DE102019002596A1 - Method and device for longitudinal control of a vehicle that can be operated manually and partially and / or fully autonomously - Google Patents

Abstract

The invention relates to a method and a device for longitudinal control of a vehicle that can be operated manually and partially and / or fully autonomously. The method comprises the following steps: for a route S in a traffic route network, provision (201) of an assigned speed profile V (s), which assigns to each route element s of the route S a target speed v (s) for a partially or fully autonomous operation of the vehicle N, with n = 1, 2, ..., N, N ≥ 1 and - during the partially or fully autonomous operation of the vehicle by the driver for one or more route elements s (202) each enter a new set speed V (s) * into one Input interface which replaces / replaces the previous target speed (s) vsoll, S (sn); - Saving (203) a speed profile V (Sn) * in a data memory which differs from v (s) by the changed target speed / en v (s) * distinguishes; and - when the vehicle subsequently travels the route S in partially or fully autonomous operation, longitudinal rules (204) of the vehicle based on the speed profile V (s) *.

Description

The invention relates to a method and a device for longitudinal control of a vehicle that can be operated manually and partially and / or fully autonomously. The invention further relates to a vehicle with such a device.

From the publication DE10 2010 054 241 A1 A method for automatic longitudinal control of a vehicle is known, in which an attribute of a preceding traffic segment relevant to the drivable speed of the vehicle is recorded, a speed profile for the preceding traffic segment that is optimized in terms of the mobile speed is calculated as a function of the recorded attribute graphic representation of the automatic longitudinal control for the traffic section ahead is displayed, and an automatic longitudinal control of the vehicle is carried out as a function of the calculated speed profile. The method disclosed in this document is intended to provide a driver assistance system that supports longitudinal control that is optimized with regard to fuel consumption and that informs the driver about the longitudinal control.

The object of the invention is to provide a method and a device for longitudinal control of a vehicle that can be operated manually and partially and / or fully autonomously, which allow individualization to the driver and increase user-friendliness.

The invention results from the features of the independent claims. Advantageous further developments and refinements are the subject of the dependent claims.

A first aspect of the invention relates to a method for longitudinal control of a vehicle that can be operated manually and partially and / or fully autonomously, with the following steps.

In einem weiteren Schritt erfolgt während des teil- oder vollautonomen Betriebs des Fahrzeugs durch den Fahrer für ein oder mehrere Streckenelemente s_n ein Eingeben jeweils einer neuen Sollgeschwindigkeit v_soll,S(s_n)* in eine Eingabeschnittstelle, welche die bisherige/n Sollgeschwindigkeit/en v_soll,S(s_n) ersetzt/ersetzen. In einem weiteren Schritt erfolgt ein Speichern eines Geschwindigkeitsprofils V_soll,S(Sn)* in einem Datenspeicher, das sich von v_soll,S(s_n) durch die geänderte/n Sollgeschwindigkeit/en v_soll,Sl(s_n)* unterscheidet. In einem weiteren Schritt erfolgt beim nachfolgenden Befahren der Strecke S durch das Fahrzeug im teil- oder vollautonomen Betrieb ein Längsregeln des Fahrzeugs auf Basis des Geschwindigkeitsprofils V_soll,S(s_n)*.In one step, an assigned speed profile V _{Soll, S} (s _n ) is provided for each route element in a traffic route network s _n the route S is assigned a target speed v Soll _{, S} (s _n ) for a partially or fully autonomous operation of the vehicle, with n = 1, 2, ..., N, N ≥ 1 and $S={\displaystyle \sum _{n=1}^N\left|s_n\right|}.$

In a further step, the driver takes care of one or more route elements during the partially or fully autonomous operation of the vehicle s _n Entering a new target speed v Soll _{, S} (s _n ) * into an input interface, which replaces the previous target speed (s) v _{, S} (s _n ). In a further step, a speed profile V target _{, S} (Sn) * is stored in a data memory which differs from v target _{, S} (s _n ) by the changed target speed / en v target _{, Sl} (s _n ) * . In a further step, when the vehicle subsequently travels the route S in partially or fully autonomous operation, the vehicle is longitudinally controlled on the basis of the speed profile V _{target, S} (s _n ) *.

