DE102019122894A1 - Device, method and computer program for operating an automatically drivable vehicle with an operating element that can be operated by a user of the vehicle - Google Patents

Abstract

The invention relates to a device and a correspondingly designed method and computer program for operating an at least partially automated vehicle with an operating element that can be operated by a user of the vehicle, the device being designed to control one or more driving actions of the vehicle user on the operating element determine, wherein the one or more driving actions specify a significantly later at least partially automated vehicle action corresponding to the one or more driving actions, and before the execution of the vehicle action corresponding to the one or more driving actions at least one or more of the predetermined driving actions and / or driving actions corresponding to the driving actions can be corrected by the user.

Description

The invention relates to a device and a method for operating an at least partially automated vehicle with a control element that can be operated by a user of the vehicle. The invention also relates to a corresponding computer program.

In the not previously published German patent application with the file number 102018202786.2 describes a device, a method and an electronic control unit for controlling an at least partially automated vehicle with which the method described in the present documents can advantageously be carried out. Therefore, in the present case, reference is made, either in full or in part, to the above-mentioned German patent application which has not been previously published; in particular, their content is intended to be included in the disclosure of the present invention as a selection or in full by reference.

In the present case, an intelligent interaction between an automatically driving or drivable vehicle and a user of the vehicle, who can also be a driver or a person responsible for operating the vehicle, is shown, which gives the user a completely new option or a new one Driving experience (compared to the previously known prior art) opened (= task of the invention).

The solution to this problem results from the features of claim 1 and is for a device for operating an at least partially automated vehicle with an operating element that can be operated by a user, the device being designed to carry out one or more driving actions by the user of the vehicle on the To determine control element, wherein the one or more driving actions specify a significantly later at least partially automated vehicle action corresponding to the one or more driving actions, with at least one or more of the predetermined driving action before the execution of the vehicle action corresponding to the one or more driving action Actions and / or driving actions corresponding to the driving actions can be corrected by the user ..

The one or more driving actions can be interpreted in such a way that the vehicle action corresponding to the one or more driving actions is intended for a significantly later, at least partially automated execution.

• - einen bestimmten, insbesondere entfernten, nicht oder nicht hinreichend sichtbaren, Fahrbahnabschnitt; und/oder
• - auf ein bestimmtes Zeitintervall (ebenso Zeitpunkt); und/oder
• - Objekte oder Daten einer digitalen Karte betreffend einen entfernten Fahrbahnabschnitt; und/oder
• - eine weitere, z.B. bestätigende, Aktion bzw. Bedienaktion des Nutzers.

Said later (specified) execution of the vehicle action can (but generally does not have to) be linked to an execution condition. An execution condition for executing the vehicle action can relate in particular to:

• - a specific, in particular distant, not or not sufficiently visible section of the roadway; and or
• - to a certain time interval (also point in time); and or
• Objects or data on a digital map relating to a distant road section; and or
• - Another, for example confirming, action or operating action by the user.

In other words, the user of the vehicle, for his part, gives the vehicle selectable specifications that are not (as is normally the case) intended for immediate execution. Rather, the user for his part can “program in” desired operating actions, in particular driving actions which, for example, are only to be carried out when a certain execution condition applies. In particular, he can execute this in advance (initially virtually) by means of the operating element and, in particular, already receive feedback during the virtual execution. For example, the user of the vehicle can use one or more such predefined driving actions, a vehicle action or a sequence of vehicle actions (including one or more specific driving maneuvers, elements or parts of a driving maneuver, etc.), for example in relation to data from a digital Preset a map of a (distant, eg lying ahead) map and / or representation of the surroundings of a (distant, eg lying ahead) lane section, assign it to the digital map, so to speak. For example, an at least partially simulated driving in a section of the map corresponding to the removed road section and / or representation of the surroundings of a remote road section can be carried out for this purpose.
In particular, one of several defaults specified by the user, for example from a number, preferably sequence, of defaults, in particular in a manner or parameters that can be specified by the user, can be corrected. In this way it can be ensured that a given operator action (for several seconds or minutes) is interpreted in the interests of the user.

One or more of the, in particular interpreted, specifications of the user in relation to the surroundings of the vehicle are particularly preferably displayed. This can be done by means of an augmentation, for example a symbolic image on a corresponding section of a digital map. The user can specify his specifications within a map section for the surroundings of a roadway location and / or mapping of the surroundings of a roadway location and / or change (or correct) at least one of the specifications (until they are executed). For example, the user can change a (selectable) specification from a number or sequence of specifications (subsequently, before their respective execution). One or more (remaining) actions entered by the user and / or automatically proposed (to be carried out by the vehicle) actions can be (appropriately) changed.

Several users of the vehicle and several operating elements can be provided. In one example, the driving actions for one vehicle can be specified by several users. The user is preferably a person responsible for driving.

The device can be designed to determine one or more driving actions of the user that are predetermined with the operating element. The determination can include, in particular, recording, recognizing the driving action (as such or as a specific driving action), and / or interpreting the driving action. The specification of the driving actions can include a virtual execution of one or more driving actions on the control element. One or more features (possibly various features known to a person skilled in the art) of a real execution of the one or more driving actions on the control element can be determined and taken into account. The characteristics of the execution of the one or more driving actions, e.g. various effects on the control element, can also relate to the specific roadway sections or areas of a roadway section.

The features of the one or more driving actions can be determined, recognized and / or interpreted depending on the determined, in particular predicted, real conditions or parameters of the one or more specific (not yet reached road sections or their surroundings). For example, a specification of a signaling with a blinker, if this is related to a lane section of an expressway, in particular is assigned to a lane section of an expressway, can be interpreted as a driver's action in relation to a lane change, whereas the same specification of a signaling with a blinker as a Driving action can be interpreted in relation to a turning if it relates to a lane section of an intersection, exit, roundabout, etc., in particular is assigned to a lane section of an intersection, exit, roundabout, etc.

Furthermore, the device can be designed to record a specification by the user for a section of the road, e.g. as an (at least rough) selection of a section of the road by the user, to which (or its surroundings) the one or more driving actions relate. The one or more driving actions or the one vehicle action corresponding to the one or more driving actions can be assigned to one (or more) specific road sections ahead.

In a simplified variant of the invention, the specific lane section can be a next or closest lane section that is suitable for performing the vehicle action and / or a lane section that is better suited to performing the vehicle action than another, alternative lane section. The device can be designed to recognize such a lane section, e.g. by means of map information (e.g. in advance).

The identification of the lane section or an alternative lane section can take place at the same time or shortly after the specification of the one or more driving actions, in particular before the approach to the lane section.

The device is preferably designed to assign, interpret and / or correct, in particular adapt, the specification comprising one or more driver actions that relate to a specific road section to the road section. The interpretation and / or correction can take place as a function of the features of the road section and / or of an expected condition (when the road section is reached). The vehicle action corresponding to the one or more driving actions can be determined as a function of the one or more (preferably interpreted and / or corrected) driving actions. A vehicle action can correspond to a specific course of the movement of the vehicle and / or a (specific, corresponding to the driver's action or actions) driving maneuver.

The device can be designed so that the vehicle actions are not carried out in a first time interval in which the driver's actions were specified, but in a second time interval, in particular much later after the first time interval, for example in a second time interval in which the said ( distant) road section or an alternative road section is reached. For example, a vehicle action is only activated in a second time interval which is several seconds or several minutes after the first time interval. In particular, the decisive factor for executing the vehicle action is not a specific point in time, but rather reaching the one or more roadway sections to which the one or more driving actions are assigned or to which the one or more corresponding vehicle actions are assigned. Nevertheless, a temporal validity of the one or more driving actions can be limited, for example by a minimum and / or maximum.

The driving action is in particular an action that is more or less directly related to driving the vehicle. The driving action preferably relates to a so-called path guidance of the vehicle. For example, the driver's action relates to a control, correction, tracking of longitudinal guidance, lateral guidance and / or vertical dynamics of the vehicle. In particular, the one or more driving actions can specify a difference (deviation, factor, difference) to a variable automatically selected (e.g. by a user assistance system). For example, the driver's action can relate to a parameter (parameter value, difference from a parameter value) of the longitudinal guidance, lateral guidance and / or vertical dynamics of the vehicle. In general, the one or more driving actions can specify one or more values or a value range of an operating parameter of a system of the vehicle or a specification of a specific change in a value or value range of a parameter, e.g. as a desired measure of the difference.

