DE102018215305A1 - Method for providing an overtaking recommendation for a ego vehicle based on at least one overtaking maneuver of at least one other vehicle that has started - Google Patents

Abstract

The invention relates to a method for providing an overtaking recommendation for a first-person vehicle on the basis of at least one overtaking maneuver that has started at least for another vehicle. The method comprises the step of acquiring sensor data using at least one sensor of the vehicle. Furthermore, the method comprises determining at least location information and at least movement information of the vehicle using the sensor data. In addition, the method includes evaluating the at least started overtaking maneuver using the location information and the movement information of the vehicle. In a further step, the method comprises providing the overtaking recommendation on the basis of the evaluation of the at least started overtaking maneuver of the vehicle. Furthermore, the invention relates to a device for providing an overtaking recommendation for a first-person vehicle on the basis of at least one overtaking maneuver that has started at least for another vehicle, and to an overtaking assistance system with a device and a display device.

Description

The invention relates to a method and a device for providing an overtaking recommendation for a first-person vehicle based on at least one overtaking maneuver of at least another vehicle that has started. The invention further relates to an overtaking assistance system.

Overtaking is one of the most critical driving maneuvers in road traffic. On the one hand, a distinction must be made between overtaking maneuvers on motorways, expanded multi-lane federal highways and country roads. In particular, rural roads represent an increased accident potential due to overtaking maneuvers of slow-moving vehicles due to their usually very curvilinear course of the road and only one lane in each direction. In addition, driver impatience, a lack of knowledge of the route and possibly bad weather conditions can lead to this that vehicle drivers initiate an overtaking maneuver in an area of a country road, for example in front of a crest or a curve, which includes an increased accident potential.

Known navigation systems with digital maps provide the vehicle driver with information about the course of the road and possible danger points when guiding a route. This information is, for example, directional information with arrows or text output about the main areas of danger in the course of the road. The disadvantage here is that this representation only represents a very abstract view of the course of the road. Information about overtaking maneuvers that have already taken place at the current position of the ego vehicle or possible positions for an overtaking maneuver on the route, as well as temporal information, for example when an overtaking maneuver was carried out, is largely ignored.

Another disadvantage of known assistance systems is that they rely on current position and environmental information from the sensor system of the vehicle. Due to insufficient range, this sensor system can only be used to a limited extent for providing a forward-looking overtaking recommendation.

There is therefore a need for a method for providing an overtaking recommendation for a first-person vehicle based on at least one overtaking maneuver of at least one other vehicle that has started.

The present invention provides a method for providing an overtaking recommendation for a first-person vehicle based on at least one overtaking maneuver of at least one other vehicle that has started with the features of claim 1 and a device for providing an overtaking recommendation with the features of claim 11, and an overtaking assistance system with the Features of claim 13.

Accordingly, the invention provides a method for providing an overtaking recommendation for a first-person vehicle based on at least one overtaking maneuver of at least one other vehicle that has started, with a step for acquiring sensor data by means of at least one sensor of the vehicle. The method further comprises determining at least location information and at least movement information of the vehicle using the sensor data. Furthermore, the method comprises evaluating the at least one overtaking maneuver that has started, using the location information and the movement information of the vehicle. In addition, the method includes providing the overtaking recommendation on the basis of the evaluation of the at least started overtaking maneuver of the vehicle.

Here, an overtaking maneuver that is at least started is understood to mean an overtaking maneuver in which a vehicle driver has started to overtake. This can be an acceleration to reduce the distance to a vehicle in front, as well as a change of lane of the vehicle initiated by a steering movement. In addition, an overtaking maneuver that has started can also include the vehicle swerving onto the roadside of oncoming traffic and immediate reeving due to oncoming vehicles. This driving behavior corresponds to a broken overtaking maneuver. Furthermore, an overtaking maneuver that has at least started also includes a completely completed overtaking maneuver or a failed overtaking maneuver. A completely completed overtaking maneuver includes veering out, leaving one's own lane, driving past the vehicle to be overtaken on the road side of oncoming traffic, and reeving in front of the overtaken vehicle. A failed overtaking maneuver is to be understood as an overtaking maneuver in which a collision or evasive maneuver took place and possibly resulted in a traffic accident.

An overtaking recommendation is a recommendation for the vehicle driver to overtake a slower vehicle in front at a certain position. This overtaking recommendation is based on the evaluation of the sensed sensor data of another vehicle during a previous overtaking maneuver that has at least started. In addition, an overtaking recommendation can also be a negative recommendation, which signals a failure to overtake at this position.

