DE102018212676A1 - Method of navigating a vehicle - Google Patents

Abstract

A method for navigating a vehicle with at least one detection means, comprising at least the steps of: - receiving information about the road conditions (18) along a planned route, - comparing the road conditions (18) with vehicle parameters, and - calculating an alternative route that matches the vehicle parameters (20) for the vehicle (10) if it is detected that the comparison of the road conditions with the vehicle parameters is impassable.

Description

The invention relates to a method for navigating a vehicle according to the preamble of claim 1, comprising a detection means and a computing unit. The invention further relates to a vehicle with a navigation system according to the preamble of claim 10.

Methods for operating navigation systems for vehicles are known, by means of which road routes can be calculated. The known methods evaluate a GPS signal and compare this signal with a locally in the navigation system or an online map. Some of these conventional navigation systems also utilize traffic broadcast information that they receive online or via a separate radio signal. All these known navigation systems have in common that they are unable to determine impassable road conditions, in particular with respect to vehicle-typical parameters such as wheelbase, underbody height, tightness of the vehicle and / or traction ability, and alternatively to display routes adapted to the vehicle parameters. Furthermore, these navigation systems are also not able to carry out emergency braking, which is intended to prevent such a vehicle from entering an area with impassable road conditions.

The disadvantages of the known methods are partly eliminated by the prior art, but at the same time the prior art poses further disadvantages which do not allow an optimal solution to the problems. For example, the US 9,714,038 measuring a water depth using various sensors at a predetermined distance in front of a vehicle. Before the vehicle enters the water, the vehicle issues a warning if the water depth is too high for the vehicle. The vehicle can be stopped using a control program based on the warning message. The US 9,714,038 however, does not suggest visualization information of the hazardous areas and alternative routes using the information about flooded roads.

The EP 2 698 299 A1 discloses detection of water depth by a sensor and warns a driver in advance whether the vehicle can be safely guided through the water. The vehicle also uses a data network to indicate the current and future state of the vehicle. The vehicle visualizes the detected information on the dashboard display and automatically activates the vehicle brakes using the water depth information. The EP 2 698 299 A1 does not disclose active calculation of alternative routes using information about flooded roads and thus does not display such routes.

The US 9,637,132 discloses a system for determining entry of a vehicle into a critical water depth using a sensor and additional data from other sources. The system automatically changes the vehicle condition by activating or deactivating vehicle operation based on the information obtained. However, it fails US 9,637,132 there is no procedure to show whether the passage through the water is safe. No information about the location of dangerous areas is made visible or alternative routes are calculated using the information about flooded roads.

In addition, procedures in the distant US 6,650,244 . CN 106 996 816 . CN 105 716 688 and CN 105 857 231 discussed, which show a warning system for vehicles, a warning is given after the vehicle is in the water. No method is proposed for computing a safe crossing of water and visualizing information about the location of hazardous areas or computing alternative routes using the information about flooded roads or braking when approaching a flooded road.

The US 9 110 196 , the US 2016/0280216 , the US 2013/0024100 and a publication by the Jet Propulsion Labroratory, 4800 Oak Grove Drive, Pasadena, CA, USA 91109 similarly teach methods that have all of the disadvantages of the previous proposals.

Although the known methods fulfill their function, the area of vehicle navigation still offers room for improvement.

The object of the invention is to provide a method for navigating vehicles, the method being intended to protect a vehicle and its occupants from dangerous road conditions. Furthermore, the invention is based on the object of providing a vehicle which can be navigated by means of such a method.

According to the invention, the object is achieved by a method for navigating a vehicle with the features of claim 1. The object is further achieved by a vehicle with a navigation system according to claim 10. Further, particularly advantageous embodiments of the invention are disclosed in the dependent subclaims.

It should be pointed out that the features and measures listed individually in the description below can be combined with one another in any technically meaningful manner and show further refinements of the invention. The description additionally characterizes and specifies the invention, in particular in connection with the figures.

• - Empfangen von Informationen über die Straßenbeschaffenheit entlang einer geplanten Route,
• - Abgleichen der Straßenbeschaffenheit bevorzugt entlang der geplanten Route und/oder ständig mit Fahrzeugparametern, und
• - Berechnen einer alternativen gemäß den Fahrzeugparametern passenden Route für das Fahrzeug, wenn detektiert wird, dass der Abgleich der Straßenbeschaffenheit mit den Fahrzeugparametern unwegsam ist.