For example, a driving action can include a specification (possibly preselection) of a curve shape, an alignment of the vehicle within a curve and / or lane, an angle and / or a transverse offset to a lane center, lane marking, lane edge or boundary.

The driving action preferably comprises at least one process that is extended over time. For example, the driving action is characterized by a duration of at least 0.5, 1, 5, 10, 30 seconds. The process can in particular represent a course of a parameter, for example a movement parameter of the vehicle. The driver's action can preferably (at least in principle, schematically) characterize a steering angle, in particular a course of a steering angle of the vehicle, e.g. in relation to one or more features of the lane section and / or within a driving maneuver.

The driver's action and / or a corresponding vehicle action preferably relates to a so-called path guidance level of the control of the vehicle. Such driving actions or vehicle actions can be counted driving actions or vehicle actions that are carried out in the general state of the art (typically manually) in relation to the guidance of the vehicle in relation to its immediate surroundings up to a maximum of 50, 10, 200 meters . In contrast to the state of the art, the specification of such driving actions or the corresponding vehicle actions is generated for one or more (far) ahead, in particular non-visible sections of the roadway that are, for example, several kilometers away from the current position of the vehicle.

Furthermore, the driver's action can relate to any vehicle system, e.g. steering system, braking system, drive system (e.g. type of drive of the vehicle, gear shift), chassis system, user assistance system, lighting system, etc. For example, the driving action can specify an increase, limitation and / or a specific change or a course (temporal and / or change function) of a parameter value of the vehicle system for the specific, in particular assigned, lane section.

The driver's action and / or a corresponding vehicle action can be a non-execution, in particular a non-execution related to the lane section or a shutdown of a specific vehicle functionality. For example, the one or more driving actions can specify a deactivation or a substantial reduction of a certain vehicle functionality.

The specification of the one or more driving actions with the control element of the vehicle can be carried out, for example, at the beginning of a journey (possibly before or after the beginning of the journey), in particular while the vehicle is in motion. For example, the one or more driving actions can be specified within a driving section in which the guidance of the vehicle is carried out predominantly or essentially automatically. For example, the one or more driving actions are specified during a predominantly fully automated journey of the vehicle (e.g. on an expressway), whereby the driving actions relate to a section of the road (e.g. a curve) that is to be driven later (at least probably) and not yet immediately visible to the user , Roundabout, traffic light, fork, entrance, exit, etc.).

The at least one distant (specific) roadway section can be one of one or more roadway sections for the one Sufficient degree of feasibility for the vehicle action specified with the one or more driving actions was determined.

The term “lane section” is to be understood in particular as a specific position (for example in a road network). A lane section can comprise a section of the one or more lanes of, for example, 1, 2, 5, 10, 30 meters, for example in the vicinity of the position. The (distant) road section is preferably a road section lying ahead, for example located on a planned or probable route of the vehicle. In particular, the removed road section is a road section that is not yet directly sufficiently visible to the user. This can be, for example, more than 200, 500, 1000 meters or even further away from the current position of the vehicle. It can be a section of the road that is not on the route of the vehicle. The device can also be operable without a route that is known or predicted (in advance).
The removed lane section can be a lane section that can be freely selected by the user or according to a predetermined criterion, for example. With the specification of a driver's action on a specific lane section, the lane section can (at the same time) be added to a route of the vehicle, for example as an intermediate destination.

Reaching the lane section can be taken to mean driving on or imminent driving on the lane section by the vehicle. A road section can, however, also correspond to a section of the road starting from a specific position or between at least two specific positions, e.g. coordinates. At least one distant section of the roadway can be selected depending on a selection of at least two positions (e.g. coordinates or prominent points) that delimit it.

For example, at least one road section can be characterized by a specific road arrangement and / or lane arrangement. As a result, an assignment of the driver's actions to the roadway section, which is described in the further course of this document, can advantageously be implemented. For example, a road section can be characterized by a combination of the features of the road arrangement and / or lane arrangements. For example, a specific section of the roadway can be characterized by specific combinations of features (useful for carrying out the invention). The vehicle action can be carried out as a function of the detection of an (absolute and / or relative) position of the roadway section and / or as a function of the detection of the features of the roadway section. These features can be determined, e.g. predictively, as a function of map information (from a correspondingly selected data section of a digital map), in particular recognized as such or as a corresponding pattern of the features in the map information.

• - eine (typisch bzw. genormt geformte) Kreuzung, z.B. 2-spurig zu 3-spurig,
• - eine Verbindung aus 3,T-junction 5, oder mehr als 5 Straßen, insbesondere unter Winkeln die nicht 90° sind,
• - ein Kreisverkehr, insbesondere mit 3,T-junction 5, oder mehr als 5 Straßen, die nicht mit je 90° zueinander ausgerichtet sind,
• - ein Abschnitt einer bestimmten Spur, z.B. eine Kennung bzw. Bestimmung einer Spur, z.B. einer von mehreren Spuren einer Straße oder einer Bewegungsrichtung einer Straße, oder einer Art einer Spur, z.B. einer Abbiegespur, einer schnellen bzw. langsamen Spur, etc.

For example, the one or more roadway sections are characterized by one or more of the following features or a combination of the following features:

• - a (typical or standardized) intersection, e.g. 2-lane to 3-lane,
• - a connection of 3, T-junction 5, or more than 5 streets, especially at angles that are not 90 °,
• - a roundabout, especially with 3, T-junction 5, or more than 5 streets that are not aligned at 90 ° to each other,
• - a section of a certain lane, e.g. an identifier or determination of a lane, e.g. one of several lanes of a street or a direction of movement of a street, or a type of lane, e.g. a turning lane, a fast or slow lane, etc.

As an alternative or in addition, the at least one specific distant roadway section can be a roadway section that is not sufficiently visible, e.g. due to a visual obstruction.

One or more features described in this document can only or predominantly only be executable in a first operating mode (provided for this purpose) that differs from a manual driving mode or predominantly manual. The first operating mode can be activated for the user by a corresponding input, in particular before or already during the journey, and / or can be confirmed by a corresponding output (e.g. change in the appearance or behavior of the operating element).

In an advantageous development of the invention, it is provided that before the vehicle action corresponding to the one or more driving actions is carried out, at least one or more of the predetermined driving actions can be changed or deleted by the user in the sense of a correction, i. H. the user can completely delete or change one or more of the driving actions. It can also be provided that one or more predetermined driving actions (as a whole) or only individual parameters of one or more predetermined driving actions can be corrected.

Furthermore, a selection set can be provided which provides a selection of the correction options that the user can undertake before carrying out the vehicle action corresponding to the one or more driving actions.

In an advantageous development, the device can comprise a further operating device, by means of which the one or more driving actions of the user and / or corresponding vehicle action can be assigned to a distant, in particular specific, section of the roadway.

The one or more driving actions can be assigned to one or more distant road sections (also) on the basis of and / or taking into account one or more features specific to the road section. For example, even in the case of an imprecise operating action by the user, a (automatically determined) more precise assignment to the road section can be carried out. In other words, the user does not necessarily have to assign one or more driving actions very precisely to a lane section or (virtually) perform them in relation to a representation of the surroundings of a lane section.

The corresponding vehicle action can be executed in a road section corrected by the device or at a corrected position within the road section.

If the user of the vehicle does a certain driving action (e.g. characteristic of turning the vehicle) does not exactly match a section of the road (e.g. a curve) and / or not a section of the road that is suitable for performing the corresponding vehicle action (e.g. turning) assigns, an assignment proposed or carried out by the device to a more precise road section and / or an assignment of the corresponding vehicle action to a more suitable road section can be executed.

Furthermore, the device can be designed to interpret an operating action or correction by the user in such a way that an advantageous and / or correspondingly appropriate assignment or correction of one or more driving actions to a road section is preferred (preferred), and / or with a first (e.g. positive) feedback is answered. Alternatively or additionally, a disadvantageous and / or correspondingly inappropriate assignment of one or more driving actions to a section of the road can not be carried out, carried out in an interpreted or corrected form, and / or answered with a second (e.g. negative) feedback.