Sensors of the vehicle include sensors for position determination, for example driving or brake pedal position, steering angle, inclination angle, sensors for speed and speed determination, for example wheel speeds, rotation rate sensors for the ESP, acceleration sensors, camera, infrared and radar systems, ultrasound sensors, laser and lidar Sensors to understand. This exemplary listing does not represent a self-contained list. Rather, further sensors, not mentioned, which are installed in vehicles for, for example, driver assistance systems, are to be added to the exemplary listing.

Furthermore, according to a further aspect, the invention provides a device for providing an overtaking recommendation for a first-person vehicle based on at least one overtaking maneuver of at least one other vehicle that has started. The device comprises an interface for receiving the sensor data detected by at least one sensor of the vehicle. Furthermore, the device comprises a computing unit. The computing unit is designed to determine at least location information and at least movement information of the vehicle using the sensor data. Furthermore, the computing unit is designed to evaluate the at least started overtaking maneuver using the location information and the movement information of the vehicle. Furthermore, the computing unit is designed to provide the overtaking recommendation on the basis of the evaluation of the at least started overtaking maneuver of the vehicle.

Furthermore, according to a further aspect of the invention, an overtaking assistance system for a vehicle having a device for providing an overtaking recommendation for a first-person vehicle based on at least one overtaking maneuver of at least another vehicle according to claim 11 and a display device which is designed to be based on Assessments of an at least started overtaking maneuver of a vehicle are provided to provide an overtaking recommendation.

The present invention is based on the knowledge that a knowledge that there is a good position to overtake, for example one kilometer away, or the information and / or the warning that an overtaking maneuver at this position is to be rated as critical rather than the number potential accidents can be reduced and thus human lives could also be saved.

It has advantageously been recognized that an overtaking maneuver on, for example, a country road can be detected by means of the sensors installed in the vehicles. For example, information about the type of country road and the number of lanes can be taken from a digital map. Furthermore, information about an approaching and slower moving vehicle or a vehicle to be passed can be acquired by means of radar. Furthermore, vehicle data such as the yaw rate and the acceleration, as well as environmental information such as markings and the width of the road can be recorded using cameras. The sensors can advantageously be used to detect when an overtaking maneuver has taken place and which driving parameters (speed, acceleration, distances, angle of inclination of the vehicle) were set during the overtaking maneuver or were necessary for successful overtaking. It is also detected whether the overtaking maneuver has been completed or has previously been stopped. The overtaking maneuver can thus be evaluated on the basis of the detected sensor information and an overtaking recommendation for other vehicles for this section of the road, in particular the country road on which the overtaking maneuver has been detected, can be signaled.

It is also advantageous that a vehicle driver can be signaled beyond the actual sensor range when a possibly better possibility for an overtaking maneuver is achieved. The vehicle driver is also signaled when an overtaking maneuver with the current driving parameters is successful on a section of road.

It is also advantageous that an overtaking recommendation for a positive overtaking maneuver can be provided on the basis of a large number of already overtaking maneuvers that have already taken place positively at the corresponding position. In this way, the number of incorrectly performed overtaking maneuvers with the potential for an accident can be reduced.

Further features and advantages of the invention are described in the embodiments.

According to one embodiment, the method comprises the step of ascertaining at least one piece of time information using the sensor data, the assessment of the one overtaking maneuver that has at least started being carried out using the ascertained at least one piece of time information.

The evaluation of the overtaking maneuver can advantageously include temporal information. The temporal information includes the time of day (e.g. 0:00 a.m. to 11:59 p.m., morning, afternoon, night, start of work, end of work), days of the week (e.g. Monday to Sunday, working days, weekends), months (January to December), Seasonally dependent time information (e.g. vacation time, spring, summer, autumn, winter). An assessment of the overtaking maneuver and the provision of an overtaking recommendation is made taking into account the time information. For example, the same overtaking maneuver at 7:00 a.m. in rush hour can be carried out more poorly in this position due to increased traffic, than at the same position at 11:59 p.m. By means of the temporal information, the different situations that arise for an overtaking maneuver at the respective position are taken into account separately.

According to one embodiment, the method comprises the step of determining at least one piece of control information for the vehicle using the sensor data, the evaluation of the at least one overtaking maneuver that has been started using the determined at least one piece of control information.

The assessment of the overtaking maneuver can advantageously include control information. For example, control information includes setting a turn signal to initiate an overtaking maneuver. Furthermore, vehicle-internal sensor information, such as the driving or brake pedal position, can signal the beginning or abort of an overtaking maneuver. Furthermore, a reduction in distance from the vehicle in front at increased speed can include information for a possible overtaking maneuver.