The proposed method relates to vehicles that are both manually operated, i.e. can be controlled manually and in particular enable a driver to manually control the vehicle lengthways, and can also be operated partially and / or fully autonomously, i.e. can be controlled partially or fully autonomously and in particular enable a partially or fully autonomous longitudinal control of the vehicle.

In the present case, the term “route S” denotes a predetermined road and / or route from a starting point to an end point in the traffic route network.

Die Streckenelemente s_n können dabei gleiche oder unterschiedliche Längen |s_n| aufweisen.The term “route element s _n “In the present case refers in particular to a route section along the route S. The route S is the sum or a chain of all route elements s _n Are defined. In particular, the length of the route S results from the sum of the lengths of the route elements s _n $$S={\displaystyle \sum _{n=1}^N\left|s_n\right|}.$$

The route elements s _n can be the same or different lengths | s _n | exhibit.

The proposed method makes it possible to locally change a speed profile V _{Soll, S} (s _n ) provided for a route S during the partially or fully autonomous operation of the vehicle by the driver, and the changed speed profile V _{soll, S} (s _n ) * in save the data memory so that when the route S is driven again in the partially or fully autonomous operation of the vehicle, the longitudinal control of the vehicle with the changed speed profile V _{soll, S} (s _n ) * takes place. As a result, the longitudinal control of the vehicle in the partially or fully autonomous operation of the vehicle is individualized for the driver, which improves the user-friendliness with regard to the longitudinal control in the partially or fully autonomous operation of the vehicle of the vehicle.

The data store is advantageously a data store installed on board the vehicle, a data store external to the vehicle, a data cloud or a data store distributed in a network. In the last three cases, the vehicle is at Exchange and execution of data with the vehicle-external data storage and / or the distributed data storage in the network. The data communication is preferably carried out using wired 3G, 4G, 5G or 6G radio communication.

• - Spracheingabe einer neuen Sollgeschwindigkeit v_oll,Sl(s_n)*
• - manuelle Vorgabe/Eingabe einer neuen Sollgeschwindigkeit v_soll,Sl(s_n)*
• - Gesteneingabe einer neuen Sollgeschwindigkeit v_oll,Sl(s_n)*
• - Umschaltung vom teil- oder vollautonomen Betrieb auf einen manuellen Betrieb des Fahrzeugs, Eingabe einer neuen Sollgeschwindigkeit v_oll,Sl(s_n)* durch eine manuelle Längssteuerung des Fahrzeugs, und anschließende Umschaltung auf den teil- oder vollautonomen Betrieb des Fahrzeugs.

According to an advantageous development of the method, the driver is input into the input interface by one of the following options:

• - Voice input of a new set speed _{full, Sl} (s _n ) *
• - manual specification / entry of a new set speed v des _{, Sl} (s _n ) *
• - Gesture input of a new target speed full _{, Sl} (s _n ) *
• - Switching from partially or fully autonomous operation to manual operation of the vehicle, entering a new target speed _{full, Sl} (s _n ) * by manual longitudinal control of the vehicle, and then switching to partially or fully autonomous operation of the vehicle.

For this purpose, the input interface is designed and set up accordingly.

The stored speed profile V _{soll, S} (Sn) * advantageously has an association with the driver who changes the speed profile. For this purpose, for example, a code individualized for the driver _is stored together with the speed profile V _{soll, S} (Sn) *. In particular, if the vehicle is used by several drivers, the stored speed profiles V _{soll, S} (s _n ) * can be used individually.

In an advantageous development of the proposed method, the vehicle has a sensor system for recording at least one local piece of information I (s _n ) for the track elements s _n on, the information (s) I (s _n ) is / are stored in the data memory.