For example, the device can be designed to recognize, in particular to predict, whether or how well a vehicle action fits a certain road section and / or whether or how well a vehicle action can be carried out in a particular road section, in particular when the road section is reached .

For example, the device can be designed to recognize certain, e.g. favorable and / or unfavorable combinations of the one or more driving actions in relation to a certain lane section and / or a condition expected for the certain lane section (eg at the time the lane section is reached) to execute. The device can be designed to generate feedback on the identified favorable and / or unfavorable combinations (e.g. to determine and output).

Advantageously, the further operating device can be designed to generate a representation characterizing, in particular representing, the surroundings of the one or more road sections lying ahead for the user of the vehicle.

The further operating device can be designed to read in the data of a section of a digital map and / or a sensory display relating to one or more sections of the road ahead. The representation of the surroundings of the one or more distant road sections can be generated on the basis of the data of a corresponding map section and / or sensor data, e.g. camera data. The representation can include a photo-realistic, a simplified, an abstract or symbolic representation of the features, objects, etc. in the vicinity of the one or more specific (distant) road sections. The display can be generated at least partially on the basis of data from the past (e.g. camera data from another vehicle or from a permanently installed camera) and / or at least partially comparatively current (updated) data, in particular data recorded essentially in real time.

For example, the further operating device can generate a three-dimensional or three-dimensionally perceptible or appearing view of the surroundings of the one or more further roadway sections. The generation can include determining corresponding data and / or outputting a corresponding information, in particular a visually perceptible representation.

Advantageously, the operating element can be an operating element which, in an essentially manual driving mode and / or when the user intervenes in an automated journey, for controlling the movement of the vehicle, in particular for controlling at least the longitudinal and / or lateral guidance of the vehicle is designed.

In a simplified case, the operating element can correspond to a (preferably correspondingly further developed) steering handle (simplified: steering wheel), a gear shift, an accelerator pedal, brake pedal, blinker, light switch, gear selector switch, etc. In this case, the operating element (for carrying out the invention) can be at least partially and / or temporarily decoupled from a direct control of a corresponding vehicle parameter or vehicle action or can be designed so that it can be decoupled. In other words, a change in the steering angle of the vehicle specified as a driver action on the steering handle, a pedal angle on a pedal, a flashing signal on a corresponding rocker, etc., cannot be carried out in a section of the roadway that the vehicle is currently driving on (and not to the current one Point in time) but rather in a certain future road section (in a corresponding manner), in particular still (far) away. The specification of the driver's actions on the operating element (which is decoupled at this point in time) results in a particular advantage due to the specification (in particular designed as a virtual version). The user can use various possibilities, which can be realized by such an operating element and which are optimized or can be optimized for the driving action, for specifying the driving action. Alternatively or additionally, the one or more driving actions can be specified by means of a touch screen and / or a gesture recognition device.

In a further advantageous embodiment, the device can have at least one first operating mode which differs from an essentially manual driving mode (or an operating mode corresponding to manual driving), with the operation of the device according to one or more of the features identified in the accompanying description only or can mainly only be carried out in the first operating mode.

• - die Aktivierung und/oder der Betrieb des ersten Betriebsmodus abhängig von dem Maß, insbesondere des haptischen, Kontakts des Nutzers des Fahrzeugs an dem Bedienelement ist, und/oder
• - das Bedienelement bei einer Aktivierung und/oder einem Betrieb des zumindest einen ersten Betriebsmodus von einer unmittelbaren und/oder im Wesentlichen in Echtzeit ausführbaren Wirkung auf einen Aktor des Fahrzeugs bzw. auf eine Ausführung einer Fahrzeugaktion entkoppelt ist bzw. wird.

The first operating mode is preferably characterized in that

• - The activation and / or the operation of the first operating mode is dependent on the degree, in particular the haptic, contact of the user of the vehicle on the operating element, and / or
• the operating element is or is decoupled from an immediate and / or essentially real-time effect on an actuator of the vehicle or on the execution of a vehicle action when the at least one first operating mode is activated and / or operated.

In a further advantageous embodiment, the device is designed to determine a vehicle action corresponding to the two or three of the driving actions, in particular a driving maneuver of the vehicle, on the determination of at least two or at least three driving actions.

The device can be designed to assign a corresponding vehicle action (desired by the user of the vehicle) to the two or three driving actions on the basis of one, two or at least three driving actions. In particular, the device is designed to interpret the at least two or at least three driving actions specified in a specific combination and / or sequence as a specific vehicle action, in particular a driving action with one or more specific parameters.

For example, (e.g. in relation to a traffic circle ahead) from the driver's actions, "blinking, turning to the left, cornering up to a certain exit and turning into the exit" (on the control element) can be determined.

The at least one vehicle action, in particular a parameter of the vehicle action, can (also) be determined as a function of the road section or corrected by the device to which it is assigned. For example, the type of vehicle action and / or a parameter of the vehicle action can be determined depending on a feature of the (distant) road section and / or on a condition expected there (e.g. at the time interval when the road section is reached). For example, different vehicle actions can be determined based on the specification of the one or more driving actions, in particular depending on the road section, in particular on a specific feature of the road section, in particular to which these are assigned.

Advantageously, the device comprises a feedback module that is equipped, before reaching the specific (assigned) lane section, in particular already when specifying the one or more driving actions or when correcting the one or more driving actions, one or more driving actions and / or to output feedback relating to the correction and / or a corresponding vehicle action to the user.

With such a feedback module, in a particularly advantageous embodiment of the invention, it can be provided that the device is designed to output corresponding feedback to the user directly by specifying one or more driving actions. Based on the feedback, the user can make a corresponding correction of at least one driving action or a parameter of a driving action, with the user being given feedback about the correction made, in particular the effects on future vehicle actions, immediately with the correction.

In particular, the user receives feedback that (at the same time) relates to a combination of several specifications (planned for the future). In particular, the feedback marks a “simulated overall result” from a combination of several specifications. For example, feedback can be a favorable and / or unfavorable combination (according to a predetermined criterion) of at least one specification with a further specification and / or with a (planned or automatically executed) action of the vehicle, and / or with a traffic rule, etc. mark. Certain advantages and / or disadvantages (quasi: side effects) resulting from the combination of the two or more specifications (likely) can be determined, taken into account and / or transmitted to the user with the feedback.

The feedback particularly preferably characterizes an interpretation of the one or more specifications and / or the (predicted) result of the execution of one or more machine-interpreted specifications of the user. On the basis of the feedback, for example an optical, graphical, augmented image of what is to be expected as a result and / or taking into account the user's specifications or what will change in the result (compared to reality without a specification or with another specification) the user can still take corrective action, i. H. a (in particular selective) possibility of change or correction can be provided. This can be provided in such a way that the user can change one or more of the specifications (e.g. as previously entered operating actions), in particular selectively) and / or a parameter of an action of the vehicle.

In other words, this can be expressed as follows: by the fact that the specifications, in particular certain driving actions or sequences of driving actions, relate to the near future and a vehicle action corresponding to the driving action or a sequence of driving actions is determined in advance and / or is output as information, these can still be corrected (until they are executed). The expected result, which is dependent on the one or more driving actions, can in turn be output as (newly calculated) feedback. E.g. the user is shown what changes due to his change.

The feedback can include auditory, visual, haptic (also meant tactile), and / or kinesthetically perceptible information.

The feedback can be indicative of feasibility, non-feasibility, a reason for feasibility or non-feasibility and / or a likely consequence in the event that the vehicle action is (nevertheless) carried out. Furthermore, the feedback can be indicative of an alternative driving action, a vehicle action to be carried out alternatively and / or an alternative parameter of the driving action or the vehicle action. The alternative driving action, the alternative vehicle action to be carried out and / or an alternative parameter of the driving action or the vehicle action can be determined according to a predetermined rule, in particular such that an improved degree of feasibility, a reduced (negative) consequence or another predetermined criterion is sought. A parameter of the feedback can be determined as a function of one or more features of the lane section, an operating parameter of the vehicle, in particular related to the lane section, and / or an expected condition in the vicinity of the lane section.

For example, the feedback can identify the feasibility and / or non-feasibility of a vehicle action corresponding to the one or more driving actions (in the vicinity of the one or more road sections ahead). The feedback can indicate at least two different measures of feasibility or non-feasibility. A measure of the feasibility or non-feasibility can indicate a gradation and / or variant of the feasibility.