According to one embodiment, an overtaking maneuver that has at least started is evaluated using GPS (Global Position System) to determine, for example, the current position and time at which an overtaking maneuver was carried out. Furthermore, an overtaking maneuver that has at least started is evaluated using vehicle-to-vehicle communication (Car2Car, C2C), in which information and data are exchanged between motor vehicles. Furthermore, an overtaking maneuver that has at least started is assessed taking into account the vehicle data. Vehicle data are vehicle-specific data such as, for example, the vehicle type, acceleration values, speed values and the driving behavior of the vehicle type (for example small cars, sports cars, SUVs).

Advantageously, further information is thus provided in order to carry out a more precise assessment of an overtaking maneuver and to make an overtaking recommendation that is matched to the respective vehicle type.

According to one embodiment, the movement information includes accelerating, braking and / or changing the lane of the vehicle.

The movement information of the vehicle can advantageously be used to detect whether an overtaking maneuver has just been carried out. This can be signaled, for example, by strongly accelerating the vehicle and then changing lanes. The change of lane of the vehicle can be detected by means of a camera system when the lane marking is passed over. Subsequent braking can also be used to detect whether an overtaking process was successful or had to be stopped. Furthermore, a change of lane or a veering of the vehicle can be detected using the inclination angle sensors.

According to one embodiment, the location information includes the position of the vehicle, the road condition, weather conditions, traffic conditions and / or driving restrictions.

Advantageously, an overtaking recommendation for an overtaking maneuver is assessed and given, taking into account the road condition. Poor or inadequate road conditions can pose an increased risk of accidents, as high acceleration is particularly important when overtaking and increased speed with subsequent lane changes, increase the risk of loss of control over the vehicle.

Furthermore, an overtaking recommendation for an overtaking maneuver is assessed and submitted taking into account the weather conditions. Due to the weather with different weather conditions (e.g. rain, snow, fog, temperature), possibly also at changing times (e.g. morning fog, dew, lightning ice), the conditions for an overtaking maneuver also change. According to the evaluation of at least one overtaking maneuver that has started, an overtaking recommendation can be provided for this position, as well as the time and weather conditions.

It is also advantageous that the overtaking process is assessed on the basis of the traffic conditions at the corresponding position. In addition, the information about the traffic conditions can be combined with the temporal information. For example, accident focal points, accident accumulation points and / or critical positions can be detected and a corresponding overtaking recommendation can be provided for these positions.

It is also advantageous that the overtaking process is assessed on the basis of driving restrictions at the corresponding position. Driving restrictions are the regulations of the Road Traffic Act (StVO), such as maximum speed, no overtaking, minimum distance to the vehicle in front, etc.

It is also advantageous that the overtaking maneuver is assessed on the basis of the current position of the vehicle. The current position is recorded via GPS, for example.

In a further embodiment, information about the number of curves in a certain road section and the lateral acceleration of the vehicle can be taken into account when evaluating the overtaking maneuver. Advantageously, especially in the case of curves which may be visible but which, due to the curve radius, lead to increased lateral acceleration of the vehicle and can be taken into account when making an overtaking recommendation.

According to one embodiment, the overtaking maneuver is evaluated on the basis of positive or negative evaluation points.

The overtaking maneuvers are advantageously evaluated on the basis of evaluation points. The evaluation points are, for example, in a range of +1.0, 0, -1.0, where +1.0 is a positive evaluation (overtaking recommendation) and -1.0 is a negative evaluation (no overtaking recommendation) for an overtaking process. The value 0 represents a positive overtaking maneuver, whereby, for example, the permitted maximum speed was exceeded and thus led to a reduction in the positive rating. The value -1.0 represents a negative or unsuccessful overtaking maneuver and is assigned, for example, by deploying the airbags in the event of a collision, triggering additional crash sensors or canceling an overtaking maneuver.

It has advantageously been recognized that overtaking maneuvers which have taken place positively can be assessed in accordance with the quality of the overtaking maneuver. This includes, for example, exceeding the permissible maximum speed during the overtaking maneuver, a possible braking due to the excessive vehicle speed or the safety distance from the vehicle in front or the distance to an oncoming vehicle before starting to pull in. This has the advantage that only sensible overtaking maneuvers for providing an overtaking recommendation are fully taken into account by the evaluation points.

The safety distance to the vehicle in front or the distance to an oncoming vehicle before reeving can be assessed using a variably definable threshold value and vary with the speed traveled. For example, a threshold value of 25 m can be selected for the distance to the oncoming vehicle before taking a turn in an overtaking maneuver. If this is undershot, the overtaking maneuver can be categorized as a risky overtaking maneuver and will not be included in the rating or a negative rating will be given.