• - Uhrzeit
• - Zeitraum des Befahrens der Strecke S oder eines oder mehrerer Streckenelemente s_n
• - Datum
• - Wochentag und/oder Monat
• - Wert der Umgebungshelligkeit
• - Fahrbahnbelag
• - Niederschlagsart
• - Niederschlagsmenge
• - Lichtintensität
• - Streckenverlauf
• - Steigung/Gefälle
• - Kurvenradius der Strecke S oder eines Streckenelements s_n
• - Verkehrsaufkommen auf der Strecke S oder auf einem oder mehreren ausgewählten Streckenelementen s_n etc.
• - Art und Anzahl der Mitfahrer

The information advantageously includes I (s _n ) one or more of the following non-exhaustive list of information for one, several or all route elements s _n :

• - time
• - Period of travel on route S or one or more route elements s _n
• - date
• - day of the week and / or month
• - Value of the ambient brightness
• - road surface
• - type of precipitation
• - rainfall
• - Light intensity
• - route
• - Incline / descent
• - curve radius of the route S or a route element s _n
• - Traffic volume on the route S or on one or more selected route elements s _n Etc.
• - Type and number of passengers

The information obtained is advantageous I (s _n ) together with the changed speed profile V _{soll, S} (s _n ) * is saved.

Advantageously, the use of the changed speed profile V _{soll, S} (Sn) * can only take place when the route S is subsequently traveled if the same or at least similar conditions (recorded in the information I (S _n )) as when the route was previously traveled Distance S, in which the speed profile V _sollS (s _n ) * was stored, is available.

The definition of “similar conditions” can advantageously be selected or set by the driver. If, for example, when driving the route S for the first time, which leads to a changed and stored speed profile V _{, S} (Sn) *, the period of travel on all route elements s _n , ie the route S, is stored as information I (s _n ), for example from 10:00 a.m. to 11:00 a.m., the driver can choose, for example, that this changed speed profile V _{is to be carried out S} (Sn) * from the next route S when this occurs in the period from 08: 30 to 11:30 a.m. If the next route S is not traveled in this period, the originally provided speed profile V _{Soll, S} (s _n ) is carried out for longitudinal control.

The stored speed profile V _{soll, S} (Sn) * can advantageously be digitally changed or deleted by an authorized person by means of an authorized computer access to the data memory.

The speed profile v _{soll, S} (s _n ) initially provided in the method is advantageously determined beforehand on the basis of the course of the route S, speed limits LIMITv (s _n ) applicable on the route S, vehicle performance data and / or a predefined driving style stored in the data storage. In this In this case, the speed profile v _{soll, S} (s _n ) is thus calculated using an appropriate algorithm.

As an alternative to this, the provided speed profile v _{soll, S} (s _n ) beforehand by detecting the speed v (s _n ) of the vehicle learned when driving the route S during manual operation of the vehicle and stored in the data memory. In this case, the driver himself takes over the longitudinal control when, for example, driving the route S for the first time, a corresponding speed profile v _{soll, S} (s _n ) being determined and stored in the data memory.

An advantageous further development of the proposed method is characterized in that characteristics assigned to the changed speed profile V _{soll, S} (s _n ) * are determined by evaluating the speed profile V _{soll, S} (s _n ) *. The characteristics relate in particular to the amount of accelerations and decelerations of the vehicle occurring along the route S and / or the difference between the speed traveled and the maximum permitted speed LlMITv (s _n ) along the route S.

The characteristics of the speed profile V _{soll, S} (s _n ) * and / or an assignment to the driver and / or an associated information I (s _n ) are advantageously stored in the data memory.

In an advantageous development, a speed profile V _{Soll, S '} (s _n ') for a new route S 'based on the speed limit LIMITv (s _n ') specified for each route element s _n 'of this route S' and the speed limit for the route S stored characteristics of the speed profile V _{soll, S} (s _n ) * determined. In this development, characteristics are an individualized for the route south for a driver velocity profile V _{is to} use _S (s _n) * to a velocity profile V _{set, S '(n} s') for a new route south to determine' which has the same characteristics. In principle, the characteristics of any known speed profile of any distance S can be used to determine a speed profile of another distance S 'that has the same characteristics.

