DE102019205942A1 - Method for providing a route for a motor vehicle with at least one driver assistance system and motor vehicle - Google Patents

Abstract

The invention relates to a method for providing a travel route (4) for a motor vehicle (50) with at least one driver assistance system (3), the motor vehicle (60) having n automation levels (40) in which it can use the at least one driver assistance system (3) can be operated, comprising the steps of: calculating travel routes (4) from a starting position (5) to a target position (6), providing optimized and / or selected calculated travel routes (14) according to at least one criterion (7) for selecting one of the provided routes (14). The invention also relates to a motor vehicle (50).

Description

The invention relates to a method for providing a route for a motor vehicle with at least one driver assistance system and a motor vehicle.

Modern motor vehicles increasingly have driver assistance systems which support the driver in driving the motor vehicle or which can drive the motor vehicle completely automatically.

From the DE 10 2015 225 152 A1 a method for controlling a motor vehicle with an assistance system is known. This includes steps of driving the motor vehicle with the assistance of the assistance system, determining a position of the motor vehicle, determining that the motor vehicle is approaching a point at which the functionality of the assistance system could be restricted, and outputting a warning to a driver of the motor vehicle .

The invention is based on the object of creating a method for providing a travel route for a motor vehicle with at least one driver assistance system and a motor vehicle in which the provision of the travel route is improved.

According to the invention, the object is achieved by a method with the features of claim 1 and a motor vehicle with the features of claim 10. Advantageous embodiments of the invention emerge from the subclaims.

In particular, a method for providing a route for a motor vehicle with at least one driver assistance system is provided, the motor vehicle having n automation levels in which it can be operated by means of the at least one driver assistance system, comprising the steps of: calculating routes from a starting position to a Target position, provision of calculated travel routes optimized and / or selected according to at least one criterion for selecting one of the provided travel routes.

Furthermore, a motor vehicle is created, comprising at least one driver assistance system, wherein the motor vehicle can be operated in n automation levels by means of the at least one driver assistance system, a calculation device, wherein the calculation device is designed to calculate travel routes from a starting position to a target position and according to at least one criterion provide optimized and / or selected calculated routes for selection.

The proposed method and the proposed motor vehicle make it possible to improve the provision of a route. The method is carried out in particular by means of a calculation device. This can for example be designed as part of a navigation device. On the basis of a start position, for example a current position of the motor vehicle, and a target position, which is specified, for example, by a driver of the motor vehicle, the calculation device calculates a number of routes from the start position to the target position. The multiple travel routes differ in their routing, that is to say the multiple travel routes differ from one another in at least one route section. The calculated routes are optimized and / or selected by means of the calculation device according to at least one criterion. The optimized and / or selected routes are then made available for selection.

The provision can take place, for example, on a display and operating device so that a driver of the motor vehicle can make a selection manually. The route selected in this way is then fed to the at least one driver assistance system for execution. Alternatively, it can also be provided that the optimized and / or selected travel routes are provided to a control device of the motor vehicle and one of the provided travel routes is selected by the control device and fed to the at least one driver assistance system of the motor vehicle for execution.

A driver assistance system comprises in particular a sensor system, a control device and an actuator system. The sensor system can include, for example, a radar sensor, a lidar system, a camera and / or an ultrasonic sensor. Environment data acquired by means of the sensors are evaluated by the control device to perceive the environment. For example, objects and obstacles in the vicinity can be recognized. Furthermore, it can be provided that environment data is received from a central server in the form of swarm data. On the basis of the perception of the surroundings and / or the swarm data, the control device controls the motor vehicle in a semi-automated or automated manner, for example by controlling or regulating longitudinal and / or transverse guidance of the motor vehicle via the actuators.