It is also advantageous that the evaluation points can be used to provide the driver with a safe recommendation for overtaking via the collected sensor data, which recommendation does not only depend on the current sensor data of the driver's own vehicle. In this regard, the driver receives an additional technical Assistance in deciding whether to overtake at the current position or to wait for a next possibly more suitable position.

According to one embodiment, the overtaking maneuver is evaluated on the basis of a trend calculation of the positive and negative evaluation points.

It is also advantageous that a trend calculation is carried out over all evaluations of an overtaking maneuver carried out at one position, thereby minimizing falsification of the calculation.

For example, in a first example there were 1000 overtaking maneuvers at one position. Among the 1000 overtaking maneuvers, there was a negative overtaking maneuver, for example due to the abort of the overtaking maneuver or an accident. Regarded as a trend, a positive assessment must be given for this position and a positive overtaking recommendation must be provided. This position is therefore well suited for overtaking, since only 0.1% of all overtaking maneuvers carried out in this position were not successfully carried out.

In a second example, 100 overtaking processes were carried out at one position, for example. Of the 100 overtaking maneuvers, 25 were overtaking, for example due to the abort of the overtaking maneuver or an accident. Regarded as a trend, a negative evaluation is to be assigned for this position and a negative or no overtaking recommendation is to be provided. This position is therefore bad, if not to be rated as suitable for overtaking, since 25% of all overtaking maneuvers that were carried out were unsuccessful.

The trend calculation thus takes into account the frequency of positive and negative overtaking maneuvers and provides an overtaking recommendation that the overtaking maneuver will be successful, since a number of other overtaking maneuvers have already been carried out positively.

According to one embodiment, the evaluation of the overtaking maneuver is stored in a data collection of a storage unit.

The evaluations can be sent via a communication device of the vehicle to a data collection, for example a database in a storage unit, for example a server of a cloud. This has the advantage that there are accumulations of overtaking maneuvers in good positions for overtaking. These in turn can be made available via the server as an overtaking recommendation for ego vehicles. In addition, further overtaking recommendations from other vehicles can be adopted by means of the communication device. The communication between the vehicle and the server can take place in a time interval, for example from 5s to 30s, preferably in real time.

In one embodiment, the overtaking recommendations can be read out at a regular time interval, for example during vehicle inspection, and made available via a cloud server. This has the advantage that no constant communication between the vehicle and a corresponding server is necessary. In addition, overtaking recommendations for other vehicles can be installed in addition to your own overtaking recommendations. The system thus remains up-to-date without constant communication between the vehicle and a server.

In a further embodiment, the sensor data is sent via a communication device of the vehicle, preferably by means of a real-time connection, to a server in the cloud. The location information and the movement information of the vehicle are determined by the server using the sensor data. In addition, the overtaking maneuver and use of the location information and the movement information of the vehicle are evaluated and the overtaking recommendation is made available to the other vehicles by means of the communication device. The overtaking recommendations are made available to the vehicles via the real-time connection and updated if necessary.

According to one embodiment, an overtaking recommendation is signaled acoustically, graphically and / or haptically to a driver of the vehicle on the basis of the evaluation.

Advantageously, an overtaking recommendation can be signaled to a vehicle driver. The sensor system in the vehicle preferably detects when a vehicle driver approaches a vehicle in front and initiates an overtaking process. This is done, for example, by the distance sensors or by an internal sensor system due to the vehicle being turned in and out to check whether no oncoming traffic is detected. If a possible overtaking process has been detected, an overtaking recommendation, for example a signal in a head-up display, in the instrument cluster display or in the digital map, can be shown to the vehicle driver. The signal is used to signal to the driver whether an overtaking maneuver would make sense or should not be carried out at the current position of the vehicle.

In a further embodiment, if there is a negative overtaking recommendation for the current position, the overtaking recommendation can be signaled acoustically, graphically and / or haptically as “do not overtake”.

In a further embodiment, if there is a negative overtaking recommendation for the current position, a positive overtaking recommendation with a corresponding distance to a next suitable position for an overtaking maneuver can be graphically displayed.

In a further embodiment, if there is a negative overtaking recommendation for the current position, a positive overtaking recommendation with the required travel time to the next suitable position for an overtaking maneuver corresponding to the current vehicle speed can be graphically displayed and / or acoustically signaled.

In a further embodiment, a continuous message about the presence of a positive or negative overtaking possibility can be signaled.