The method according to the invention for navigating a vehicle with at least one detection means and a computing unit includes at least the following method steps:

• Receiving information about road conditions along a planned route,
• - Comparing the road conditions preferably along the planned route and / or constantly with vehicle parameters, and
• - Calculating an alternative route suitable for the vehicle according to the vehicle parameters, if it is detected that the comparison of the road conditions with the vehicle parameters is impassable.

The method enables a user to bypass places with dangerous road conditions. Such a dangerous road condition is particularly given when the road to be driven is impassable for the vehicle due to its vehicle parameters. For example, this can be detected if the center distance, the underbody height, the tightness of the vehicle and / or the traction are not sufficient to drive through such an area of the road with rough road conditions. It is therefore expedient if the vehicle determines the information about the mobility of a route available to the vehicle on the basis of its vehicle parameters. This information is compared with the vehicle parameters by means of a computing unit, such as a microprocessor, a central computer of the vehicle and / or a navigation system. This computing unit can also calculate an alternative route for the vehicle. For the example of the center distance, this means that a route is determined which has at least the width of the center distance. For the example of the underbody height, a rough road surface cannot have any elevations that are higher than the underbody height. With regard to the example of the tightness of the vehicle, a water level will be determined which is only so high that no water gets into the vehicle interior and / or to water-sensitive components of the vehicle. The example of a vehicle's traction is related to incline and / or slippery road conditions. The traction capacity can be composed of the engine power and / or the grip of the wheels on the road surface. In the case of high gradients, the motor should have adequate power and the wheels should have sufficient grip. Particularly good grip of the wheels is necessary in slippery road conditions.

Furthermore, a display of the alternative route and an area with impassable road conditions is advantageously provided on a display. The display can be arranged in a dashboard or can be designed as a screen of a navigation system of the vehicle. Furthermore, a loudspeaker can be used which outputs a voice output or a warning signal. In addition, a vibration device can be provided which outputs a vibration signal, for example, via the steering wheel, the seat, the interior trim and / or the dashboard. By displaying the alternative route and an area with rough road conditions, the vehicle can be navigated along a safe route to the destination.

In a preferred embodiment, the condition of the road is determined by at least one signal that is generated by a sensor device that detects the surroundings of the vehicle. The surroundings of the vehicle can therefore be detected by sensors and / or sensor-like devices. The information from this detection of the road conditions of an area outside the vehicle is compared with the vehicle parameters. If the comparison shows that the road conditions do not match the vehicle parameters, ie there is a risk that the vehicle will collide critically with the geometry of the road conditions, then an alternative route is proposed. The vehicle can therefore avoid such a critical collision on the basis of the sensor devices. The determination of the factors and the comparison can also take place continuously and in particular while driving along the route. If impassable factors were ascertained, a warning signal could of course be sent out, and / or an alternative route that was difficult for the vehicle and safe for the vehicle occupants could be ascertained.

Furthermore, an emission of an ultrasound and / or a laser and / or a radar signal and / or a lidar signal can be provided by the sensor device and / or an image or several images can be recorded with a camera. For the transmission of the ultrasound, both an ultrasound transmitter and a receiver are provided, which determine the geometric properties of the road conditions in the vicinity of the vehicle. For example, the ultrasonic transmitter / Receiver determine a height of an elevation, the depth of an area filled with water and / or the slope of the road. For the laser, a laser transmitter and a receiver can be provided in the vehicle, which, like the ultrasound transmitter, determines the parameters of the road conditions. The radar signal can determine the same properties of the road conditions, but a radar transmitter and receiver are required to generate the radar signal. The same applies to the lidar signal. The camera takes a picture of the surroundings, which is evaluated by the computing unit with regard to the geometric properties of the road conditions in the surroundings of the vehicle. The camera can also be, for example, the reversing camera, or a camera for autonomous driving, or a camera specially provided for measuring the road conditions. By using such sensor devices and the camera, the geometric properties with regard to the road conditions can be determined in a simple and safe manner even while driving.