• - Stufe 0: Der Fahrer fährt vollständig selbst.
• - Stufe 1: Fahrerassistenz, bei der Fahrerassistenzsysteme den Fahrer teilweise beim Führen des Kraftfahrzeugs unterstützen (z.B. Längsführung).
• - Stufe 2: Teilautomatisierung, wobei der Fahrer bei der Fahrzeugführung unterstützt wird (Längs- und Querführung).
• - Stufe 3: Bedingungsautomatisierung, wobei der Fahrer das Kraftfahrzeug nicht dauernd überwachen muss; jedoch muss der Fahrer bei Bedarf nach einer Vorwarnzeit die Führung übernehmen.
• - Stufe 4: Hochautomatisierung, wobei das Führen des Kraftfahrzeugs dauerhaft vom System übernommen wird; der Fahrer kann jedoch zur Übernahme der Führung aufgefordert werden.
• - Stufe 5: Vollautomatisierung, wobei kein Fahrer mehr benötigt wird; das Kraftfahrzeug kommt ohne Lenkrad und Pedale aus.

An automation level (also referred to as an autonomy level) refers in particular to a degree of automation. The number n of automation levels is in particular greater than or equal to equal to 2. A distinction can be made here between an automation level in which only manual guidance of the motor vehicle is possible and a further automation level in which at least one journey supported by the at least one driver assistance system is possible. The number n of automation levels is preferably greater, in particular greater than or equal to 6. Typically, automated driving is classified into six levels:

• - Step 0 : The driver drives completely himself.
• - Step 1 : Driver assistance, in which driver assistance systems partially support the driver in driving the motor vehicle (eg longitudinal guidance).
• - Step 2 : Partial automation, whereby the driver is supported in driving the vehicle (longitudinal and lateral guidance).
• - Step 3 : Conditional automation, whereby the driver does not have to constantly monitor the motor vehicle; however, if necessary, the driver must take the lead after a warning period.
• - Step 4th : High level of automation, with the system permanently taking over the control of the motor vehicle; however, the driver can be asked to take the lead.
• - Step 5 : Full automation, with no driver required; the motor vehicle manages without a steering wheel and pedals.

It is provided, in particular, that several calculated travel routes are provided for selection. For example, three, five or ten travel routes optimized and / or selected based on the criterion can be provided for selection.

In particular, it can be provided that the optimization and / or selection takes place in each case taking a reference route into account. This can be, for example, the calculated route with the shortest distance and / or the shortest journey time.

The calculation device can be designed as a combination of hardware and software, for example as program code that is executed on a microcontroller or microprocessor.

In one embodiment it is provided that at least one automation level available on the at least one calculated route is taken into account as a criterion. For the driver of the motor vehicle, different levels of automation mean different degrees of comfort, with a higher level of automation offering a higher level of comfort because the driver has to control less manually. When optimizing and / or selecting the travel routes to be provided from the calculated travel routes, provision can be made, for example, for travel routes with a higher level of automation to be preferred. This can in particular also take place if this results in a longer distance and / or a longer journey time, for example. For this purpose, an available automation level is determined for a calculated route. For example, an automation level for the route can be queried from a database by means of the calculation device. As a result, an available automation level and thus a degree of comfort for the driver can be taken into account when optimizing and / or selecting the travel routes provided for selection.

In a further developing embodiment it is provided that automation levels available in each case for individual route sections on the route calculated in each case are determined and taken into account as a criterion. A route section denotes a subset or a section of a travel route. Such a route section can in particular be a section of a graph of a road map. The section connects two nodes of the road map graph. However, it can also be provided that a route section is selected in a different way, for example as a route or a section of the travel route with a constant or varying, but predetermined, length (e.g. 1 km, 2 km, 5 km, etc.), so that a route is composed of several route sections of the same or different lengths. This allows individual route sections to be viewed separately from one another. For this purpose, an available automation level is determined for each route section for a calculated route. For example, an automation level assigned to a route section can be queried from a database by means of the calculation device. The advantage is that travel routes can be assessed in more detail and optimization and / or selection of the provided travel routes is improved.

In a further developing embodiment, it is provided that the automation levels available in each case for the individual route sections are determined taking into account current and / or future environmental conditions. An available automation level can vary depending on the current (or future) environmental conditions on a route section. Since the at least one driver assistance system works by means of a sensor system to detect the surroundings, weather conditions can, for example Have an influence on the functionality of certain functions of the driver assistance system. For example, heavy rain can make a radar sensor inoperable so that a distance detection system based on it can no longer be operated reliably. This is taken into account when determining the automation levels available for each route section. As a result, current environmental conditions can be taken into account, so that a current state and availability of driver assistance systems can be determined and taken into account in an improved manner on the calculated travel routes.