According to one embodiment, an overtaking recommendation can be displayed in a digital map.

Advantageously, the overtaking recommendation can be graphically displayed and / or acoustically signaled in accordance with the route guidance on the digital map.

According to one embodiment, the device is connected to a communication device of the vehicle for communicating with a data collection in a storage unit.

Communication via the communication device with the vehicle is advantageously provided via the interface / data cuts of the storage unit, for example a server in the cloud. The overtaking recommendations are received by means of the communication device.

The present invention is explained in more detail below on the basis of the exemplary embodiments given in the schematic figures of the drawings, it being pointed out that these examples also include modifications or additions which are immediately apparent to the person skilled in the art. Furthermore, these embodiments do not limit the invention in the way that modifications and additions are within the scope of the present invention.

• 1: eine schematische Darstellung eines Verfahrens zum Bereitstellen einer Überholempfehlung für ein Ego-Fahrzeug auf Basis wenigstens eines zumindest begonnenen Überholmanövers eines weiteren Fahrzeugs gemäß einer Ausführungsform;
• 2: eine schematische Darstellung eines Fahrzeugs mit Sensorik, einer Kommunikationsvorrichtung und einer Vorrichtung zum Bereitstellen einer Überholempfehlung für ein Ego-Fahrzeug auf Basis wenigstens eines zumindest begonnenen Überholmanövers eines weiteren Fahrzeugs gemäß einer Ausführungsform;
• 3a: eine schematische Darstellung eines erfolgreichen Überholvorgangs;
• 3b: eine schematische Darstellung einer Straßenverlaufsbewertung gemäß einer Ausführungsform;
• 3c: eine schematische Darstellung einer aktualisierten Straßenverlaufsbewertung gemäß einer Ausführungsform;
• 4a: eine schematische Darstellung eines abgebrochenen Überhol vorgangs;
• 4b: eine schematische Darstellung einer Straßenverlaufsbewertung gemäß einer Ausführungsform;
• 4c: eine schematische Darstellung einer aktualisierten Straßenverlaufsbewertung gemäß einer Ausführungsform;
• 5: eine schematische Darstellung einer Vorrichtung zum Bereitstellen einer Überholempfehlung gemäß einer Ausführungsform;
• 6: eine schematische Darstellung eines Überholassistenzsystems gemäß einer Ausführungsform;
• 1 zeigt eine schematische Darstellung eines Verfahrens zum Bereitstellen einer Überholempfehlung für ein Ego-Fahrzeug auf Basis wenigstens einem zumindest begonnenen Überholmanöver eines weiteren Fahrzeugs 1 gemäß einer Ausführungsform.

Show it:

• 1 : A schematic representation of a method for providing an overtaking recommendation for a first-person vehicle based on at least one overtaking maneuver of at least one other vehicle that has started, according to one embodiment;
• 2nd a schematic representation of a vehicle with sensors, a communication device and a device for providing an overtaking recommendation for a first-person vehicle based on at least one overtaking maneuver of at least one other vehicle that has started, according to one embodiment;
• 3a : a schematic representation of a successful overtaking;
• 3b : a schematic representation of a road course evaluation according to an embodiment;
• 3c : A schematic representation of an updated road course evaluation according to an embodiment;
• 4a : a schematic representation of a canceled overtaking process;
• 4b : a schematic representation of a road course evaluation according to an embodiment;
• 4c : A schematic representation of an updated road course evaluation according to an embodiment;
• 5 : a schematic representation of a device for providing an overtaking recommendation according to an embodiment;
• 6 : a schematic representation of an overtaking assistance system according to an embodiment;
• 1 shows a schematic representation of a method for providing an overtaking recommendation for a first-person vehicle based on at least one overtaking maneuver of at least another vehicle that has started 1 according to one embodiment.

In a first step S1 sensor data is acquired by means of at least one sensor 2nd of the vehicle 1 . Sensors of the vehicle include sensors for determining the position, for example driving or brake pedal position, steering angle, inclination angle, sensors for determining speed and speed, for example wheel speeds, rotation rate sensors for the ESP To understand acceleration sensors, camera, infrared and radar systems (short-range, long-range radar), ultrasonic sensors, laser and lidar sensors.

In a further step S2 at least location information and at least movement information of the vehicle are determined 1 using the sensor data.

In a subsequent step S3 the overtaking maneuver, which has at least started, is evaluated using the location information and the movement information of the vehicle 1 .

In a further step S4 the overtaking recommendation is provided on the basis of the evaluation of the at least started overtaking maneuver of the vehicle 1 .