A multiplicity of speed profiles V _{soll, S} (s _n ) * for different routes S and / or for different drivers are advantageously stored on the data memory. These speed profiles V _des , _S (s _n ) * are advantageously categorized into predefined categories CAT ₁ , with i = 1, 2, ..., I and I ≥ 2: V _{des, S} (s _n ) * -> V _{should, s} (s _n ) _KATl *. The categories CAT _{i are} defined by different characteristics of the speed _profiles V _{soll, S} (s _n ) _KATl * grouped therein, the characteristics of a category having a predetermined bandwidth. The different categories KAT advantageously define different driving styles.

Information I (s _n ) assigned to _S (s _n ) * is advantageously taken into account when categorizing the speed profiles V _soll . The category CAT, the speed profile V currently activated for partially or fully autonomous operation of the vehicle _{, S} (s _n ) * is advantageously displayed in the vehicle.

For each of the categories KAT, by averaging the respectively assigned speed _profiles V _{soll, S} (s _n ) _KATl *, an average speed profile MEAN (V _{soll, S} (s _n ) _KATl *) is determined and stored in the data memory. The CAT _i categories advantageously include the driving style descriptions: "Normal", "ECO", "SPORT", "SPORT PLUS" and / or "SPORT PLUS PLUS".

The mean speed profiles MEAN (V _{soll, S} (s _n ) _KATl *) of the different categories KAT, or their characteristics, can, for example, as already explained above, when generating a speed profile V _{Soll, S '} (s _n ') for a new one Route S 'with the route elements s _n ' can be used when specifying a desired category CAT ₁ , which represents the desired driving style.

An advantageous development of the method is thus characterized in that a speed profile V _{Soll, S '} (s _n ') for a new route S 'based on the speed limit LIMITv (S _n ') predetermined for each route element s _n 'of this route S'. and determined characteristics of the speed profile V _{soll, S} (s _n ) * or a speed profile MEAN (V _{soll, S} (s _n ) _KATl *) selected (for example via a predetermined category KAT _i ).

The characteristics of the speed profile V _{soll, S} (Sn) * and / or the assigned category KAT _i and / or an assignment of the speed profile V _{soll, S} (s _n ) * to the driver and / or the speed profile V _{soll, S} are advantageous (s _n ) * associated information I (s _n ) stored in the data memory.

According to an advantageous development of the proposed method, the input of the target velocity v _{is to} a take place _S (s _n) * Only in the frame for the route element s _n predetermined speed limit LIMITv (s _n) and / or predetermined for the vehicle driving dynamics limit values. This ensures that the changed speed profile V _{soll, S} (s _n ) * always fulfills legal requirements for maximum speed. This also ensures that the vehicle is always in is operated in a safe speed range, ie is operated in such a way that the vehicle never approaches its driving dynamics limits.

Advantageously, the speed profile V _{soll, S} (s _n ) * and the data determined on the basis of the speed profile V _{soll, S} (s _n ) * and stored in the data memory, which are assigned to a driver, in total and / or for one or Several routes S and / or for a region of the traffic network can be deliberately deleted by an appropriate input by the driver.

eine Eingabeschnittstelle, mittels der die Sollgeschwindigkeit v_soll,S(s_n) für ein oder mehrere Streckenelemente s_n während des teil- oder vollautonomen Betriebs des Fahrzeugs jeweils durch Eingabe eines Fahrers in eine neue Sollgeschwindigkeit V_soll,S(s_n)* änderbar ist; ein Datenspeicher, in dem ein Geschwindigkeitsprofil V_soll,S(s_n)* gespeichert wird, das sich von v_soll,S(s_n) durch die geänderte Sollgeschwindigkeit/en v_soll,S(s_n)* unterscheidet; und eine Steuervorrichtung, die dazu ausgeführt und eingerichtet ist, dass beim nachfolgenden Befahren der Strecke S durch das Fahrzeug im teil- oder vollautonomen Betrieb die Längsregelung des Fahrzeugs auf Basis des Geschwindigkeitsprofils V_soll,S(s_n)* erfolgt.Another aspect of the invention relates to a device for longitudinal control of a vehicle that can be operated manually and partially and / or fully autonomously, comprising an interface in the vehicle at which an assigned speed profile V _{Soll, S} (s _n ) is provided for a route S in a traffic route network , which assigns a target speed v _to each route element s _{n of} the route S _{, S} (s _n ) for partially or fully autonomous operation of the vehicle, with n = 1, 2, ..., N, N ≥ 1 and $S={\displaystyle \sum _{n=1}^N\left|s_n\right|};$