• - Ausführbarkeit in einer nahezu unveränderten Form (z.B. etwa korrespondierend mit einem oder mehreren Parameter der einen oder mehreren fahrerischen Handlungen);
• - Ausführbarkeit in einer veränderten Form (z.B. etwa als eine mit der einen oder mehreren fahrerischen Handlungen vorgegebene Art der Fahrzeugaktion mit einem oder mehreren durch die Vorrichtung wesentlich veränderten bzw. abweichend zu den Parametern der fahrerischen Handlungen ermittelten Parameter);
• - Ausführbarkeit in einer durch die Vorrichtung interpretierten Form (z.B. als eine Art der Fahrzeugaktion, die mit der Vorrichtung auf Basis der fahrerischen Handlungen ermittelt wurde);
• - Ausführbarkeit in einer Form, die von der Vorrichtung alternativ als ausführbar oder vorteilhaft ausführbar ermittelt wurde (z.B. als eine andere Art der Fahrzeugaktion, als die, die sich auf Basis der einen oder mehreren fahrerischen Handlungen ergibt). Beispielsweise kann das Feedbackmodul ein oder mehrere Fahrmanöver ermitteln und eine das Fahrmanöver kennzeichnende Information an den Nutzer ausgeben, das sich auf Basis der fahrerischen Handlungen des Nutzers ergeben würde. Mit anderen Worten kann die Vorrichtung ausgestaltet sein, eine alternative fahrerische Handlung und/oder eine alternative Fahrzeugaktion (als ein Ermitteln und Ausgabe eines Feedbacks) vorzuschlagen. Dabei kann die alternative fahrerische Handlung und/oder die alternative Fahrzeugaktion derart ermittelt werden, dass diese (gegenüber der mit dem Bedienelement vorgegebenen fahrerischen Handlung) ein erhöhtes Maß der Ausführbarkeit aufweist.

For example, the feedback (on a predominantly given feasibility) can be characteristic of one or more measures of feasibility defined as follows:

• - Can be carried out in an almost unchanged form (for example corresponding to one or more parameters of the one or more driving actions);
• Feasibility in a changed form (for example, as a type of vehicle action specified with the one or more driving actions with one or more parameters that are significantly changed by the device or determined differently from the parameters of the driving actions);
• Feasibility in a form interpreted by the device (for example as a type of vehicle action that was determined with the device on the basis of the driver's actions);
• Executability in a form that has been determined by the device to be alternatively executable or advantageously executable (for example as a different type of vehicle action than that which results on the basis of the one or more driving actions). For example, the feedback module can determine one or more driving maneuvers and output information characterizing the driving maneuver to the user that would result on the basis of the user's driving actions. In other words, the device can be designed to propose an alternative driving action and / or an alternative vehicle action (as a determination and output of feedback). In this case, the alternative driving action and / or the alternative vehicle action can be determined in such a way that it has an increased degree of feasibility (compared to the driving action specified with the operating element).

• - eine ungeeignete oder ungünstige fahrerische Handlung oder Kombination und/oder Reihenfolge von zumindest zwei fahrerischen Handlungen;
• - ein ungeeigneter Fahrbahnabschnitt zur Ausführung der einen oder mehreren fahrerischen Handlungen;
• - eine oder mehrere alternative (von der Vorgabe des Nutzer zumindest teilweise abweichende) fahrerischen Handlungen und/oder Fahrzeugaktionen, die an einem bestimmten (von dem Nutzer gewählten) Fahrbahnabschnitt ausführbar sind;
• - einen alternativen (von der Vorgabe des Nutzers zumindest teilweise abweichenden) Fahrbahnabschnitt, der sich zur Ausführung der einen oder mehrerer fahrerischen Handlungen und/oder einer (korrespondierenden) Fahrzeugaktionen eignet oder besser eignet.

For example, the feedback (on a predominantly given non-feasibility) can be characteristic of one or more measures of feasibility defined as follows:

• - an unsuitable or unfavorable driving action or a combination and / or sequence of at least two driving actions;
• - an unsuitable section of the roadway to carry out the one or more driving actions;
• - One or more alternative (at least partially deviating from the user's specification) driving actions and / or vehicle actions that can be carried out on a specific section of the roadway (selected by the user);
• - An alternative (at least partially deviating from the user's specification) section of the roadway, which is suitable or better suited for carrying out the one or more driving actions and / or a (corresponding) vehicle action.

The feedback can preferably include a haptic and / or kinesthetic effect on the user of the vehicle. The haptic feedback can include various variants of a tactilely perceptible stimulus. The kinesthetic feedback can include any stimulus that can be perceived with the so-called muscular sense, e.g. an acceleration effect, change in the direction and / or orientation of the acceleration on the user of the vehicle. For example, a vibration, resistance, movement of the operating element can be caused as a haptic feedback. For example, an acceleration effect on the passenger compartment of the vehicle and / or the seat of the user of the vehicle can be initiated as a kinesthetic feedback.

If, for example, it is determined that the specified driving action in the assigned lane section will result in exceeding an appropriate and / or permitted speed, acceleration, or an interaction, e.g. a collision with an object, a corresponding action can already be taken when specifying the driving action Feedback (e.g. one or more short braking processes of the vehicle, brief acceleration, a nod of the passenger compartment of the vehicle, and / or an action of the pedal of the vehicle on the leg of the user, e.g. a counterforce and / or vibration).

If, for example, it is determined that the specified driving action in the assigned lane section is expected to cause a lane marking to be exceeded, to leave the lane, or to increase the appropriate lateral acceleration (e.g. in a tight bend), then a corresponding action can be taken when specifying the driving action Feedback (e.g. indicative of a feature of the consequence, e.g. an imitation of the consequence) can already be generated in the current section of the road. For example, a brief swaying, yawing of the passenger compartment of the vehicle and / or the seat of the user and / or an action of the steering handle of the vehicle on at least one hand of the user, e.g. as a counterforce and / or vibration, can be caused. In other words, the device can be designed to generate feedback on the one or more driving actions, wherein the feedback identifies, in particular represents, a probable result, in particular a consequence or consequence of a (later) execution of the at least one corresponding vehicle action (when reaching the assigned road section). The feedback can simulate a feature of the result (for example symbolically), in particular on the operating element. For example, an undesired effect (at least likely following due to a driver's action in the future) from a certain direction, a direction-dependent feedback, for example as coming from the direction, can also be output.

The output of the feedback can include determining, in particular predicting, the corresponding data, determining a parameter (e.g. direction of the feedback) and / or actuating a corresponding actuator of the vehicle.

Furthermore, the feedback can include a tactile action (a tactile feedback) by means of a touchscreen (e.g. the touchscreen of the further operating device and / or the visualization module). In particular, it can be a touchscreen on which (in a corresponding embodiment variant of the device) the driver's action is specified and / or a selection or assignment of the lane section can be carried out.

The further operating device and / or the feedback module and / or the visualization device can particularly preferably be networked or integrated with one another. Further operating devices, visualization devices and / or feedback modules can comprise means of an AR (= augmented reality) set up in accordance with the features of the device or the method described in this document.

As has already been shown above, the feedback module can advantageously be equipped to provide the feedback immediately after specifying or correcting a (any) driving action that can be selected by the user or after specifying or correcting a sequence of several driving actions and / or a long time before the Reaching the respective lane section to be output to the user.

Feedback on a vehicle action or a result of the vehicle action, if it is carried out, can already be generated, which is at least likely to result on the basis of the one or more driver actions (at a significantly later time interval).

Advantageously, the correction or deletion of a driving action that belongs in particular to a sequence of several driving actions can be followed by feedback regarding the one or more corrected driving actions, in particular a changed sequence of driving actions and / or a corresponding correction or deletion changed or deleted vehicle action can be generated (or output).

The device can preferably be designed to identify, in particular to represent, a change and / or deletion of the at least one driving action and / or a corresponding vehicle action within a representation of the surroundings of the removed road section. For example, a changed or driver-related action and / or a corresponding consequence, e.g. identified for the vehicle action, in particular can be represented.