In the method, the sensor data of the at least one sensor are used 2nd of the vehicle 1 determined at least one location information and at least one movement information. An at least started overtaking maneuver is evaluated on the basis of the location information and the movement information. On the basis of the assessment of an overtaking maneuver that has at least begun, an overtaking recommendation for, for example, another vehicle is provided for this position.

2nd shows a schematic representation of a vehicle 1 with a sensor 2nd , a communication device 13 and a device 10th for providing an overtaking recommendation for a first-person vehicle based on at least one overtaking maneuver of at least one vehicle that has started at least in accordance with one embodiment.

In the in the 2nd shown vehicle 1 is just a sensor 2nd shown. This represents only an exemplary installation of a sensor in the vehicle 1 Rather, there are other sensors 2nd at other positions (not shown) in the vehicle 1 Installed.

The in 2nd shown sensor 2nd is through an interface 11 ( 5 ) with the device 10th to provide an overtaking recommendation, for example an ADCU - Automatic Driving Control Unit. the interface 11 the device 10th also establishes a connection to a communication device 13 ready.

By means of the communication device 13 can communication between the vehicle 1 and a storage unit, for example a cloud server. Via the communication device, the through the device 10th provided overtaking recommendations in a data collection, for example a database stored in the storage unit. The stored overtaking recommendations can advantageously be made available to ego vehicles.

In one embodiment, the at least one sensor 2nd of the vehicle 1 sensed sensor data via the communication device 13 to the interface 11 the device 10th transferred to provide an overtaking recommendation. In this regard, the device 10th implemented by means of a server. Furthermore, via the communication device 13 one through the device 10th provided overtaking recommendation are received.

3a shows a schematic representation of a successful overtaking.

In 3a overtakes vehicle 1 the vehicle in front 30th . Through the sensor 2nd of the vehicle 1 the start of an overtaking maneuver is recorded. The at least one location information and the at least one movement information of the vehicle are determined by means of the acquired sensor data 1 determined. The overtaking maneuver is evaluated on the basis of the location information and the movement information. Based on the evaluation, an overtaking recommendation is provided for an Ego vehicle at this position. This in 3a the overtaking maneuver shown is successful.

3b shows a schematic representation of a road course assessment. The course of the curve 50 includes sections with different rating information 52 , 53 , 54 . For a first section 53 (dotted) there are no reviews yet. In this regard, the section 53 no overtaking recommendation will be provided. For another section 54 (Triangles) there are negative ratings. These assessments were provided by overtaking maneuvers already recorded and assessed. For the section 54 In this regard, a negative overtaking recommendation or no overtaking recommendation "no overtaking" is provided.

At the position of the overtaking maneuver ( 3a) there are no reviews yet 53 an overtaking maneuver and therefore no overtaking recommendation. The overtaking maneuver carried out, shown in 3a , was carried out successfully and rated as positive 52 (Squares). For the section 52 an overtaking recommendation is provided.

3c shows a schematic representation of an updated road course assessment. In the curve 51 was the result of the successful overtaking maneuver 3a provided positive rating 52 added as an overtaking recommendation for other vehicles. The overtaking recommendation for this position can be transmitted to other vehicles using real-time communication.

In one embodiment, the curve shape represents 50 and 51 show the course of the road in a digital map.

In one embodiment, the overtaking maneuver can be assessed using assessment points. For example, exceeding the permitted maximum speed during the overtaking maneuver and / or an insufficient distance from the vehicle in front or from an oncoming vehicle can reduce the evaluation points. Furthermore, the speed of the vehicle to be overtaken and the required or covered distance for overtaking the vehicle can be taken into account for the calculation of the evaluation points.

Table 1 lists overtaking situations and exemplary assessments. A positive, neutral or negative assessment is made for each overtaking situation. Assessment points are assigned according to the assessment. This list represents only an exemplary list of possible overtaking situations to be taken into account. Rather, other different overtaking situations occur in everyday road traffic, which are also recorded and evaluated by the present method. Table 1: Evaluation criteria Overtaking situation rating Overtaking at excessive speed Negative evaluation; -0.4 Overtaking with too little distance to oncoming vehicle Negative evaluation; -0.75 Oncoming vehicle must brake Negative evaluation; -0.75 Attempt to overtake Negative evaluation; -0.5 Overtaking speed: OK; Distance to oncoming vehicle: OK Positive evaluation; 1.0 Yaw rate in a curve is high Negative rating; -0.1 accident Negative rating; -1.0 Swing to check if Neutral rating; 0.0 Overtaking maneuvers permitted in the driving situation

In a further embodiment, an overtaking recommendation is provided by means of a trend calculation. In this regard, an overtaking recommendation is provided if several overtaking maneuvers have been carried out in the same position.