In an advantageous embodiment, reception of weather information and / or traffic information and / or disaster information and / or topography information of the site and / or information from other vehicles is provided via a receiver, in particular from the Internet. This information can be provided from a cloud and / or by an information service. The information from further vehicles can either be transmitted directly to the vehicle which carries out the method according to the invention and / or to a cloud and / or to an information service. Topographic information can be used, for example, to determine deep areas or cracks in the road or elevations on the road or slopes of the road. Impaired areas can also be predicted based on the weather information, for example if heavy rains are announced. The computing unit can then avoid deep-lying areas that are potentially prone to flooding by proposing an alternative route. Traffic information can also be used to make statements about impassable areas if it is determined that there is increased congestion in certain areas. In the event of a catastrophe, such as earthquakes, floods, strong winds, armed conflicts, fires, damage to atomic or chemical deposits or factories, lightning strikes and / or meteorite strikes, information is determined by the computing unit which can be used to determine an impassable area along the route , The driving style of other vehicles can allow statements to be made about the impassability of areas. For example, a drastic reduction in speed, information from the sensor devices, information about bypassed roads and / or actively initiated warning signals from the other vehicles can be used to assess the impassability of areas. Thanks to these diverse possibilities to collect information, safe routes for vehicles cannot be determined before starting the journey, but also during the journey.

In a further preferred embodiment, a vehicle state can be determined by sensor devices, the vehicle state being in particular a torque of the drive and / or a tire air pressure. Therefore sensors for determining the tire pressure can be used to make statements about the road conditions. If, for example, the tire penetrates a water accumulation, the current depth of the water accumulation can be determined on the basis of the water pressure. The ambient air pressure can also be determined using the tire pressure sensors, so that e.g. nearby fires and / or strong winds can be determined. The torque of the drive can provide information about the current depth of a water accumulation, the properties of the floor covering, the current gradient of a road and / or the strength of a wind. A thermometer can be used to determine fires, strong temperature fluctuations and / or ice winds which, for example, lower the interior temperature and / or affect the engine temperature and / or the tire rubber. On the basis of these sensor devices, current vehicle conditions in particular can be determined very precisely, and timely warnings and alternative routes can be output on the basis of these values, which can also be carried out while driving.

The vehicle parameters are cleverly evaluated in comparison with the information from the receiver, that is to say from an antenna and / or at least one of the sensor devices and / or the camera. The computing unit can thus evaluate the information from various sources, such as, for example, the outer and inner sensor devices, the camera and / or the information obtained online, and thus obtain a holistic picture of the impassability of areas. This also allows contradicting information to be interpreted correctly, which is particularly helpful while driving.

Furthermore, recognizing the area with an impassable road condition and subsequently braking the vehicle so that the vehicle does not enter the impassable area arrives, be provided. The braking can take place abruptly or smoothly. For example, braking can take place abruptly in the event of sudden changes in the nature of the road in the immediate vicinity in an emergency braking operation. This can happen if, for example, a tree falls on the street. A smooth braking can result if no immediate and quick reaction to the road conditions is necessary. It is also conceivable that the vehicle can no longer be moved by a user in the direction of the area with the impassable road conditions, but can only be driven along an alternative route.

In order to ensure that the method is carried out as effectively as possible, a road condition can be categorized as impassable if a slope of more than 31 ° is reached and / or an elevation of more than 200 mm is present and / or there is an increase with a ramp slope of more than 17.5 ° and / or a slope with an incline of more than 25 ° is to be negotiated and / or a water level of more than 500 mm is present. Such geometrical road conditions can be excluded for a large number of vehicles based on the categories, so that the method does not have to be readjusted for each vehicle type. Of course, the parameters mentioned above can be individually adapted to the vehicle in question, depending on the vehicle, and then specified as a limit value. The parameters are of course only given as examples and are not to be understood as restrictive.

A vehicle with a navigation system and sensor devices and / or an antenna and / or a camera, wherein a method for recognizing, displaying and avoiding and / or braking in areas with impassable road conditions can be carried out on the navigation system, has a particularly high level of safety for the Users. The above-mentioned features of the method according to the invention can be carried out at least in part on the navigation system.

• 1 ein erfindungsgemäßes Verfahren zum Navigieren eins Fahrzeugs bei unwegsamen Straßenbeschaffenheiten,
• 2 ein Bildschirm eines Navigationssystems, das einen unwegsamen Bereich anzeigt,
• 3 ein Bildschirm eines Navigationssystems, das eine alternative Route zum Umgehen des unwegsamen Bereichs anzeigt,
• 4 ein Fahrzeug vor einem unwegsamen Bereich durch einen zu hohen Wasserstand, und
• 5 a) bis e) verschiedene Kategorien unwegsamer Straßenbeschaffenheiten.

Further advantageous embodiments of the invention are disclosed in the subclaims and the following description of the figures. Show it:

• 1 a method according to the invention for navigating a vehicle on rough road conditions,
• 2 a screen of a navigation system that shows an impassable area,
• 3 a screen of a navigation system that shows an alternative route to avoid the impassable area,
• 4 a vehicle in front of an impassable area due to a too high water level, and
• 5 a) to e) different categories of rough road conditions.