an input interface, by means of which the target speed v _{soll, S} (s _n) for one or more route elements s _n during the partially or fully autonomous operation of the vehicle, can be changed in each case by inputting a driver into a new target speed V _{soll, S} (s _n ) * is; a data memory in which a speed profile V _{soll, S} (s _n ) * is stored, which differs from v _{soll, S} (s _n ) by the changed desired speed / en v _{soll, S} (s _n ) *; and a control device that is designed and set up so that the longitudinal control of the vehicle takes place on the basis of the speed profile V _{soll, S} (s _n ) * when the vehicle subsequently travels the route S in partially or fully autonomous operation.

• - Spracheingabe einer neuen Sollgeschwindigkeit V_soll,S(s_n)*
• - manuelle Vorgabe einer neuen Sollgeschwindigkeit V_soll,S(s_n)*
• - Gesteneingabe einer neuen Sollgeschwindigkeit v_soll,S(s_n)*
• - Umschaltung vom teil- oder vollautonomen Betrieb auf einen manuellen Betrieb des Fahrzeugs, Eingabe einer neuen Sollgeschwindigkeit v_soll,Sl(s_n)* durch eine manuelle Längssteuerung des Fahrzeugs, und anschließende Umschaltung auf den teil- oder vollautonomen Betrieb des Fahrzeugs.

The input interface is advantageously designed and set up for the input of one or more of the following inputs:

• - Voice input of a new set speed V set _{, S} (s _n ) *
• - manual specification of a new set speed V set _{, S} (s _n ) *
• - Gesture input of a new target speed v _{soll, S} (s _n ) *
• - Switching from partially or fully autonomous operation to manual operation of the vehicle, input of a new target speed v target _{, Sl} (s _n ) * by manual longitudinal control of the vehicle, and subsequent switchover to partially or fully autonomous operation of the vehicle.

In an advantageous development of the proposed device, the vehicle has a sensor system for recording at least one local piece of information I (s _n ) for the track elements s _n on, the information (s) I (s _n ) is / are stored in the data memory.

• - Uhrzeit
• - Zeitraum des Befahrens der Strecke S oder eines oder mehrerer Streckenelemente s_n
• - Datum
• - Wochentag und/oder Monat
• - Wert der Umgebungshelligkeit
• - Fahrbahnbelag
• - Niederschlagsart
• - Niederschlagsmenge
• - Lichtintensität
• - Streckenverlauf
• - Steigung/Gefälle
• - Kurvenradius der Strecke S oder eines Streckenelements s_n
• - Verkehrsaufkommen auf der Strecke S oder auf einem oder mehreren ausgewählten Streckenelementen s_n etc.
• - Art und Anzahl der Mitfahrer

The information advantageously includes I (s _n ) one or more of the following non-exhaustive list of information for one, several or all route elements s _n :

• - time
• - Period of travel on route S or one or more route elements s _n
• - date
• - day of the week and / or month
• - Value of the ambient brightness
• - road surface
• - type of precipitation
• - rainfall
• - Light intensity
• - route
• - Incline / descent
• - curve radius of the route S or a route element s _n
• - Traffic volume on the route S or on one or more selected route elements s _n Etc.
• - Type and number of passengers

An advantageous development of the proposed device is characterized in that the evaluation unit is designed and set up in such a way that characteristics assigned to the changed speed profile V _{soll, S} (Sn) * are determined by evaluating the speed profile V _{soll, S} (s _n ) *. The characteristics relate in particular to the amount of accelerations and decelerations of the vehicle occurring along the route S and / or the difference between the speed traveled and the maximum permitted speed LIMITv (s _n ) along the route S.

The evaluation unit is advantageously designed and set up such that the determined characteristics of the speed profile V _{soll, S} (s _n ) * and / or an assignment to the driver and / or an associated information item I (s _n ) are stored in the data memory.