Table 2 shows an exemplary calculation of an evaluation point of an overtaking maneuver at a position on the road. At the position there were six different evaluations of six different overtaking maneuvers, which were evaluated with positive and negative evaluation points. An overall assessment can be determined from the individual assessment points. An overtaking recommendation or a recommendation not to overtake can be provided by means of the overall evaluation. In the example shown in Table 2, the positive and negative ratings are considered separately. The total of all ratings is calculated by the number of ratings. The overall evaluation is then calculated by adding the results of the separate positive and negative total calculation. This calculation is only an example of a procedure for determining the overall rating. Table 2: Trend calculation reviews Positive evaluation Negative rating 1 0.55 2nd 0.7 3rd -0.3 4th -0.57 5 -0.28 6 0.78 Overall rating: 0.28

Table 3 shows the accumulation of the evaluation of the temporal information at various positions in a road section. The times from 07:00 a.m. to 07:10 a.m. and Monday as the day of the week are shown as exemplary configurations. The square represents a positive evaluation and thus an overtaking recommendation for this position. The triangle represents a negative evaluation of the overtaking maneuver. The dot represents a position at which no evaluation and therefore no overtaking recommendation is available.

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In the time slot at 7:00 a.m., several overtaking maneuvers were carried out in different positions on the road section. These overtaking maneuvers have been evaluated and result in various overtaking recommendations. The time slots can be selected variably in order to be able to provide precise overtaking information depending on time effects, such as the "rush hour", or after work. Furthermore, there are different assessments for the same road sections for the respective days of the week, especially compared to the weekend. Table 3: Accumulation of the evaluation Time Weekdays Mon Tue ... 07:00

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4a shows a schematic representation of a canceled overtaking process.

In 4a overtakes vehicle 1 the vehicle in front 30th . Through the sensors 2nd of the vehicle 1 becomes the beginning of an overtaking 55 detected. The at least one location information and the at least one movement information of the vehicle are determined by means of the acquired sensor data 1 determined. The overtaking maneuver is evaluated on the basis of the location information and the movement information. Based on the evaluation, an overtaking recommendation is provided for an Ego vehicle at this position. The vehicle 1 a vehicle comes during the overtaking maneuver 40 opposite. By the driver of the vehicle 1 is, for example, by a braking maneuver 56 the overtaking process canceled 57 and the vehicle shears behind the vehicle 30th again. This can prevent a collision. Through the braking maneuver 56 during the overtaking maneuver 55 the detected overtaking maneuver is assessed as negative and no overtaking recommendation is provided for the section.

4b shows a schematic representation of a road course assessment. The course of the curve 50 includes sections with different rating information 52 , 53 , 54 . For a first section 53 (dotted) there are no reviews yet. In this regard, the section 53 no overtaking recommendation will be provided. For another section 54 (Triangles) there are negative ratings. These assessments were provided by overtaking maneuvers already recorded and assessed. For the section 54 In this regard, a negative overtaking recommendation or no overtaking recommendation "no overtaking" is provided.

In another section 52 (Squares) there is a positive evaluation and therefore an overtaking recommendation based on a previous successful overtaking maneuver. The overtaking maneuver was made for the position with the overtaking recommendation 55 of the vehicle 1 detected. The overtaking maneuver carried out 55 is due to a termination 56 rated as negative 54 (triangles). Based on the overtaking maneuver 55 no overtaking recommendation is provided.

4c shows a schematic representation of an updated road course assessment. In 4c is the current overtaking recommendation for previous overtaking maneuvers for the section of the overtaking maneuver 4a rated as positive 52 shown. The course of the curve 51 , in particular the section in which the overtaking operation is rated as negative 54 can be done using a trend calculation 58 be updated. For example, a trend can be calculated over 1000 overtaking processes and according to the trend calculation 58 the overtaking recommendation for this position will be updated.

In one embodiment, the curve shape represents 50 and 51 show the course of the road in a digital map.

5 shows a schematic representation of a device for providing an overtaking recommendation according to an embodiment.

The device 10th to provide an overtaking recommendation includes an interface 11 and an arithmetic unit 12th . the interface 11 is for receiving the by the at least one sensor 2nd of the vehicle 1 captured sensor data designed. The computing unit 12th is designed, at least one location information and at least one movement information of the vehicle 1 using the acquired sensor data. Furthermore, the computing unit 12th designed, an at least started overtaking using the location information and the movement information of the vehicle 1 to rate. Based on the evaluation of the at least one overtaking maneuver that has started, an overtaking recommendation is provided.