In the different figures, the same parts are always provided with the same reference symbols, which is why they are usually only described once.

In 1 is a flowchart of a method according to the invention for navigating a vehicle, not shown 10 shown. The vehicle 10 , which is navigated by the method according to the invention, has a sensor device 26 to capture the environment and / or a camera 28 to capture an image 30 the environment and / or an antenna 32 for receiving information via radio, for example from the Internet 34 and / or other vehicles 12 ( 4 ) and / or a sensor device 36 for detecting a vehicle condition 38 on.

The sensor device 26 an ultrasound device for transmitting and receiving ultrasound can be used to detect the surroundings. The ultrasound device can be part of a parking assistant, for example. Furthermore, the sensor device can alternatively or additionally 26 be a laser device that sends and receives laser light. The laser device can be part of a distance measuring device. In addition, the sensor device can alternatively or additionally 26 be a radar device and / or lidar device that transmits and receives radar and / or lidar radiation. The radar / lidar device can be part of an object detection device. The sensor device 26 to grasp the environment grasp the nature 18 the road around the vehicle 10 , The road condition determined in this way 18 is by the sensor device 26 into an external signal 24 implemented, which to a computing unit 14 is transmitted. The computing unit can be designed as a separate computing unit or can be integrated in the central processing unit of the vehicle (CPU).

The camera 28 to take a picture 30 the surroundings of the vehicle 10 , can be a night vision camera and / or daylight camera and / or infrared camera and / or UV light camera. The camera 28 can take a still picture or moving pictures. Furthermore, the camera 28 Be part of a reversing camera and / or a system for autonomous driving and / or an environmental camera. That through the camera 28 generated image 30 is also sent to the computing unit 14 Posted.

The antenna 32 for receiving information via radio is, for example, a WLAN antenna, a radio antenna, a data antenna, an LTE antenna, a UMTS antenna and / or another antenna for receiving terrestrial radio radiation and / or radio radiation coming from satellites. The antenna 32 receives, for example, weather information and / or traffic information and / or disaster information and / or topography information of the site and / or information from other vehicles 12 from the Internet 34 and / or via a specially set up radio service, for example from the vehicle manufacturer. The information also from the Internet 34 are sent to the arithmetic unit 14 transmitted.

The sensor device 36 for determining a vehicle condition 38 is in the vehicle 10 arranged. Through the sensor device 36 a torque of the drive and / or a tire air pressure are determined. Here is the sensor device 36 Part of a system for determining the tire pressure and / or for determining the torque of the drive. The sensors for determining the tire pressure determine information about the road conditions 18 For example, a pressure acting on the tire from the outside, which leads to an increase in pressure inside the tire. The vehicle comes out 10 into a pool of water with his tires 50 ( 4 and 5 ) is the current depth of water accumulation based on the water pressure 50 determined. An increased air pressure is also determined by means of the tire pressure sensors, so that nearby fires and / or strong winds are determined. The torque of the drive makes statements about the current depth of a water accumulation 50 because the resistance to moving within the water is increased. The deeper the vehicle applies 10 is in the water, the higher the resistance and therefore the torque required for moving. Furthermore, the torque is determined by the properties of the floor covering, the gradient of a road currently being traveled and / or the strength of a wind. For example, the torque via a central computer 42 (CPU) of the vehicle 10 be determined. It is also conceivable that an engine temperature or an outside and / or inside temperature of the vehicle 10 is determined. The temperature is determined in particular by means of a thermometer. The thermometer can be used to determine fires, strong temperature fluctuations and / or ice winds, for example the interior temperature of the vehicle 10 and / or lower or increase the engine temperature and / or the temperature of the tire rubber. The one through the sensor device 36 determined vehicle condition 38 is sent to the computing unit 14 transfer.

The computing unit 14 can in the central computer 42 (CPU) of the vehicle 10 and / or a navigation system 44 be integrated. Those for evaluating the information, for determining an alternative route 20 and / or the comparison of the vehicle parameters with the road conditions 18 Invoices are processed either individually or together by the central computer 42 (CPU) and the navigation system 44 executed.