In one embodiment it is provided that the automation levels available in each case for the individual route sections are determined taking environmental data into account. The environmental data can be provided, for example, in the form of swarm data, the swarm data being made available from other motor vehicles, for example via a carto-car or other communication infrastructure. If a large number of other motor vehicles have already been driven with a certain automation level on a route section, it can be concluded from this information that this automation level of a driver assistance system is reliably available. In this way, experience in the form of swarm data from other motor vehicles can be taken into account when determining the available automation level of the route section.

In one embodiment it is provided that the optimization and / or selection of the travel routes take place on the basis of at least one factor selected or determined as a function of an automation level. The at least one criterion then includes this at least one factor. In particular, it can be provided that the at least one factor is predefined on the basis of personal preferences of the driver of the motor vehicle. The factor can, for example, describe by how much a distance can be lengthened compared to a reference route (e.g. the shortest route and / or the route with the shortest journey time) if a certain level of automation is available on the route. The advantage is that the driver's preferences can be taken into account directly when providing optimized and / or selected calculated routes.

In a further developing embodiment it is provided that the at least one factor is determined on the basis of at least one predetermined characteristic curve. The characteristic curve can, for example, link a value for the factor with a specific automation level so that the factor can assume different values for different automation levels.

In a further developing embodiment, it is provided that the at least one predetermined characteristic curve is part of a characteristic map in which the at least one factor is dependent on an available automation level and an automation component of the respective route in which the motor vehicle can be driven automatically by means of the at least one driver assistance system, is deposited. Due to the double dependency, the factor can be made available in accordance with the personal preferences of the driver. Depending on the automation component with which a route can be driven with a certain automation level, a factor preferred by the driver can be provided or determined with which the route or the respective route section is evaluated.

In a further embodiment it is provided that a state of drowsiness of a driver of the motor vehicle is detected, the calculation and provision being started as a function of the detected state of drowsiness. In the simplest case, the drowsiness can be detected by a physically designed or virtual operating element, for example a button. If the driver is tired, he actuates the control element and the process is started. He can then select one of the provided travel routes or have one of the travel routes selected, for example by a control device of the motor vehicle. Of course, the driver can also start the process using the button or another button provided for this purpose when he is not tired. Alternatively or additionally, a sensor system can also be provided for detecting the tiredness, for example a camera system for detecting a blinking frequency, etc. In particular, driving routes with an increased level of automation can be made available to the driver in the event of emerging tiredness.

Features for the configuration of the motor vehicle or the computation device of the motor vehicle result from the description of configurations of the method. The advantages of the calculation device are in each case the same as in the embodiments of the method.

• 1 eine schematische Darstellung einer Ausführungsform des Kraftfahrzeugs;
• 2 ein schematisches Ablaufdiagramm einer Ausführungsform des Verfahrens zum Bereitstellen einer Fahrtroute für ein Kraftfahrzeug mit mindestens einem Fahrerassistenzsystem;
• 3 ein schematisches Logikdiagramm zur Verdeutlichung einer Ausführungsform zum Bestimmen einer verfügbaren Automatisierungsstufe und eines Automatisierungsanteils der jeweiligen Fahrtroute bzw. zugehöriger Routenabschnitte, in dem bzw. in denen das Kraftfahrzeug mittels des mindestens einen Fahrerassistenzsystems automatisiert gefahren werden kann;
• 4 eine schematische Darstellung eines Kennfeldes zum Bestimmen des Faktors.

The invention is explained in more detail below on the basis of preferred exemplary embodiments with reference to the figures. Here show:

• 1 a schematic representation of an embodiment of the motor vehicle;
• 2 a schematic flow diagram of an embodiment of the method for Providing a route for a motor vehicle with at least one driver assistance system;
• 3 a schematic logic diagram to illustrate an embodiment for determining an available automation level and an automation portion of the respective route or associated route sections in which the motor vehicle can be driven automatically by means of the at least one driver assistance system;
• 4th a schematic representation of a map for determining the factor.