In an advantageous development of the proposed device, a categorization unit is provided, which is designed and is set up that different speed profiles V _{target, S} (s _n ) * stored on the data memory by evaluating characteristics of the speed profile V _{target, S} (s _n ) * in predetermined categories CAT ₁ , with i = 1, 2, .. ., I and I ≥ 2 are categorized: V _{soll, S} (s _n ) * -> V _{soll, S} (s _n ) _KATi *, the categories KAT _{i representing} different driving styles.

The categorization unit is advantageously designed and set up such that the categorization of the speed profiles V _soll takes into account information I (s _n ) assigned to _S (s _n ) *.

Advantageously is carried out categorizing unit and configured such that _to for each of the categories KAT _i by averaging the categorized therein velocity profiles _{V, S} (s _{n) Katl} * a mean velocity profile MEAN (V _{soll, S} (s _{n) Kati} *) is determined and is stored in the data memory.

The categorization unit is advantageously designed and set up in such a way that a speed profile V _{Soll, S '} (s _n ') for a new route S 'on the basis of speed limits LI-MITv (s _n ' predetermined for each route element s _n 'of this route S'. ) and determined characteristics of the speed profile V _{soll, S} (Sn) * or a selected speed profile MEAN (V _{soll, S} (s _n ) _KATl *) is determined.

The evaluation unit is advantageously designed and set up such that the characteristics of the speed profile V _{soll, S} (s _n ) * and / or the assigned category KAT, and / or an association of the speed profile V _{soll, S} (s _n ) * with the driver and / or information I (s _n ) assigned to the speed profile V _{, S} (s _n ) *, is stored in the data memory.

The data storage is advantageously an external server, a data cloud, a distributed data storage, a storage unit in the vehicle.

Advantageous is executed the input interface and configured such that an input of the target velocity _{to v, S} (s _n) * a s _n predetermined speed limit LIMITv (s _n) and / or only in the frame for the route element of predetermined for the vehicle driving dynamics limit values can.

The data memory is advantageously designed and set up such that the speed profile V _{soll, s} (s _n ) and the data determined on the basis of the speed profile V _{soll, S} (s _n ) * and stored in the data memory in total and / or for one or more Routes S and / or for an area of the traffic network can be deliberately deleted by the driver's input authorized by the driver.

A third aspect of the invention relates to a vehicle, in particular a land vehicle, an aircraft, a watercraft, an underwater vehicle or a rail vehicle, with a device as described above.

Further advantages, features and details emerge from the following description, in which - if necessary with reference to the drawings - at least one exemplary embodiment is described in detail. Identical, similar and / or functionally identical parts are provided with the same reference symbols.

• 1 einen stark schematisierten Ablauf eines erfindungsgemäßen Verfahrens, und
• 2 einen stark schematisierten Aufbau einer erfindungsgemäßen Vorrichtung.

Show it:

• 1 a highly schematic sequence of a method according to the invention, and
• 2nd a highly schematic structure of a device according to the invention.

1 shows a highly schematic sequence of a method according to the invention for longitudinal control of a manually and / or partially and / or fully autonomously operable vehicle, with the following steps.
In one step 201 For a route S in a traffic route network, an assigned speed profile V _{Soll, S} (s _n ) is provided, which for each route element s _{n of} the route S is a target speed v _{Soll , S} (s _n ) for a partially or fully autonomous operation N of the vehicle assigned, with n = 1, 2, ..., N, N ≥ 1 and $S={\displaystyle \sum _{n=1}^N\left|s_n\right|}.$

In one step 202 during the partially or fully autonomous operation of the vehicle by the driver, for one or more route elements s _n , a new target speed V target _{, S} (s _n ) * is entered into an input interface, which is the previous target speed (s) _{, S} (s _n ) replaced / replace.

In one step 203 a speed profile V _{des, S} (s _n ) * is stored in a data memory which differs from v _{des, S} (s _n ) by the changed / n desired speed / s V _{des, Si} (s _n ) *.