Advantageously, at least part of the feedback can be output to the user of the vehicle by means of the operating element. The feedback can be generated, for example, with the means integrated into the control element itself, connected to it or connected to the control element. The output is preferably carried out on the control element. As a result, figuratively speaking, the user can perceive a future feasibility, non-feasibility, or the execution of the driving action. The feedback can be output in the form of a resistance to an action, in particular a force, by the user and / or as a haptic stimulus (e.g. a vibration or a so-called directed vibration). A parameter of the feedback, e.g. the direction of the action, can, for example, depend on the extent to which the corresponding vehicle action can be carried out. The feedback can be an action and / or resistance in one or more specific directions, wherein the at least one direction can be determined depending on the extent to which the vehicle action can be carried out.

For example, an (initial, first) selection set with different predeterminable vehicle actions can be generated, which can be selected by means of the one or more driving actions, the selection set including various user actions or allowing selection depending on a predetermined criterion. The predefined criterion can be dependent on the one or more features of the selected (distant) road section and / or on at least one (at least with a certain probability in the vicinity of the road section) expected condition, e.g. a specific driving situation. The im Generally, a large number of at least partially automated vehicle actions can be reduced to a (significantly smaller) subset of the vehicle actions that can be performed adequately and / or appropriately in the specific lane section (eg at the given time). As a result, an error can be avoided and the specification of the one or more driving actions can be made much easier. The selection set can be designed as a selection list or preferably as a selection or arrangement of the symbols or virtual operating elements corresponding to the vehicle actions.

In a further advantageous embodiment of the invention, for example on the basis of the last-mentioned (initial) selection set, a (further) selection set (or a subset of this) with different predeterminable vehicle actions and / or with already predefined vehicle actions can be generated, with one or more correctable or erasable vehicle actions and / or a degree of change of the one or more vehicle actions within the selection set is identified.

For example, a selection set with different predeterminable vehicle actions is generated, in particular visualized. One or more vehicle actions and / or a measure of the changeability of at least one vehicle action can be identified, in particular visualized, in the generated selection set. A measure of the changeability of a vehicle action can characterize one or more changeable parameters or one or more limit values that indicate a possible or no longer (readily) possible correction (change) of the vehicle action. For example, a measure of the changeability of a still specifiable or already specified vehicle action (e.g. by means of the visualization module) can be visualized. Alternatively or additionally, feedback (e.g. by means of the feedback module) can be outputting characteristic (still) changeable parameters or one or more limit values that indicate a possible or no longer possible correction (change) of the vehicle action.

For example, in response to a change in the at least one vehicle action up to a specific limit value, in particular corresponding to the degree of changeability, no feedback or a first (e.g. positive or positive defined) feedback can be generated. For example, in response to a change in the at least one vehicle action from a certain limit value, in particular corresponding to the degree of changeability, a second (e.g. negative or defined as negative) feedback can be generated.

The one or more driving actions or a vehicle action can preferably be interactively changeable and / or erasable, in particular a corresponding visualization of a change or erasure being able to be output almost in real time.

Generally or preferably, the invention also includes a control unit that can be built into a vehicle or directly or indirectly connected to the vehicle, the electronic control unit being designed to function as part of the device or a device according to one of the preceding claims to operate in the manner described therein or in the accompanying description.

• - Ermitteln einer oder mehreren fahrerischen Handlungen an dem Bedienelement, wobei sich die eine oder mehrere fahrerische Handlungen nicht auf den aktuellen Fahrbahnabschnitt, sondern auf einen entfernten Fahrbahnabschnitt beziehen,
• - Ermitteln einer Korrektur des Nutzers bzgl. einer oder mehrerer fahrerischer Handlungen, oder Fahrzeugaktionen,
• - Ausführen der mit der einen oder mehreren fahrerischen Handlungen korrespondierenden und ggf. korrigierten Handlungen korrespondierenden Fahrzeugaktion entsprechend der ermittelten Korrektur, wobei das Ausführen erst beim Zutreffen der Bedingung zum Ausführen der Fahraktion erfolgt.

Furthermore, a method for operating an at least partially automated vehicle is claimed, with an operating element that can be operated by a user of the vehicle, the method comprising:

• - Determination of one or more driving actions on the control element, wherein the one or more driving actions do not relate to the current lane section, but to a distant lane section,
• - Determination of a correction by the user with regard to one or more driving actions or vehicle actions,
• Execution of the vehicle action corresponding to the one or more driving actions and possibly corrected actions corresponding to the determined correction, the execution only taking place when the condition for executing the driving action is met.

• - Abbildung der einen oder mehreren, insbesondere interpretierten, Bedienhandlungen; und/oder
• - Ausführung der einen oder mehreren, insbesondere interpretierten, Bed ienhand lungen.

The method particularly preferably comprises determining a change request by the user, in particular relating to an interpreted operating action, and then changing one of the following:

• - Mapping of the one or more, in particular interpreted, operator actions; and or
• - Execution of one or more, in particular interpreted, operator actions.

In particular, the device according to the invention is designed to carry out the method or the method according to the invention can be carried out with the device.

According to a further aspect, the invention is characterized by a computer program, the computer program being designed to incorporate the device according to one or more thereof To operate the document described features and / or to carry out said method according to one or more features described in this document. In particular, the computer program is a software program which, for example, can run as an app (= “application”) for one or more types of electronic computing units, preferably on said electronic control unit. The computer program is preferably also designed to take into account, aggregate a large number of additional information for operating the device or for executing the method.

According to a further aspect, the invention is characterized by a computer program product which comprises an executable program code and / or data sections, the program code and / or data sections designed to enable the electronic unit to carry out the method according to one or more features of the device or the method is. The computer program product comprises, in particular, a medium that can be read by the data processing device or storage areas on a medium or in a backend or cloud on which the program code and / or data sections are stored. According to a further aspect, the invention is characterized by a product which comprises a permanent or restricted authorized access right to stored data of the computer program product. The computer program product can be designed as an update of a previous computer program which, for example, includes the parts of the computer program or the corresponding program code as part of a function expansion, for example as part of a so-called “remote software update”.

• Beispielsweise ist die Vorrichtung ausgestaltet einen ersten Betriebsmodus z.B. durch eine entsprechende Eingabe und/oder Bestätigung des Nutzers zu aktivieren. Der erste Betriebsmodus zeichnet sich durch ein in diesem Dokument beschriebenes Verhalten des Bedienelements aus. Der erste Betriebsmodus zeichnet sich insbesondere dadurch aus, dass eine in dem ersten Betriebsmodus mit dem Bedienelement vorgegebene fahrerische Handlung nicht als eine in dem aktuellen Fahrbahnabschnitt auszuführende fahrerische Handlung bzw. eine entsprechende Fahrzeugaktion interpretiert wird, sondern als eine in einem weiteren, entfernten, (z.B. vorausliegenden, noch nicht unmittelbar sichtbaren) Fahrbahnabschnitt auszuführende fahrerische Handlung bzw. eine entsprechende Fahrzeugaktion interpretiert wird.

Further freely combinable examples, explanations, details and advantageous design options are shown below (without restricting the generality):

• For example, the device is designed to activate a first operating mode, for example by means of a corresponding input and / or confirmation by the user. The first operating mode is characterized by the behavior of the control element described in this document. The first operating mode is characterized in particular by the fact that a driving action specified in the first operating mode with the control element is not interpreted as a driving action to be performed in the current lane section or a corresponding vehicle action, but as one in a further, distant, (e.g. driving action to be carried out or a corresponding vehicle action is interpreted.

The first operating mode can be activated before or already during the journey and / or can be confirmed to the user by a corresponding output (e.g. change in the appearance or behavior of the control element). The first operating mode can be activated when a first predetermined condition is present and / or interrupted when a second predetermined condition is present or it can be converted into a manual or automated mode. For example, the predetermined condition can be determined as a function of a degree of haptic contact between at least one hand of the user and the operating element, e.g. a grip pattern for the operating element. For example, the first operating mode can be deactivated (also while driving), with the deactivation a (subsequent or further) driver action being related to the current lane section or being interpreted as being carried out immediately or as soon as possible.