In 1 Figure 3 is a schematic representation of an embodiment of the motor vehicle 50 shown. The car 50 comprises a computing device 1 , a display and operating device 2 and a driver assistance system 3 . The driver assistance system 3 can for example a longitudinal and lateral regulation of the motor vehicle 50 automated partially automated or automated control or regulation. Here, n automation levels are available, for example there can be six automation levels (level 0 up to level 5 ).

The computing device 1 is designed in such a way, routes 4th from a starting position 5 to a target position 6 to be calculated and according to at least one criterion 7th optimized and / or selected calculated routes 14th to be provided for selection. The starting position 5 is for example a current position of the motor vehicle 50 , the target position 6 is for example by a driver of the motor vehicle 50 given.

The optimized and / or selected routes 14th are on the display and operating device 2 displayed for selection. The driver of the motor vehicle 50 can be a selection of one of the displayed optimized and / or selected driving routes 14th to meet. The route selected by the driver 24 is then the driver assistance system 3 supplied, which the motor vehicle 50 based on the selected route 24 controls or instructions for controlling the motor vehicle 50 , for example in the form of navigation instructions.

It can be provided that as a criterion 7th at least one on the at least one calculated route 4th available automation level 40 is taken into account. For example, only calculated routes can 4th be selected that have an automation level 40 exhibit above a threshold value.

In a further development, it can be provided that as a criterion 7th available automation levels 40 for individual route sections 9 on the calculated route 4th be determined and taken into account.

In this context, provision can be made for the automation levels available in each case 40 for the individual route sections 9 taking into account current and / or future environmental conditions 11 to be determined. The environmental conditions 11 can, for example, weather conditions on the individual route sections 9 be some from a weather service 20th queried and / or provided by this.

It can also be provided that the automation levels available in each case 40 for the individual route sections 9 taking environmental data into account 12 to be determined. The environment data 12 can for example from other motor vehicles or a server 21st to be provided.

It can be provided that the optimization and / or selection of the travel routes 4th based on at least one depending on an automation level 40 chosen or specific factor 8th he follows.

It can also be provided that the at least one factor 8th based on at least one specified characteristic 61 is determined. For this purpose, the calculation device 1 for example the characteristic 61 provided.

It can further be provided that the at least one predetermined characteristic curve 61 Part of a map 60 is where the at least one factor 8th depending on an available automation level 40 and an automation part 41 the respective route 4th in which the motor vehicle 50 by means of the at least one driver assistance system 3 can be driven automatically, is stored. An exemplary map 60 with several characteristics 61 is in 4th shown.

It can be provided that a state of fatigue 15th of a driver of the motor vehicle 50 is detected, the calculation and provision depending on the detected state of fatigue 15th is started. For example, a control element 16 in the motor vehicle 50 be provided with the method by manual operation by a driver of the motor vehicle 50 can be started. Alternatively or additionally, the motor vehicle 50 also a drowsiness sensor 17th with which the state of tiredness 15th recorded and the calculation device 1 can be fed so that the procedure is based on the drowsiness 15th can be started.

In 2 FIG. 3 is a schematic flow diagram of an embodiment of the method for providing a travel route 14th shown for a motor vehicle with at least one driver assistance system.

The starting points of the method are provided by a starting position 5 , for example a current position of the motor vehicle, and a target position 6 , for example a parking lot or rest area that a driver wants to drive to due to increasing fatigue.

Based on the starting position 5 and the target position 6 are in one process step 100 Driving routes 4th calculated. The calculated routes 4th only have as a condition that this is the starting position 8th and the target position 6 must have. Route sections lying in between can in principle be freely selected or freely calculated by means of a calculation device, for example on the basis of a road graph of a road map. It is intended that when calculating the routes 4th System limits 30th are taken into account by the available driver assistance systems of the motor vehicle, that is, the system limits 30th technically limit the possible routes 4th . It can also be provided that, in order to limit a computing power or a computing time, a total number of the calculated travel routes 4th is limited.

The calculated routes 4th are in one process step 101 divided into individual route sections, with an available automation level for each route section 40 is determined. This is done, for example, using a single-track model 31 for the route 4th or the associated route sections. The determination can also take environmental data into account 12 which are provided, for example, by other motor vehicles in the form of swarm data. Furthermore, environmental conditions 11 , e.g. weather data, and sensor properties 13 be taken into account, for example on the basis of current and / or future weather data, an available automation level 40 to be determined on the route sections. A more detailed schematic flow diagram is shown in FIG 3 shown. The process step provides the result 101 an available automation level 40 and an automation part 41 for each route 4th or each route section of the routes 4th .