In one step 204 When the vehicle subsequently travels the route S in partially or fully autonomous operation, the vehicle is longitudinally controlled on the basis of the speed profile V set _{, S} (s _n ) *.

eine Eingabeschnittstelle 102, mittels der die Sollgeschwindigkeit v_soll,S(s_n) für ein oder mehrere Streckenelemente s_n während des teil- oder vollautonomen Betriebs des Fahrzeugs jeweils durch Eingabe eines Fahrers in eine neue Sollgeschwindigkeit v_soll,S(s_n)* änderbar ist; einen Datenspeicher 103, in dem ein Geschwindigkeitsprofil V_soll,S(s_n)* gespeichert wird, das sich von v_soll,S(s_n) durch die geänderte Sollgeschwindigkeit/en v_soll,S(s_n)* unterscheidet; und eine Steuervorrichtung 104, die dazu ausgeführt und eingerichtet ist, dass beim nachfolgenden Befahren der Strecke S durch das Fahrzeug im teil- oder vollautonomen Betrieb die Längsregelung des Fahrzeugs auf Basis des Geschwindigkeitsprofils V_soll,S(s_n)* erfolgt. 2nd shows a highly schematic structure of a device according to the invention Longitudinal control of a vehicle that can be operated manually and partially and / or fully autonomously. The device comprises an interface 101 in the vehicle, on which an assigned speed profile V _{Soll, S} (s _n ) is provided for a route S in a traffic route network, which _{is intended for} each route element s _{n of} the route S, a target speed v _{, S} (s _n ) for a partially or fully autonomous vehicle Assigned operation of the vehicle, with n = 1, 2, ..., N, N ≥ 1 and $S={\displaystyle \sum _{n=1}^N\left|s_n\right|;}$

an input interface 102 , by means of which the target speed v _{soll, S} (s _n ) can be changed for one or more route elements s _n during the partially or fully autonomous operation of the vehicle by inputting a driver into a new target speed v _{soll, S} (s _n ) *; a data store 103 , in which a speed profile V _{soll, S} (s _n ) * is stored, which differs from v _{soll, S} (s _n ) by the changed target speed / en v _{soll, S} (s _n ) *; and a control device 104 , which is designed and set up so that the longitudinal control of the vehicle takes place on the basis of the speed profile V _{, S} (s _n ) * when the vehicle subsequently travels the route S in partially or fully autonomous operation.

Although the invention has been illustrated and explained in more detail by means of preferred exemplary embodiments, the invention is not restricted by the disclosed examples and other variations can be derived therefrom by the person skilled in the art without departing from the scope of protection of the invention. It is therefore clear that there are a variety of possible variations. It is also clear that exemplary embodiments are only examples that are not to be interpreted in any way as a limitation of the scope, the possible applications or the configuration of the invention. Rather, the preceding description and the description of the figures enable the person skilled in the art to specifically implement the exemplary embodiments, the person skilled in the art being able to make various changes in knowledge of the disclosed inventive concept, for example with regard to the function or the arrangement of individual elements mentioned in an exemplary embodiment, without leaving the scope of protection defined by the claims and their legal equivalents, such as further explanations in the description.

Reference list

201-204

Procedural steps

101

interface

102

Input interface

103

Data storage

104

Control device

QUOTES INCLUDE IN THE DESCRIPTION

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Patent literature cited

• DE 102010054241 A1 [0002]

Claims (10)

Method for longitudinal control of a vehicle that can be operated manually and partially and / or fully autonomously, with the following steps: - Providing (201) for a route S in a traffic route network an assigned speed profile V _{Soll, S} (s _n ) that corresponds to each route element s _{n of} the route S assigns a target speed v _{soll, S} (s _n ) for a partially or fully autonomous operation of the vehicle, with n = 1, 2, ..., N, N ≥ 1 and $S={\displaystyle \sum _{n=1}^N\left|s_n\right|};$