6 shows a schematic representation of an overtaking assistance system.

The overtaking assistance system 20th comprises a device 10th for providing an overtaking recommendation and a display device 3rd to represent the overtaking recommendation.

In summary, the invention relates to a method for providing an overtaking recommendation for a first-person vehicle based on at least one overtaking maneuver of at least another vehicle that has started. The method comprises the step of acquiring sensor data using at least one sensor of the vehicle. Furthermore, the method comprises determining at least location information and at least movement information of the vehicle using the sensor data. In addition, the method includes evaluating the at least started overtaking maneuver using the location information and the movement information of the vehicle. In a further step, the method comprises providing the overtaking recommendation on the basis of the evaluation of the at least started overtaking maneuver of the vehicle. Furthermore, the invention relates to a device for providing an overtaking recommendation for a first-person vehicle on the basis of at least one overtaking maneuver that has started at least for another vehicle, and to an overtaking assistance system with a device and a display device.

Reference list

1

vehicle

2nd

sensor

3rd

Display device

10th

contraption

11

interface

12th

Arithmetic unit

13

Communication device

20th

Overtaking assistance system

30th

vehicle to be overhauled

40

oncoming vehicle

50

current road course evaluation

51

updated road course assessment

52

positive evaluation

53

missing rating

54

negative rating

55

Start of overtaking

56

Braking maneuvers

57

Abort overtaking

58

Trend calculation

S1 - S4

Procedural steps

Claims (13)

Method for providing an overtaking recommendation for a first-person vehicle based on at least one overtaking maneuver of at least one other vehicle (1) that has started, comprising the steps: Acquisition (S1) of sensor data by means of at least one sensor (2) of the further vehicle (1); Determining (S2) at least location information and at least movement information of the further vehicle (1) using the sensor data; Evaluating (S3) the at least started overtaking maneuver using the location information and the movement information of the further vehicle (1); Providing (S4) the overtaking recommendation for the ego vehicle on the basis of the evaluation of the at least started overtaking maneuver of the further vehicle (1). Procedure according to Claim 1 , comprising the step: Determining at least one piece of time information using the sensor data, the assessment (S3) of the at least one overtaking maneuver that has at least started is carried out using the ascertained at least one piece of time information. Procedure according to Claim 1 or 2nd , comprising the step: determining at least one piece of control information of the vehicle (1) using the sensor data, the evaluation (S3) of the at least one overtaking maneuver that has at least started being carried out using the determined at least one piece of control information. Method according to one of the preceding Claims 1 to 3rd , wherein the movement information comprises accelerating, braking and / or changing the lane of the further vehicle (1). Method according to one of the preceding Claims 1 to 4th , wherein the location information includes the position of the vehicle (1), road conditions, weather conditions, traffic conditions and / or driving restrictions. Method according to one of the preceding Claims 1 to 5 , the evaluation (S3) of the at least one at least started overtaking maneuver being carried out on the basis of positive and / or negative evaluation points. Procedure according to Claim 6 , wherein the evaluation of the at least one overtaking maneuver that has at least started is carried out on the basis of a trend calculation of the positive and / or negative evaluation points. Method according to at least one of the preceding Claims 1 to 7 , wherein the evaluation of the at least one overtaking maneuver that has at least started is stored in a data collection of a storage unit. Method according to one of the preceding Claims 1 to 8th , wherein a driver of the ego vehicle is signaled acoustically, graphically and / or haptically based on the evaluation of the overtaking recommendation. Method according to one of the preceding Claims 1 to 9 The overtaking recommendation is displayed on a digital map. Device (10) for providing an overtaking recommendation for a first-person vehicle based on at least one overtaking maneuver of at least one other vehicle (1) that has started: an interface (11) for receiving sensor data acquired by at least one sensor (2) of the vehicle (1); and a computing unit (12) designed for Determining at least location information and at least movement information of the vehicle (1) using the sensor data; Evaluating the one at least started overtaking maneuver using the location information and the movement information of the vehicle (1); Providing the overtaking recommendation based on the evaluation of the at least started overtaking maneuver of the vehicle (1). Device (10) according to Claim 11 The device (10) is connected to a communication device (13) of the vehicle (1) for communicating with a data collection in a storage unit. Overtaking assistance system (20) with a device (10) for providing an overtaking recommendation for a ego vehicle based on at least one overtaking maneuver of at least one other vehicle (1) according to one of the Claims 11 or 12th and a display device (3) which is designed to graphically signal an overtaking recommendation provided by the device.

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