In the computing unit 14 run the information from the outside signal 24 and / or the picture 30 and / or the vehicle condition 38 and / or the Internet 34 together. The information includes the geometric structure of the road surface 18 , which include in particular a height of an elevation, the depth of an area filled with water and / or the slope of the road. The information is processed by the computing unit 14 compared with vehicle parameters. The vehicle parameters are preferably the center distance, the underbody height, the tightness and / or the traction capacity of the vehicle 10 , By comparing the vehicle parameters with the information, it is determined whether the area of the road determined by the information is for the vehicle 10 is passable or not. Provides the arithmetic unit 14 For example, it determines that an elevation on the road is higher than the level of the underbody or a water level 46 is too high or a slope is too steep, then the computing unit differentiates 14 two expiry options.

In a first run option, braking is applied 40 of the vehicle 10 executed. In particular, an abrupt braking or smooth reduction in the speed of the vehicle 10 executed. Abrupt braking takes place in the event of sudden changes in the road conditions 18 that must be responded to immediately. A smooth decrease in vehicle speed 10 takes place when areas 22 with impassable road conditions 18 are known so early that you can react appropriately. The braking 40 of the vehicle 10 can through the central computer 42 of the vehicle 10 to be controlled.

The second expiration option includes displaying the area 22 with impassable road conditions 18 and an alternative route 20 with rough road textures 18 , with the pathy road textures 18 match the vehicle parameters. The alternative route 20 is done by the computing unit 14 , but especially through the navigation system 44 determined. For this purpose, a GPS signal is preferably determined, which shows the current position of the vehicle 10 includes. The alternative route 20 as well as the impassable area 22 can be on a display / screen 48 of the navigation system 44 are displayed.

The two sequence options can be used simultaneously, one after the other or individually without the other expiration option will be run. So it is conceivable that braking 40 of the vehicle 10 takes place without an alternative route at the same time 20 is proposed. Furthermore, it is alternatively conceivable that an alternative route 20 is proposed, but braking 40 not happened. In such a case, for example, a warning signal can be issued to the vehicle driver. Alternatively, the vehicle can 10 slowed down and at the same time the impassable area 22 and an alternative route 20 on the display 48 are displayed. In addition, a warning signal can be issued to the vehicle driver.

In 2 is the display 48 of a navigation system 44 shown which part of the method according to the invention. On the display 48 of the navigation system 44 becomes the vehicle by means of the GPS signal 10 displayed on a map of the area. Now determines the vehicle 10 an area based on the procedure 22 with impassable road conditions 18 , it will appear on the display 48 displayed. For example, a flood of roads may appear on the original route. In such a case, braking can occur 40 done so the vehicle 10 not in this area 22 can drive in.

In 3 is the navigation system 44 shown, being on the display 48 an alternative route 20 appears in 3 is represented by dashed arrows. The alternative route 20 may appear after displaying an impassable area 22 and / or braking 40 are displayed. The alternative route 20 bypasses the impassable area 22 so the vehicle 10 at no time along the alternative route 20 gets into an area where the road conditions 18 not to the vehicle parameters of the vehicle 10 fit.

In 4 is a vehicle 10 shown that it is in a schematic environment that is a water accumulation 50 in a depression with different depths. The vehicle 10 receives via the antenna 32 a GPS signal and from another vehicle 12 from the internet as well 34 Information about the road conditions 18 , It also provides information about the camera 28 in the form of a picture 30 the environment. Furthermore, the sensor device 28 an external signal for the environment 24 determined. From the information, the area in front of the vehicle becomes a pathy area 16 and an impassable area 22 based on the water level 46 the water accumulation 50 categorized. The pathy area 16 forms a road that is still drivable, where the road conditions 18 match with the vehicle parameters. In this pathy area 16 is the water level 46 for example lower than the underbody height of the vehicle 10 , The road is for the vehicle 10 in this pathy area 16 passable. In contrast, is the impassable area 22 no longer passable because of the water level 46 is higher than a safe water level 46 and therefore no longer fits with the vehicle parameters. A vehicle driver is driven by the method when the vehicle is driven in 10 in the rough area 22 prevented and / or warned of driving in.

In 5 are different categories of rough road conditions 18 shown the critical collisions of the vehicle 10 with the road textures 18 to lead.

In 5 a) is an accumulation of water 50 shown in a recess. The water level 46 the water accumulation 50 in the recess must not be higher than 500 mm for the vehicle in question, otherwise water can get inside the vehicle or on water-sensitive components. A water level at which there is a risk of water getting into the vehicle leads to a categorization of the road conditions 18 as impassable.

In 5 b) is a street with elevations 52 shown, the surveys 52 extend from a basic street level up to 200 mm. From a height of the survey 52 the range of 200 mm applies 22 as a rough road 18 , since the survey with the vehicle in question 10 especially with the underbody of the vehicle 10 can collide. A collection amount at which there is a risk of the subfloor touching down leads to a categorization of the road conditions 18 as impassable.

