinally and / or transversely, depending on the input value of the control input (401), at a greater or lesser distance from a boundary of the travel tube (110), in particular in such a way, that the vehicle (100) at a maximum possible input value at the limit of the driving hose (110) is guided longitudinally and / or transversely. Control unit (200) according to one of the preceding claims, wherein the control unit (200) is set up - determine a driving mode selected by the driver from a plurality of different driving modes of the vehicle (100); wherein the plurality of driving modes include in particular: an ecological, a dynamic, a sporty and / or a comfortable driving mode; and - To determine the driving hose (110) depending on the selected driving mode. Control unit (200) according to one of the preceding claims, wherein the control unit (200) is set up - determine surroundings data (404) in relation to a surroundings of the vehicle (100); - determining vehicle data (403) in relation to a driving dynamic state of the vehicle (100); and - To determine the driving hose (110) on the basis of the environment data (404) and on the basis of the vehicle data (403). Method (300) for longitudinal and / or transverse guidance of a vehicle (100); the vehicle (100) comprising a control means (203) which enables a driver of the vehicle (100) to make a control input (401) for the longitudinal and / or lateral guidance of the vehicle (100); the method (300) comprising - Determining (301) a permissible travel tube (110) for the vehicle (100) based on a current state of the vehicle (100); wherein the travel tube (110) has a plurality of dimensions; wherein the travel tube (110) indicates a permissible range for each dimension, which can be implemented technically and / or accident-free by the vehicle (100); the multitude of dimensions comprising: - a spatial dimension in relation to a space in which the vehicle (100) can move without collision, starting from a current position of the vehicle (100); and - a vehicle dynamics dimension in relation to vehicle dynamics that can be technically implemented by the vehicle (100) in a stable manner based on a current vehicle dynamics state of the vehicle (100); - determining (302) one or more control inputs (401) of the driver for longitudinal and / or transverse guidance of the vehicle (100); and - Implementing (303) the one or more control inputs (401) such that the vehicle (100) remains within the travel tube (110) when driving.

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