For example, the device comprises a visualization module, wherein the visualization module is designed to generate one or more representations of one or more distant (for example, not yet reached by the vehicle, lying on a possible or probable route) roadway sections. There can be one or more roadway sections that are not (yet) directly visible to the user of the vehicle. These can include highlighted or augmented features of the surroundings of the lane section that are (particularly) relevant for the decision about driving actions in the representation of the surroundings of the lane section. The one or more representations can appear three-dimensional, for example displayed from a suitable perspective.
Furthermore, the visualization module can be configured to visually display a representation of the one or more driving actions and / or feedback on the one or more driving actions (in particular to visualize according to a specific rule). The representation of the one or more driving actions and / or the feedback can be related to the features of the lane section and / or can be faded in, in particular augmented, into the representation of the lane section.

The one or more remote roadway sections are in particular selectable at least partially by a further operating action by the user and / or at least partially selectable on the basis of the data that can be determined with the device, in particular automatically determined (proposed) or corrected, lane sections.

In one example, the (distant) lane section is selected first, then the one or more driving actions related to this are specified. With the selection of the lane section, a selection set of driving actions can be generated and / or predominantly only driving actions (without opposing, e.g. negative, feedback) can be selected or specified, which have at least a certain degree of feasibility in the lane section, in particular expected can be carried out safely and appropriately. This makes the selection of the driving action easier.

In one example, the one or more driving actions are specified first and then the (distant) lane section to which they relate is assigned. By specifying the one or more driving actions, a selection set of the lane section can be generated in which one of the vehicle actions corresponding to the one or more driving actions can be performed, e.g. at least with a certain degree of feasibility, in particular probably safely and appropriately. This makes the selection of the road section easier.

For example, the device comprises a further operating device which is designed to determine a selection of one or more roadway sections by the user of the vehicle. This can be done by recognizing a further operating action and / or the request of the user. The further operating device can be installed together with the visualization module or integrated with one another. The further operating device can have a user interface, touchscreen, joystick, recognition of gestures, facial expressions. Additionally or alternatively, one or more remote roadway sections can be selected by means of an operator control element described below or an operator control option integrated into the operator control element. In other words, the at least one further operating device can be installed together with the operating element. For example, the further device, for example as a control panel, can be integrated into the steering handle or can be connected to the steering handle. The device comprises an operating element. The operating element can comprise one or more operating elements that are in an essentially manual driving mode and / or when the user intervenes in an automated drive, for controlling the movement of the vehicle, in particular for controlling at least the longitudinal and / or lateral guidance of the Vehicle is designed. In a simplified case, the control element corresponds to a further development of a steering handle (simplified: steering wheel), for example a steering handle that is described in 102018202786.2, an accelerator pedal, brake pedal, indicator, gear shift, gear selector switch, etc. (for carrying out the invention in the at least one first operating mode) can be decoupled or decoupled at least partially and / or temporarily from a direct control of a corresponding vehicle parameter or corresponding vehicle action in real time.

For example, the device is designed to determine, in particular to recognize, one or more driving actions of the user specified with the operating element, wherein the one or more driving actions do not relate to the current lane section, but to a certain distant lane section ahead.

The one or more driving actions can relate to any vehicle system or any vehicle functionality, e.g. steering system, braking system, vertical dynamics system, drive system, user work control, lighting system, etc. Chassis and / or a degree of automation desired for a section of the roadway can also be viewed as a driver's action.

For example, the device can be designed to activate certain modes and / or non-activation of certain modes, e.g. high beam, signal light, chassis mode, energy recovery mode (a predominantly electric journey, predominantly a journey operated by a combustion unit, or a hybrid journey), only when it is reached, before reaching a certain road section and / or between a first (pre-selectable) road section and a second (pre-selectable) road section. In other words, in said first operating mode, the user can specify a specific road section and a vehicle action to be activated or deactivated there with the operating element.

As an exception, the driver's action can relate, for example, to an infotainment system or telecommunication system of the vehicle or an infotainment system operated in the vehicle. For example, a radio station and / or traffic news and / or a genre, etc. can be specified with the driver's action. For example, the messages from a telecommunication system or a social network can be displayed for or from a user pre-selectable specific lane section can be specified (and thus plannable). The execution, e.g. switching of the infotainment system or an output of (e.g. previously received) communication content can then only take place when reaching the (automatically and / or by the user) previously assigned lane section or while driving on a specific lane section.

For example, the device is designed, depending on the one or more driving actions, at least one corresponding to the reference, in particular assignment to a (certain distant) lane section, a vehicle action, in particular a type of vehicle action, e.g. a type of a driving maneuver to be carried out when the lane section is reached to determine. The determination can take place by means of a predetermined rule, e.g. with a pattern identification method.

For example, the device is designed to assign one or more driving actions and / or one or more of the one or more driving actions corresponding vehicle actions to the one or more (distant) road sections. The assignment can be carried out at least partially as a function of the (already described) further operating action of the user and / or at least partially on the basis of the data that can be determined with the device.

For example, the device is designed to determine, in particular to predict, one or more variants relating to a situation, in particular a driving situation and / or traffic situation in the vicinity of the one or more said roadway section. The prediction relates in particular to what is to be expected when the lane section is reached or at the time when it is likely to be reached.

For example, the device is designed to generate a representation of a specific (not yet reached or not yet visible) section of the roadway, a display of one or more, in particular interpreted, predetermined driver actions relating to this section of the roadway and / or a corresponding vehicle action, e.g. a driving maneuver, to generate. The at least one representation of one or more, in particular interpreted, predetermined driving actions by the user or the vehicle action relating to this lane section can be integrated, faded in, preferably augmented into the representation of the surroundings of the lane section.

For example, the device is designed to generate feedback for the user regarding the one or more driving actions and / or one or more corresponding driving vehicle actions. The feedback identifies information on the feasibility and / or non-feasibility of the one or more driver-related actions or a corresponding vehicle action. The feedback preferably relates to the one or more (not yet reached) road sections. The feedback particularly preferably relates to a representation of the surroundings of the specific, selected) road section. The feedback can, on the one hand, comprise at least one physical, in particular haptic, tactile action on the hand or foot of the user, with which the driving action was specified, and, on the other hand, visualization and / or acoustic information. For example, the feedback can also include a feature of an interaction or collision of the vehicle with an object if one or more driving actions or the corresponding vehicle action when driving later on the (assigned, at the time of assignment still removed) lane section (at least probably) to a can lead to such a consequence.

For example, the feedback on the steering handle and / or pedal includes a resistance and / or a vibration (preferably a so-called directed or asymmetrical vibration). The feedback can relate to a certain direction or take place in a certain direction. For example, the feedback can be generated against a direction of driving action. This can take place, for example, if no advantageous feasibility (e.g. a certain disadvantage in the case of actual execution) of the driving action or the corresponding vehicle action in the selected lane section was predicted. For example, the feedback indicates whether or how well a driving action can be combined with another driving action specified by the user, another necessary driving action, and / or with an automatically determined vehicle action (e.g. can be carried out in a certain combination and / or sequence) is. In other words, the feedback can (also) identify a mutual compatibility of at least two driving actions and / or a driving action with a (further or necessary) vehicle action.

For example, the device is designed to predict whether or not the at least one vehicle actions corresponding to one or more driving actions can be carried out and / or cannot be carried out.

• - eine permanent oder langfristig gültige Bedingungen, z.B. ein bauliches Merkmal des bestimmten Fahrbahnabschnitts, und/oder an dem Fahrbahnabschnitt geltende Verkehrsregeln, und/oder
• - eine mittelfristig gültige Bedingungen wie z.B. Verkehrssituation, Fahrbahnzustand, Wetter, etc. und/oder
• - eine kurzfristig gültige Bedingungen wie z.B. eine erwartete bzw. erwartbare Fahrsituation.

Various relevant information can be determined and taken into account. For example, the following can be taken into account:

• - a permanent or long-term valid condition, for example a structural feature of the specific lane section, and / or traffic rules applicable to the lane section, and / or
• - a medium-term valid conditions such as traffic situation, road condition, weather, etc. and / or
• - a short-term valid conditions such as an expected or expected driving situation.

In a simplified variant, the conditions can correspond to the current conditions in the lane section. These can be determined, for example, from sensor information, e.g. camera images relating to the section of the road. Two or more variants of the short-term and / or medium-term conditions are preferably taken into account. They can be conditions that can be expected with at least a certain probability and / or with a certain degree of probability. Preferably, the conditions can be dependent on the data from several sensors, e.g. B. cameras in the road network are predicted.

