DE102020106884A1 - Method for adaptive driver assistance and driver assistance system for a motor vehicle - Google Patents

Abstract

According to a method for adaptive driver assistance in a high-speed mode, a motor vehicle (1) is driven along a lane section (5) during a first period and again driven along the lane section (5) during a second period. A change in an environmental condition is determined between the first and the second time period. During the first period, a drivable area of the roadway section (5) is identified, traffic rules being taken into account in particular in the drivable area. Control data are generated and stored on a memory unit (6) as a function of the identified drivable area and the change in the ambient conditions. During the second time period, a position of the motor vehicle (1) is at least partially automatically controlled based on the stored control data.

Description

The present invention relates to a method for adaptive driver assistance for a motor vehicle in a high-speed mode, the motor vehicle being driven in the high-speed mode along a section of the road during a first period of time and being driven again in the high-speed mode along the section of the road during a second period of time and by means of a driver assistance system of the Motor vehicle a predefined environmental condition is detected during the first time period along the lane section. The invention also relates to a corresponding driver assistance system, a computer program and a computer-readable storage medium.

According to the prior art, driver assistance systems for (e.g. lateral and / or longitudinal) control of a motor vehicle, for example lane departure warning systems, are based on the detection of lane markings and the corresponding control based on the currently recognized lane markings. Accordingly, these driver assistance systems fail in situations in which there are no or only inadequate road markings on certain sections of the road.

This is particularly disadvantageous when driving at high speeds in public areas, out of town, on motorways or the like.

Against this background, it is an object of the present invention to provide an improved concept for driver assistance for a motor vehicle that allows at least partially automated control of the motor vehicle in a high-speed mode even without lane markings.

According to the improved concept, this object is achieved by the respective subject matter of the independent patent claims. Further embodiments and advantageous developments are the subject of the dependent claims.

The improved concept is based on the idea of identifying a drivable area of a road section during a first period and based on this the (e.g. lateral and / or longitudinal) position of the motor vehicle at a later second time period at which the motor vehicle is again steered along the same road section to control. A change in an environmental condition between the first and the second time period is taken into account.

According to the improved concept, a method for adaptive driver assistance for a motor vehicle in a high-speed mode is specified. The motor vehicle is driven in the high-speed mode along a lane section, in particular a lane, for example manually or partially automatically, during a first period of time, and is driven again in the high-speed mode along the lane section during a second period, which is in particular after the first period. By means of a driver assistance system of the motor vehicle, a predefined environmental condition is recorded during the first time period along the section of the roadway. By means of the driver assistance system, a drivable area of the roadway section is identified during the first time period, traffic rules being taken into account in particular in the drivable area. The environmental conditions are recorded again during the second period and a change in the environmental conditions is identified. Depending on the identified drivable area and on the identified change in the ambient conditions, control data are generated by means of the driver assistance system and are in particular stored on a memory unit, for example the driver assistance system. During the second period of time, a (e.g. lateral and / or longitudinal) position of the motor vehicle in the high-speed mode is at least partially automatically controlled by means of the driver assistance system based on the control data.

The at least partially automatic control can be understood here and in the following to mean, in particular, a partially automated or a fully automated control.

An adaptive method for driver assistance can be understood as a method in which the driver assistance takes place while taking changing environmental conditions into account.

The environmental condition can include, for example, a position and / or existence of a static or dynamic object in the vicinity of the motor vehicle or also a state of such an object.

Dynamic objects include, for example, other motor vehicles, cyclists, pedestrians or other road users.

Static objects include, for example, buildings, trees, traffic signs, traffic lights, ground features such as lane markings, lane boundaries, construction sites, barriers, parked vehicles or plants.

The state of an object can include, for example, its position and / or orientation or, for example in the case of a traffic light, the traffic light phase.

The high-speed mode can in particular be understood to mean a driving mode in which the speed is generally greater than a minimum speed, the normal case not including emergency situations and the correspondingly required braking maneuvers.

Corresponding speed ranges that can be provided for the high-speed mode can, for example, be determined by a driver of the motor vehicle. However, it is also possible for the respective speed ranges to be determined by the driver assistance system. Exemplary values for the minimum speed can, for example, be in the range of 30 km / h or more, in particular 50 km / h or more or 70 km / h or more.

In particular, the high-speed mode excludes a low-speed mode in which the speed is restricted to a maximum value.

In particular, the high-speed mode excludes a parking mode and a traffic jam support mode.