In 5 c) is an incline 54 displayed the vehicle 10 boots up. If the slope 54 If the angle is over 31 °, the condition of the road applies 18 the slope 54 as impassable for the vehicle in question, since the engine power and / or the grip of the tires on the ground may no longer be sufficient to generate the necessary torque for driving on. A slope amount at which there is a risk of stopping leads to a categorization of the road conditions 18 as impassable.

In 5 d) is a slant 56 shown that in front of the vehicle 10 lies. Close the surface on which the vehicle is 10 is before driving on the slope and the slope 56 an angle of more than 25 °, the vehicle can 10 the slope 56 do not drive from the ground, because the vehicle front is inclined 56 collided. A collection amount at which the There is a risk of collision on the front of the vehicle, making the road rough 18 represents.

In 5 e) is an increase 58 pictured which is a ramp 60 over which the vehicle 10 on the increase 58 can drive. If the ramp 60 has a ramp gradient of more than 17.5 °, so the vehicle 10 at the transition from the ramp 60 on the increase 58 with its underbody at one end of the ramp 60 get stuck. Therefore, an amount of ramp climb at which there is a risk of touchdown is categorized as impassable.

The amounts mentioned are examples of the vehicle in question and can vary by +/- 5 °. The amounts can of course be different for other vehicles.

LIST OF REFERENCE NUMBERS

10

vehicle

12

another vehicle

14

computer unit

16

moving area

18

road conditions

20

alternative route

22

impassable area

24

external signal

26

Sensor device for the environment

28

camera

30

image

32

antenna

34

Internet

36

Sensor device for a vehicle condition

38

vehicle condition

40

braking

42

central computer (CPU)

44

navigation system

46

water level

48

Display / Screen

50

water collection

52

survey

54

pitch

56

slope

58

increase

60

ramp

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included 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.

Patent literature cited

• US 9714038 [0003]
• EP 2698299 A1 [0004]
• US 9637132 [0005]
• US 6650244 [0006]
• CN 106996816 [0006]
• CN 105716688 [0006]
• CN 105857231 [0006]
• US 9110196 [0007]
• US 2016/0280216 [0007]
• US 2013/0024100 [0007]

Claims (10)

Method for navigating a vehicle (10) with at least one detection means and a computing unit (14), comprising at least the following steps: Receiving information about road conditions (18) along a planned route, - Compare the road conditions (18) with vehicle parameters, and - Calculating an alternative route (20) suitable for the vehicle (10) according to the vehicle parameters if it is detected that the comparison of the road conditions with the vehicle parameters is impassable. Procedure according to Claim 1 , characterized by displaying the alternative route (20) and an area (22) with impassable road conditions (18) on a display (48). Procedure according to Claim 1 and 2 , characterized by determining the condition of the road (18) by at least one external signal (24) which is generated by a sensor device (26) which detects the surroundings of the vehicle (10). Method according to one of the preceding claims, characterized by emitting an ultrasound and / or a laser and / or a radar signal by the sensor device (26) and / or recording an image (30) with a camera (28). Method according to one of the preceding claims, characterized by receiving weather information and / or traffic information and / or disaster information and / or topography information of the site and / or information from further vehicles (12) via an antenna (32), in particular from the Internet (34) , Method according to one of the preceding claims, characterized by determining a vehicle state (38) by means of sensor devices (36), the vehicle state (38) being in particular a torque of the drive and / or a tire air pressure. Method according to one of the preceding claims, characterized by evaluating the vehicle parameters in comparison with the information from the antenna (32) and / or at least one of the sensor devices (36, 26) and / or the camera (28). Method according to one of the preceding claims, characterized by recognizing the area (22) with an impassable road condition (18) and then braking (40) the vehicle (10) so that the vehicle (10) does not get into the impassable area (22) , Method according to one of the preceding claims, characterized by categorizing a road condition (18) as impassable if an incline (54) of more than 31 ° and / or an elevation (52) of more than 200 mm is present and / or an increase (58) with there is a ramp gradient of more than 17.5 ° and / or a slope (56) of more than 25 ° and / or a water level (46) of more than 500 mm. Vehicle (10) with a navigation system (44) and sensor devices (26, 36) and / or an antenna (32) and / or a camera (28), characterized in that on the navigation system (44) a method, in particular according to a of the preceding claims, for recognizing, displaying and bypassing and / or braking in areas (22) with impassable road conditions (18).

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