For example, the device is designed to determine or predict that the (specific, distant) road section is being reached or is imminent. The information assigned to the lane section on the previous driving actions and / or on the corresponding vehicle action can be called up. One or more conditions or changes in the conditions compared to the predicted conditions, e.g. a current driving situation, can be determined and taken into account.

• - Ausführbarkeit und/oder Nichtausführbarkeit der fahrerischen Handlungen bzw. der korrespondierenden Fahrzeugaktion;
• - eine Art und/oder Parameter der ausführbaren Fahrzeugaktion, z.B. ein Bewegungsparameter des Fahrzeugs bei der Ausführung der Fahrzeugaktion;
• - ein Unterschied zu einer auf die Vorgabe der fahrerischen Handlungen erzeugte Darstellung und/oder Feedback;

One or more of the following information can be updated, e.g. shortly before reaching the lane section, depending on the information determined:

• - Feasibility and / or non-feasibility of the driver's actions or the corresponding vehicle action;
• a type and / or parameters of the executable vehicle action, for example a movement parameter of the vehicle when the vehicle action is being carried out;
• a difference to a representation and / or feedback generated based on the specification of the driving actions;

Furthermore, the device can be configured to generate additional feedback, for example, as user information (and output it to the user of the vehicle), which is indicative of a difference between a predetermined driving action or the previously determined corresponding vehicle action and / or feasibility of the vehicle action on the one hand, and on the other hand, a vehicle action determined as a function of a current or updated condition and / or executability of the vehicle action.

For example, the device is designed to carry out one or more vehicle actions corresponding to the one or more driving actions only when the road section is reached, at least partially in an automated manner. The vehicle action can be carried out (only) when a further confirming action by the user is determined and / or if there is no further negative or corrective operator action. For example, a vehicle action is executed if a condition deviates from an expected (predicted) condition when it is executed and / or if the vehicle action is a (particularly) safety-relevant vehicle action only after a further confirmatory action by the user and / or at the No further negative or corrective operator action.

In a preferred embodiment, the following device results: Device for operating an at least partially automated vehicle with an operating element that can be operated by a user and that is also equipped to execute an essentially manual driving mode for controlling at least the longitudinal and / or lateral guidance of the vehicle, characterized in that the device has at least one first operating mode, which differs from an essentially manual driving mode, in which one or more driving actions of the user can be specified with the control element, and a distant, e.g. ahead, lane section at least partially by the user selectable and / or at least partially selectable or correctable by the device. The vehicle action corresponding to the one or more driving actions is only carried out in an at least partially automated manner when the vehicle reaches the (assigned) lane section.

In a preferred embodiment, the following method results: Method for operating a vehicle that can be driven at least partially in an automated manner, with an operating element that can be operated by a user of the vehicle and that is used in an essentially manual operating mode Control of at least one longitudinal and / or lateral guidance of the vehicle is used, wherein at least a first operating mode can be initiated or carried out, wherein in the first operating mode the control element is at least partially decoupled from influencing the longitudinal and lateral guidance of the vehicle, and in a first Time interval an initiation of one or more automatically executable vehicle actions, in particular driving actions, assigned to certain road sections in a road section ahead, can be recorded by the user on the control element, and only when a road section to which a vehicle action is assigned is reached the assigned Vehicle action is carried out automatically in a second time interval.

It should be emphasized that the invention does not necessarily pursue the goal of hard-defining a future course of the entire journey, for example. The latter is not necessary in order to nevertheless generate a significant economic advantage. Rather, a wish, decision, or driving skill of the user regarding the vehicle actions to be carried out (at least probably during a journey) can be taken into account in the interests of the user.

The device can be designed to determine driver actions related to a vehicle action and, if necessary, to determine part of the data for the corresponding vehicle action, even before one or more previous (in an analogous manner) predefined vehicle actions are carried out. Furthermore, several vehicle actions with respective, different execution conditions, e.g. in relation to a (current) trip, can be specified.

With the device, some of the driver's actions, e.g. decisions, requests (including special requests as certain deviations from automated guidance of the vehicle and / or from rational criteria) can be specified in advance. Furthermore, some of the data on one or more vehicle actions can be at least partially prepared in advance (and if necessary only corrected before the vehicle action is carried out). The device can be designed to process the corresponding data using the probability calculation. For example, the aim can be to prepare the data for at least one or two most likely cases. Furthermore, the device can be designed to check, update and / or optimize the data before the respective execution condition applies.

The driving actions and / or the corresponding vehicle actions can be a (comparatively small) portion of the non-automated or not sufficiently easy to automate decisions, actions or vehicle actions. For example, it can be less than 50, 30, 10, 5, 1% of all actions or vehicle actions. There is even a very great advantage if only a part, e.g. more than 50% - 90% of the said predetermined driving actions or the vehicle actions, taking into account the wishes, decisions or driving skills of the user when reaching the corresponding lane section can be executed.

The user of an automatically drivable vehicle can be relieved of reactive execution of various corrective actions or decisions that can occur during an at least partially automated journey. Such corrective actions or decisions are indispensable until a consistently and reliably executable high level of automation is achieved.

The invention allows at least a certain part of the (desired or necessary) driving actions to be specified at a time that is more suitable or selectable for the user (e.g. already at the beginning of the journey or during a predominantly automated phase of the journey). Thus, no or a smaller number of driver actions have to be carried out in the event of an otherwise imminent (urgent) takeover message from the vehicle when a section of the road is reached.

Furthermore, a sequence of driving actions can be specified or several driving actions can be specified for specific sections of the road, e.g. along a selected or probable route of the vehicle. As a result, the driving actions lose their reactive character for the user. In contrast to the actions that the user has to carry out (only on a few lane sections within a route) and may be torn away from further occupation or rest, he can perform the (few previously distributed over the duration of the journey) driving actions with a significantly perform higher attention and favors. Furthermore, the user's need to participate in what is happening on the journey is taken into account. Taking into account his actively expressed wishes, decisions or his driving skills increases the positive driving experience and results in a new driving pleasure.

The vehicle in the context of this document is preferably a motor vehicle, eg a car, truck, van, or motorcycle. This results in several advantages that are explicitly described in the context of this document and several other advantages that are comprehensible to the person skilled in the art. Nevertheless, the vehicle can be a watercraft, for example. In particular, the vehicle can be an agricultural vehicle or a (driving, moving) agricultural machine, a construction machine or a machine for carrying out earth movements. A corresponding vehicle action can be, for example, an action by such a machine.

A particularly great advantage of the invention arises when it is applied to a number of vehicles selected according to predetermined criteria, e.g. belonging to one or more, e.g. cooperating brands or members of an organization, a group of users, a group of a social network and so on. The device can also be designed for an expedient exchange of information based on the data of other vehicles from the number of vehicles. The method can therefore also include unrestricted or restricted access to the program code and / or data sections, for example for a group of vehicles and / or users, for example restricted to certain applications or conditions. In particular, the device is designed to store and / or further process the data on the driver's actions, lane sections and / or vehicle actions. A measure of the success in which a vehicle action was specified and / or carried out can be determined and taken into account when it is carried out later in the vehicle and / or in another vehicle. Furthermore, the invention also includes all other functionalities or functionalities of the vehicle that can be used in the vehicle, which in turn can be operated appropriately on the basis of the features of the device or as a function of the information determined in the method.

One or more parts of the device can also be configured as devices or modules that are at least partially separate or not mechanically connected to the vehicle. These can be designed to establish an operative connection (with one another and / or with the vehicle) and function as parts of the device. In particular, these can be carried or attached more or less loosely in the vehicle.

In the following, reference is made to the degree of automation in the sense of a further example. In this example, the dimensions or category values defined by the VDA (Association of the German Automobile Industry) are used as the variable representing the degree of automation. In addition, part of the invention includes that the variable representing the degree of automation takes into account certain aspects of the achievable or suitable degree of automation individually, selectively or in certain combinations. For example, a variable representing the degree of automation of the journey can also be selective in relation to at least two different aspects of the automation of the movement of the vehicle and / or for two or more different user assistance functions of the vehicle in the control unit, e.g. in relation to longitudinal guidance of the vehicle and / or lateral guidance of the vehicle and / or implementation of a lane change and / or implementation of an overtaking process and / or user information, in particular in connection with vehicle guidance. All of the described features of the invention can be used separately and differently for different aspects of automation.