A method for driver assistance can be understood to mean a method which supports a driver of the motor vehicle during a partially automated or partially autonomous drive of the motor vehicle. In particular, a partially automated or partially autonomous driving mode of the motor vehicle according to one of levels 1 to 4, in particular one of levels 2 or 3, according to the classification according to SAE J3016 can thereby be implemented. A driver assistance system can be understood to be an electronic system that can carry out such a method in full or in part. Here and in the following, "SAE J3016" refers to the corresponding standard in the version from June 2018.

The driver assistance system contains, in particular, a computing unit and can contain one or more sensors, in particular an environment sensor system.

The identified drivable area of the roadway section can in particular correspond to part of an entire drivable area of the roadway section. In particular, the entire drivable area of the roadway section is not necessarily identified during the entire period.

In the drivable area, traffic rules in particular are taken into account. Traffic rules can be, for example, rules of right of way or rules relating to lane markings, traffic lights, pedestrian crossings, traffic signs or the like. In particular, the traffic rules can be taken into account when identifying the drivable area. Alternatively or additionally, the traffic rules within the identified area can be taken into account.

The control data can thus be generated, for example, in such a way that traffic rules (such as, for example, rules of right of way or rules relating to lane markings, traffic lights, pedestrian crossings, traffic signs and so on) are taken into account.

The storage of the control data on the storage unit includes, for example, the initial storage of the control data or parts thereof and / or the changing of already stored control data, in particular those stored in the storage unit, based on the identified area.

In other words, the generation and storage of the control data can include the initial generation and storage and / or the updating or adaptation of existing control data.

The lateral position of the motor vehicle corresponds in particular to a position in the direction perpendicular to a trajectory along which the motor vehicle is driven. The longitudinal position of the motor vehicle corresponds in particular to a position in the direction of a trajectory along which the motor vehicle is driven.

The method according to the improved concept makes it possible that the (e.g. lateral and / or longitudinal) control of the motor vehicle does not have to be carried out exclusively on the basis of information about the surroundings that is recorded in real time or "live", i.e. in particular during the second period. Instead, the control can to a certain extent take place on the basis of learned experience. According to this understanding, the driver assistance system learns during the first period which area of the lane section is drivable or where drivable areas of the lane section are and then uses this learned information during the second period to at least partially automatically control the (e.g. lateral and / or longitudinal) control perform.

This is particularly advantageous when the motor vehicle regularly along the Lane section is moved, as is the case, for example, with commuting or routes in the immediate vicinity of a residence or workplace of the user of the motor vehicle.

Because information learned in advance during the first period is used during the second period, the (e.g. lateral and / or longitudinal) control can be carried out in an automated or partially automated manner during the second period without having to resort to lane markings. Ultimately, this increases the level of comfort for the driver and increases safety.

It should be noted that embodiments of the method are also conceivable in which there is no restriction to the high-speed mode.

According to at least one embodiment of the method, the drivable area is adapted by means of the driver assistance system as a function of the change in the ambient conditions and the control data are generated by the driver assistance system as a function of the adapted drivable area.

According to at least one embodiment, the motor vehicle is driven according to a first trajectory during the first time period. During the second period of time, the (e.g. lateral and / or longitudinal) position of the motor vehicle is at least partially automatically controlled according to a second trajectory based on the control data, the second trajectory differing from the first trajectory depending on the change in the environmental conditions.

According to at least one embodiment, the driver assistance system records a behavior of a driver of the motor vehicle during the first time period. The control data are generated by means of the driver assistance system depending on the recorded behavior.

The behavior of the driver can contain, for example, a steering behavior, a braking behavior and / or an acceleration behavior of the driver. The behavior can also include a preferred lane of the road section.

According to at least one embodiment of the method, sensor data relating to the surroundings of the motor vehicle are generated by means of an environment sensor system, in particular by means of the environment sensor system and the computing unit of the driver assistance system, during the first period and the drivable area of the lane section is identified depending on the sensor data and / or the change in the Ambient condition is identified depending on the sensor data.

In particular, respective sensor data can be recorded during the first and the second time period and the change in the environmental condition is identified as a function of the sensor data of the first and the second second room.

The drivable area is identified in particular independently of information or measurement data relating to lane markings.

Instead, objects, obstacles, other motor vehicles, lane edges or other structures in the vicinity of the motor vehicle can be detected by means of the environmental sensor system, from which it is possible to infer the drivable area.