- During the partially or fully autonomous operation of the vehicle by the driver for one or more route elements s _n input (202) a new target speed V target _{, S} (s _n ) * into an input interface which the previous target target speed (s) v _should replace _S (s _n ); - storing (203) a speed profile V _{soll, S} (s _n ) * in a data memory which differs from V _{soll, S} (s _n ) by the changed / n desired speed / s V _{soll, S} (s _n ) *; and - when the vehicle subsequently travels the route S in partially or fully autonomous operation, longitudinal rules (204) of the vehicle based on the speed profile V _{soll, S} (s _n ) *. Procedure according to Claim 1 , in which the input (202) into the input interface is carried out by one of the following: - voice input of a new target speed v target _{, Sl} (s _n ) * - manual specification of a new target speed v target _{, Sl} (s _n ) * - gesture input of a new one Target speed v target _{, Sl} (s _n ) * - switchover from partially or fully autonomous operation to manual operation of the vehicle, input of a new target speed v target _{, Sl} (s _n ) * by manual longitudinal control of the vehicle, and subsequent switchover to partially or fully autonomous operation of the vehicle. Procedure according to Claim 1 or 2nd , in which different speed profiles V _{soll, S} (s _n ) * stored on the data memory by evaluating characteristics of the speed profiles v _{soll, S} (s _n ) * in predetermined categories KAT _i , with i = 1, 2, ... , I and I ≥ 2 are categorized: V _{should, S} (s _n ) * -> v _{should, S} (s _n ) _KATl *, where the categories KAT represent different driving styles. Procedure according to Claim 3 , in which for each of the categories KAT, by averaging the speed profiles V _soll categorized therein _{, S} (s _n ) _KATl * a mean speed profile MEAN (V _{soll, S} (s _n ) _KATi *) is determined and stored in the data memory. Procedure according to Claim 4 , in which a speed profile V _{Soll, S '} (s _n ') for a new route S 'based on the speed limit LIMITv (s _n ') predetermined for each route element s _n 'of this route S' and determined characteristics of the speed profile V _{soll, S} (Sn) * or a selected speed profile MEAN (V _{soll, S} (s _n ) _KATl *) is determined. Procedure according to one of the Claims 3 to 5 , in which the characteristics of the speed profile V _{soll, S} (Sn) * and / or the assigned category KAT, and / or an assignment of the speed profile V _{soll, S} (Sn) * to the driver and / or the speed profile V _{soll, S} (s _n ) * associated information I (s _n ) are stored in the data memory. Procedure according to one of the Claims 1 to 6 , in which the data storage is an external server, a data cloud, a distributed data storage, a storage unit in the vehicle. Procedure according to one of the Claims 1 to 7 Wherein the input of the rated speed v _{Soll, S} (s _n) * only in the context of a can is carried out for the route element s _n predetermined speed limit LIMITv (s _n) and / or predetermined for the vehicle driving dynamics limit values. Procedure according to one of the Claims 1 to 8th , in which the speed profile V _{soll, S} (s _n ) * and the data determined on the basis of the speed profile V _{soll, S} (Sn) * and stored in the data memory, which are assigned to a driver, in total and / or for one or several routes S and / or for an area of the traffic network can be deliberately deleted by an appropriate input by the driver. Device for longitudinal control of a vehicle that can be operated manually and partially and / or fully autonomously, comprising - an interface (101) in the vehicle at which an assigned speed profile V _{Soll, S} (s _n ) willingness v _{soll, S} (s _n ) for a partially or fully autonomous operation of the vehicle, with n = 1, 2, ..., N, N ≥ 1 and $S={\displaystyle \sum _{n=1}^N\left|s_n\right|};$

- An input interface (102), by means of which the target speed v _{soll, S} (s _n ) for one or more route elements s _n during the partially or fully autonomous operation of the vehicle, in each case by inputting a driver into a new target speed v _{soll, S} (s _n ) * is changeable; - A data memory (103), in which a speed profile V _{soll, S} (Sn) * is stored, which differs from V _{soll, S} (s _n ) by the changed target speed / en v _{soll, S} (s _n ) *; and - a control device (104) which is designed and set up so that when the vehicle subsequently travels the route S in partially or fully autonomous operation, the longitudinal control of the vehicle is based on the speed profile V _{soll, S} (s _n ) *.

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