The device is designed to read in a variable representing the degree of automation or, preferably, to determine it on the basis of various data. In this example, the at least one variable representing the degree of automation can be dependent on the user's specifications and / or on a stored operating history of the user and / or on parameters stored in a backend and retrievable by the vehicle or other useful criteria (e.g. type of road, etc. ) can be determined and / or taken into account.

One or more features of the method described in this document can be operable and / or varied depending on a category of the variable representing the current or predicted degree of automation of the vehicle's journey.

• - Längsführung des Fahrzeugs und/oder
• - Querführung des Fahrzeugs und/oder
• - Durchführbarkeit eines Spurwechsels und/oder
• - Durchführbarkeit eines Überholvorgangs und/oder
• - Durchführbarkeit eines Einfahrens in die Autobahn
• - Durchführbarkeit eines Ausfahrens von der Autobahn
• - Durchführbarkeit eines automatisierten Abbiegemanövers, etc.

The at least one variable representing the degree of automation can (moreover) represent different aspects of the degree of automation. For example, various qualitative and / or quantitative parameters of the degree of automation can expediently be taken into account. In particular, it is about those aspects of automation that can be activated or operated at least partially independently of one another. For example, the variable representing the degree of automation can be related to:

• - Longitudinal guidance of the vehicle and / or
• - Lateral guidance of the vehicle and / or
• - Feasibility of changing lanes and / or
• - feasibility of an overtaking maneuver and / or
• - Feasibility of entering the motorway
• - Feasibility of exiting the motorway
• - Feasibility of an automated turning maneuver, etc.

A variable representing the degree of automation, e.g. characterizing a previously determined degree of automation, can also be related, for example, to a vehicle action (initially as possible or a possibly desired or sensible) vehicle action or a specific (distant) section of the roadway. A certain degree of automation can also be an execution condition for the corresponding vehicle action. For example, driving actions of several users, e.g. almost simultaneously or alternately, e.g. on two control elements) can be determined (recognized as such) and taken into account accordingly when the vehicle action is carried out.

According to a further example, the features of the device or the method are applied to at least partially automated parking, exiting and maneuvering the vehicle.

• Dem Nutzer, z.B. einem Fahrer oder Passagier des Fahrzeugs wird eine neue äußerst attraktive Funktion während eines teilautomatisierten oder automatisierten Fahrens zur Verfügung gestellt. Dabei ergibt sich ein neues Fahrerlebnis. Dieses kann sich wesentlich von einem im Wesentlichen manuellen, unterstützten oder hochautomatisierten Betriebsmodus des Fahrzeugs unterscheiden.

Possible advantages resulting from the present invention are listed below:

• The user, for example a driver or passenger of the vehicle, is provided with a new, extremely attractive function during partially automated or automated driving. This results in a new driving experience. This can differ significantly from an essentially manual, assisted or highly automated operating mode of the vehicle.

A natural, at least subjective, need for control of the user is also satisfied. Depending on the variant or settings, the features described here are also suitable as counterparts to highly automated driving for user groups who want to make and specify as many decisions as possible about the journey themselves. These can thus be won over as users of highly automated or fully automated driving. This means that the user retains a substantial part of his freedom of choice, whereby, based on the driver's actions, the most continuous, uninterrupted flow of the journey is actually promoted. Successful marketing of vehicles that are not fully capable of highly automated or fully automated driving can also take place.

For example, the user can decide to turn off at the next possible or a specific junction of the road and specifies this (in the first operating mode) by means of a loose rotation of the (decoupled) steering wheel. Furthermore, for a junction located behind the junction, he can specify a further turn with a further turn of the (decoupled) steering wheel. This can take place even before a first turning has been carried out as the first driving action. The device can determine (on the basis of the map data) the next, one of the next or next best road sections on which a corresponding vehicle action or the sequence of vehicle actions can be carried out. The result can be shown to the user (eg symbolically, using the visualization module). The user can correct or delete these (possibly a long time before their specified execution). Feedback on the correction and deletion of the lane actions is then generated. Thereafter, the user can devote himself to other things, while the vehicle or the device according to the invention appropriately executes this specification when it reaches the road section. A particular advantage results from the fact that the driving actions are not irreversible (as with manual drivers). These or those that are carried out in response to the driver's actions can be corrected (changed) in various ways before they are carried out. Based on the visualization and / or the feedback on the driver's actions, the number of (later) surprises, disruptions or unsafe situations can be reduced.
In addition, a factor that is crucial for modern people can be saved, namely time. Ideally, not only can the time for causing a certain movement of the vehicle be freely selected within certain limits, but also a typically longer time can be saved before and during the execution of a driving maneuver, which a user previously (if he wanted to drive at least partially manually) used to observe the traffic.

QUOTES INCLUDED IN THE DESCRIPTION

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

Patent literature cited

• DE 102018202786 [0002]

Claims (15)

Device for operating an at least partially automated vehicle with a control element that can be operated by a user of the vehicle, the device being designed to determine one or more driving actions of the user of the vehicle on the control element, the one or more driving actions being one significantly later specify vehicle action to be carried out at least partially automatically and corresponding to the one or more driving actions, and at least one or more of the specified driving actions and / or driving actions corresponding to the driving actions by the user prior to executing the vehicle action corresponding to the one or more driving actions are correctable. Device according to Claim 1 , characterized in that before the vehicle action corresponding to the one or more driving actions is carried out, at least one or more of the predetermined driving actions can be changed or deleted by the user in the sense of a correction. Device according to one of the preceding claims, characterized in that one or more predetermined driving actions or individual, in particular user-selectable, parameters of one or more predetermined driving actions can be corrected. Device according to one of the preceding claims, wherein the device comprises a further operating device, by means of which an assignment of the one or more driving actions of the user and / or corresponding vehicle action to a distant, in particular a specific or characterized by a specific feature, lane section can be carried out. Device after Claim 4 , wherein the further operating device is configured to generate a representation characterizing, in particular representing, an environment of the one or more road sections lying ahead for the user of the vehicle. Device according to one of the preceding claims, wherein the operating element is an operating element which, in an essentially manual driving mode and / or when the user intervenes in an automated journey, for controlling the movement of the vehicle, in particular for controlling at least the Longitudinal and / or lateral guidance of the vehicle is designed. Device according to one of the preceding claims, wherein the device comprises a feedback module which is equipped, before reaching the specific, assigned lane section, in particular already when specifying the one or more driving actions or when correcting the one or more driving actions to output one or more driving actions and / or the correction and / or a corresponding vehicle action related feedback to the user. Device after Claim 7 , wherein the feedback module is equipped to output the feedback to the user immediately after specifying or correcting a driver-related action, in particular a user-selectable action and / or a longer time before the vehicle action is carried out, in particular before reaching the respective lane section. Device according to Claim 7 or 8th , also designed, to the correction or deletion of a driving action that belongs in particular to a sequence of several driving actions, a feedback regarding the one or more corrected driving actions, in particular a changed sequence of the driving actions and / or one corresponding to the correction or delete changed or deleted vehicle action. Device after Claim 7 or 8th , wherein at least part of the feedback is output to the user of the vehicle by means of the operating element or a means connected to the operating element. Device according to one of the preceding claims, characterized in that a selection set is generated with different predeterminable and / or already predefined vehicle actions, one or more changeable or erasable vehicle actions and / or a degree of change in the one or more vehicle actions within the selection set being identified. Operating method for operating an at least partially automated vehicle, with an operating element that can be operated by a user of the vehicle, the operating method comprising: determining one or more driving actions on the operating element, the one or more driving actions being one to be carried out at least partially automatically much later specify vehicle action corresponding to the one or more driving actions, - determining a correction by the user with regard to one or more driving actions or vehicle actions, execution of the vehicle action corresponding to the one or more driving actions according to the determined correction only when the condition for performing the driving action is met. Method according to the preceding claim, wherein the method for operating the device is designed in accordance with one or more features contained in the attached description. Electronic control unit that can be built into a vehicle or directly or indirectly connected to the vehicle, the electronic control unit being designed to function as part of the device or to operate a device in accordance with one or more features contained in the attached description. Computer program, in particular a computer program product comprising a computer program, the computer program being designed to be executed on a computing unit, in particular in the electronic control unit Claim 13 , essential steps of the procedure after Claim 11 or 12th to execute.