The environment sensor system includes in particular one or more cameras, one or more lidar systems, one or more radar systems and / or one or more ultrasonic sensor systems.

The fact that a step is carried out by means of the environment sensor system can be understood here and in the following in particular to mean that the corresponding step is carried out using the environment sensor system. In particular, this does not rule out that further devices, for example the computing unit, are also used for the corresponding step.

According to at least one embodiment, the environment sensor system is used to detect road markings on a further section of the roadway adjacent to the roadway section, in particular lying in front of the roadway section. The lane markings of the further lane section are extrapolated onto the lane section by means of the computing unit of the driver assistance system. The drivable area of the road section is identified by means of the driver assistance system, in particular by means of the computing unit, based on the extrapolated road markings.

The fact that the further lane section lies in front of the lane section can in particular be understood to mean that the motor vehicle is driven along the further lane section in a period of time before the first time period, for example immediately before the first time period.

The lane markings of the further lane section can in particular by means of one or more camera systems and / or can be recognized by means of the one or more lidar systems of the environment sensor system.

In particular, the sensor data contain data relating to the lane markings of the further lane section.

According to at least one embodiment, a further motor vehicle driving ahead of the motor vehicle during the first period of time on the lane section is detected by means of the environment sensor system. A position of the further motor vehicle is tracked by means of the environment sensor system and the computing unit of the driver assistance system in order to generate object tracking data. The drivable area of the road section is identified by means of the driver assistance system, in particular by means of the computing unit, based on the object tracking data.

In particular, the sensor data contain data relating to the further motor vehicle or the positions of the further motor vehicle during the object tracking.

Areas of the roadway section on which the further motor vehicle travels can in particular be viewed as a drivable area of the roadway section.

According to at least one embodiment, at least one position of a static object located on the roadway section is determined by means of the environmental sensor system and the drivable area of the roadway section is identified by means of the driver assistance system, in particular by means of the computing unit, based on the at least one position of the static object and / or the environmental condition contains the at least one position of the static object.

The static object can contain, for example, a parked motor vehicle, a lane edge, a tree or other planting, a building, a traffic sign, a construction site and so on. The at least one position of the static object can, for example, also allow conclusions to be drawn about an extension of the static object or a size of the static object.

In particular, the sensor data contain data relating to the at least one position of the static object.

Areas in which the static object is located can be viewed, for example, as a non-drivable area of the roadway section.

According to at least one embodiment, the computing unit recognizes based on the sensor data that there are no lane markings along at least part of the lane section.

According to at least one embodiment, based on the sensor data, the computing unit recognizes that the lane markings are only present along at least part of the lane section to an extent that the at least partially automated (lateral and / or longitudinal) control based on the lane markings alone does not permitted.

According to at least one embodiment, the driver assistance system, in particular the computing unit, is used to identify a region of the roadway section traveled by the motor vehicle during the first time period. The drivable area of the road section is identified by means of the driver assistance system, in particular by means of the computing unit, based on the area being traveled on.

The area traveled through by the motor vehicle itself can, in particular, in principle be viewed as a drivable area.

According to at least one embodiment, the motor vehicle is driven along the lane section during a third period and again driven along the lane section during a fourth period, which is in particular after the third period. By means of the driver assistance system, a further drivable area of the road section is identified during the third time period. By means of the driver assistance system, further control data are generated depending on the identified further drivable area and stored on the memory unit. By means of the driver assistance system, a (lateral and / or longitudinal) position of the motor vehicle is at least partially automatically controlled based on the further control data during the fourth time period.

The drivable area and the further drivable area can in particular be at least partially different.

For example, a different drivable area can be identified in this way for different daily, weekly, monthly and / or seasonal periods and the driver assistance system can select the corresponding drivable area and the (e.g. lateral and / or longitudinal) corresponding to the current period ) Perform control based on this.

For example, it is conceivable that certain static objects, such as construction sites or the like, have different dimensions or positions on different days of the week or at different times and thus lead to different drivable areas. Another application would be if, for example, certain areas of the road section are blocked or released at different time periods.

In particular, this enables adaptive control of the (lateral and / or longitudinal) position of the motor vehicle depending on the point in time or time period and / or continuous adaptation to environmental changes along the roadway section can be taken into account.

According to at least one embodiment, a trajectory is generated and stored by means of the driver assistance system as a function of the identified drivable area. The (lateral and / or longitudinal) position of the motor vehicle is at least partially controlled automatically during the second time period in accordance with the stored trajectory.