In one process step 102 is based on the calculated routes 4th a reference route 34 certainly. This can, for example, be a shortest route, that is, the route 4th showing the shortest distance or the route 4th with the shortest journey time.

In one process step 103 are the calculated routes 4th based on the reference route 34 and the respective automation components 41 and the available automation levels 40 of the associated route sections evaluated and selected. This is done taking into account a factor based on a map 60 is determined. Such a map 60 is for example in the 4th shown. The one from the map 60 certain factor determined, for example, how much a calculated route changes 4th at an available automation level 40 compared to the reference route 34 may extend so that this calculated route 4th still comes into consideration. Passes the calculated route 4th for example only from a single route section and is an automation level on this route section 40 with a value of 5 via an automation component 41 of 100% is possible, this calculated route may 4th a distance of 2.5 times the distance of the reference route 34 have so this calculated route 4th still come into consideration etc. (cf. 4th ).

In one implementation of the process step 103 becomes a wake-up route (or a duration) of each route section on a calculated route 4th with the reciprocal of each based on the specific automation level 40 and the certain amount of automation 41 from the map 60 multiplied by a certain factor. The products formed in this way are added up. If the resulting distance (or travel time) is less than or equal to the distance (or travel time) of the reference travel route 34 , so the calculated route is 4th selected. Otherwise the calculated route will be 4th discarded. The one in the map 60 The stored factor makes it possible to form a weighted sum of the individual route sections and with the reference route 34 to compare.

As a result delivers process step 103 a lot of selected routes 14th which according to an available automation level 40 and an available automation component 41 the route or the associated route sections are optimized and / or selected. The selected routes 14th can be filtered further, for example a ranking according to distance and / or duration of the journey can be formed, with only the best (eg five, ten, ...) calculated routes 4th selected and made available for selection.

In addition, it can be provided that the reference travel route is also provided for selection.

You can then use the selected routes 14th the driver to choose or the selected routes 14th are selected automatically, for example by means of a control device of the motor vehicle. The route selected in this way 14th is fed to a driver assistance system, which then controls or regulates the motor vehicle on the basis of the selected route.

In 3 Figure 3 is a schematic logic diagram to illustrate an embodiment for determining an available automation level 40 and an available automation component 41 the respective travel route or associated route sections in which or in which the motor vehicle can be driven automatically by means of the at least one driver assistance system is shown. The logic diagram shown is in process step 101 of the in 2 shown in the flowchart.

Initial information is, for example, environmental data 12 that are provided by other motor vehicles, for example in the form of swarm data, or by a server. Furthermore, route data are formed on the basis of a single-track model 31 , Information on the calculated route under consideration 4th or the route section of the route under consideration 4th , e.g. properties of the respective route 4th or the route section (city, country, motorway, country road, distance, journey time), and environmental data 11 Output information.

The level of automation available 40 is based on the route 4th and environmental data 11 certainly. Here are environmental data 11 used in particular to estimate an availability of sensors of a driver assistance system. For example, on the basis of current and / or future weather data, it can be estimated whether a radar sensor, a camera, etc. can be used or not. An available automation level becomes accordingly 40 determined and linked to a route 4th or provided with a route section.

The automation part 41 is based on the environmental data 12 , the single-track model 31 and the calculated route 4th certainly. It is provided here that the single-track model 31 which, for example, possible curve radii on the route 4th provides, in one process step 200 based on system limits of the at least one driver assistance system as a function of environmental data 11 is filtered. In one process step 201 the environment data 12 and the calculated route 4th matched with each other. This can take place, for example, in the form of a correlation. The goal here is to find out how large a proportion of automation is 41 the route 4th or a route section on which it is possible to drive automatically, that is to say on which the at least one driver assistance system can be used. In a similar process step 202 the environment data 12 with the filtered single-track model 31 matched. This can also take place in the form of a correlation. The goal here is again to find out how large a proportion of automation is 41 the route 4th or a route section on which it is possible to drive automatically, that is to say on which the at least one driver assistance system can be used. Finally, the respective results are presented in one process step 203 compared with each other, for example also by a correlation. As a result delivers process step 203 an automation part 41 for the calculated route under consideration 4th or one or all of the associated route section (s).