The trajectory can be understood, for example, as part of the control data.

According to at least one embodiment, depending on the identified drivable area and / or the ambient condition detected during the first period and / or the ambient condition detected during the first period and / or the identified change in the ambient condition by means of the driver assistance system, a digital map, in particular of the driver assistance system, created or modified. By means of the driver assistance system, the (lateral and / or longitudinal) position of the motor vehicle is controlled at least partially automatically during the second time period based on the digital map.

The generation or modification of the digital map can in particular be viewed as part of the generation of the control data. In particular, the digital map can be viewed as part of the control data.

The digital map can be understood as a data set or a multitude of data sets that is stored on a computer-readable storage medium, i.e. in particular on the storage unit, and that spatially relates objects within a given spatial area to one another and / or to a given reference point. The digital map can optionally contain semantic information relating to the objects.

According to at least one embodiment, the digital map is a static map and / or a dynamic map and / or a free space map.

A static map is in particular a map which mainly or exclusively comprises environmental data relating to static objects. A dynamic map is, in particular, a map that mainly or exclusively comprises environmental data relating to dynamic objects. A free space map is, in particular, a map that shows sections that have no static or dynamic objects, and can in particular be used to plan a trajectory.

According to the improved concept, a driver assistance system for a motor vehicle is also specified. The driver assistance system has an environment sensor system that is configured to detect a predefined ambient condition during a first time period during which the motor vehicle is being driven in a high-speed mode along the lane section along the lane section. The environment sensor system is set up to re-record the environmental condition during a second period of time during which the motor vehicle is again driven in the high-speed mode along the lane section. The driver assistance system has a computing unit which is set up to identify a change in the environmental condition, in particular based on the environmental condition detected during the first and the second time period. The arithmetic unit is set up to identify a drivable area of the road section during the first time period, traffic rules being taken into account in particular in the drivable area. The arithmetic unit is set up to generate control data as a function of the identified drivable area and the change in the ambient conditions and, in particular, to store them on a memory unit, for example the driver assistance system. The computing unit is set up to at least partially automatically control a (e.g. lateral and / or longitudinal) position of the motor vehicle in the high-speed mode based on the control data during the second time period.

According to at least one embodiment of the driver assistance system, the driver assistance system has an environment sensor system which is set up to generate sensor data relating to the environment of the motor vehicle during the first time period. The arithmetic unit is set up to process the drivable area of the Identify the lane section depending on the sensor data.

Further embodiments of the driver assistance system according to the improved concept result directly from the various embodiments of the method or the method according to the improved concept and vice versa. In particular, a driver assistance system according to the improved concept can be set up or programmed to carry out a method according to the improved concept, or a driver assistance system according to the improved concept carries out such a method.

According to the improved concept, a motor vehicle is also specified which contains a driver assistance system according to the improved concept.

According to the improved concept, a computer program with instructions is also specified. If the commands or the computer program are executed by a computer system, in particular by a driver assistance system according to the improved concept, for example by the computing unit of the driver assistance system, the commands cause the computer system to carry out a method according to the improved concept.

According to the improved concept, a computer-readable storage medium is specified on which a computer program according to the improved concept is stored.

Further features of the invention emerge from the claims, the figures and the description of the figures. The features and combinations of features mentioned above in the description as well as the features and combinations of features mentioned below in the description of the figures and / or shown alone in the figures can be used not only in the specified combination, but also in other combinations without departing from the scope of the invention . Embodiments of the invention that are not explicitly shown and explained in the figures, but emerge and can be generated from the explained embodiments by means of separate combinations of features, are therefore also to be regarded as covered and disclosed. Designs and combinations of features are also to be regarded as disclosed, which therefore do not have all the features of an originally formulated independent claim. In addition, designs and combinations of features, in particular through the statements set out above, are to be regarded as disclosed that go beyond the combinations of features set forth in the back-references of the claims or differ from them.

• 1 eine schematische Darstellung eines Kraftfahrzeugs mit einer beispielhaften Ausführungsform eines Fahrerassistenzsystems nach dem verbesserten Konzept und
• 2 eine schematische Darstellung verschiedener Fahrbahnabschnitte.

In the figures show:

• 1 a schematic representation of a motor vehicle with an exemplary embodiment of a driver assistance system according to the improved concept and
• 2 a schematic representation of different road sections.