In 4th is a schematic representation of a map 60 to determine the factor 8th shown. The map 60 includes several characteristics 61 each for an automation level 40 a dependence of the factor 8th from an automation part 41 depict. The map 60 should be read as follows: Indicates the automation level 40 a considered route or a considered route section has, for example, a value of 5 and can on the route or the route section with an automation component 41 100% automated, the considered route or the considered route section may have 2.5 times a distance or travel time of a reference route, so that the route is still taken into account for a selection. Is the automation part 41 lower, the factor also decreases. At an automation level 40 with a value of 4, the factor 8th with an automation component 41 from 100%, on the other hand, only has a value of 2. The respective factor 8th can serve in particular as a reciprocal value for weighting distances and / or travel times of calculated routes and / or route sections, so that sums formed therefrom can be compared directly with a distance and / or a travel time of a reference travel route.

Based on the map 60 can be used at any combination of automation level 40 and degree of automation 41 the factor 8th to be determined. The map 60 can for example be defined by a driver of the motor vehicle on the basis of personal preferences. The driver uses the map to indicate his willingness to use a higher level of automation at the expense of a longer distance or a longer journey 40 provided increased comfort.

List of reference symbols

1

Calculation device

2

Display and operating device

3

Driver assistance system

4th

calculated route

5

Starting position

6th

Target position

7th

criteria

8th

factor

9

Route section

11

Environmental conditions

12

Environmental data

13th

Sensor properties

14th

selected route

15th

Tiredness

16

Control element

17th

Drowsiness sensor

20th

Weather service

21st

server

24

selected route

30th

System limits

31

Single track model

34

Reference route

40

available automation level

41

Automation part

50

Motor vehicle

60

Map

61

curve

100-103

Procedural steps

200-203

Procedural steps

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 102015225152 A1 [0003]

Claims (10)

Method for providing a route (4) for a motor vehicle (50) with at least one driver assistance system (3), the motor vehicle (60) having n automation levels (40) in which it can be operated by means of the at least one driver assistance system (3), comprehensive the steps: Calculating travel routes (4) from a starting position (5) to a target position (6), Provision of calculated travel routes (14) optimized and / or selected according to at least one criterion (7) for selecting one of the provided travel routes (14). Procedure according to Claim 1 , characterized in that at least one automation level (40) available on the at least one calculated route (4) is taken into account as criterion (7). Procedure according to Claim 2 , characterized in that automation levels (40) available in each case for individual route sections (9) on the respectively calculated route (4) are determined and taken into account as criterion (7). Procedure according to Claim 3 , characterized in that the automation levels (40) available in each case for the individual route sections (9) are determined taking into account current and / or future environmental conditions (11). Procedure according to Claim 3 or 4th , characterized in that the automation levels (40) available in each case for the individual route sections (9) are determined taking environmental data (12) into account. Method according to one of the preceding claims, characterized in that the optimization and / or selection of the travel routes (4) takes place on the basis of at least one factor (8) selected or determined as a function of an automation level (40). Procedure according to Claim 6 , characterized in that the at least one factor (8) is determined on the basis of at least one predetermined characteristic curve (61). Procedure according to Claim 7 , characterized in that the at least one predetermined characteristic curve (61) is part of a characteristic map (60) in which the at least one factor (8) as a function of an available automation level (40) and an automation component (41) of the respective route (4) , in which the motor vehicle (50) can be driven automatically by means of the at least one driver assistance system (3) is stored. Method according to one of the preceding claims, characterized in that a drowsiness (15) of a driver of the motor vehicle (50) is detected, the calculation and provision being started as a function of the detected drowsiness (15). A motor vehicle (50) comprising: at least one driver assistance system (3), wherein the motor vehicle (50) can be operated in n automation levels (40) by means of the at least one driver assistance system (3), a calculation device (1), the calculation device (1) being designed to calculate travel routes (4) from a starting position (5) to a destination position (6) and to provide optimized and / or selected calculated driving routes (14) for selection according to at least one criterion (7).

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