In 1 is schematically a motor vehicle 1 shown, which is an exemplary embodiment of a driver assistance system 2 according to the improved concept.

The driver assistance system 2 contains an arithmetic unit 3 as well as an environment sensor system 4th , which can for example have one or more cameras, one or more lidar systems, one or more radar systems and / or one or more ultrasonic sensor systems.

The arithmetic unit 3 can in particular one or more electronic control units of the motor vehicle 1 or other processor units of the motor vehicle 1 and / or the environment sensor system 4th include.

The driver assistance system 2 , especially the arithmetic unit 3 , also has a storage unit 6th on.

In 2 a situation is shown schematically in which the driver assistance system 2 according to 1 can be used.

2 shows a section of roadway from a bird's eye view 5 without lane markings and another one to the lane section 5 adjoining further lane section 5 ' with lane markings 7th .

During a first period of time, the motor vehicle 1 for example from one, in 2 starting point marked by a circle along the further section of the road 5 ' and then along the road section 5 Driven to a destination that is in 2 marked with a cross.

During the rest of the lane 5 ' can the driver assistance system 2 for example, the lane markings using camera and / or other environment sensor data 7th detect and the (lateral and / or longitudinal) control of the motor vehicle 1 partially automated or fully automated based on the detected lane markings 7th carry out.

Because in the lane section 5 If there are no lane markings, the driver assistance system 2 during the first period, so especially when driving along the road section for the first time 5 , no partially automated control of the motor vehicle 1 perform or the partially automated control of the motor vehicle 1 perform only to a limited extent.

The environment sensor system 4th records measured values relating to the lane section during the first period 5 and based thereon generates sensor data relating to the lane section 5 or its surroundings. The arithmetic unit 3 evaluates the sensor data and, based on the evaluation, identifies a drivable area of the road section 5 . Traffic rules are taken into account in the passable area. Traffic rules can be, for example, rules of right of way or rules relating to lane markings, traffic lights, pedestrian crossings, traffic signs or the like. In the example of the 2 for example, the traffic light (s) 10 is taken into account in or in the drivable area.

For example, the computing unit 3 static objects such as vegetation based on the sensor data 8th to an edge of the road section 5 or in or next to the road section 5 other vehicles parked 8th' recognize and draw conclusions on the drivable area based on this.

Alternatively or additionally, the computing unit 3 an object tracking algorithm based on one of the motor vehicle 1 carry out further motor vehicle (not shown) traveling ahead and accordingly infer the drivable area based on corresponding positions of the further motor vehicle.

Finally, the computing unit can 3 also one by the motor vehicle 1 trajectory driven even during the first period 9 Use to identify the passable area.

Will the motor vehicle 1 now again along the road section at a later second time period 5 driven, the arithmetic unit can 3 the (lateral and / or longitudinal) control of the position of the motor vehicle 1 along the road section 5 based on the previously identified drivable area or correspondingly generated and on the storage unit 6th stored control data.

The control data or the drivable area can, for example, be used every time you drive along the lane section 5 updated or improved or adapted. This will result in repeated travel along the road section 5 enables an increasingly reliable (lateral and / or longitudinal) automatic control.

According to the improved concept, it is thus possible, as described, to carry out the (lateral and / or longitudinal) control of a motor vehicle at least partially automatically even if no lane markings or lane delimitation markings are available along the corresponding lane section.

The improved concept can be expanded in embodiments according to various aspects that can adapt the partially automated (lateral and / or longitudinal) control of the motor vehicle by the driver assistance system to the specific circumstances or to a driver's behavior.

In particular, the driver assistance system can store the corresponding information for this purpose during the first time period, for example depending on the driver.

For this purpose, the driver assistance system can, for example, record and store the profile of the longitudinal speed of the motor vehicle. In addition, the driver assistance system can record and store the acceleration profile along the road section.

In addition, the driver assistance system can detect and store a lateral position, in particular a distance from the center of the lane in the lane, for example during the lane section or further lane sections.

For example, due to potholes and the like on the road, the driver can preferentially drive on a certain side of the lane. This can be saved and used at later times for automatic control by the driver assistance system.

In addition, the driver assistance system can be used to record and save which lane the driver is usually driving in when several lanes are available. The driver assistance system can also adapt the control to later periods based on this information.

In various embodiments, the driver assistance system can store information relating to traffic signs, speed control devices and / or light signal devices or traffic lights in the digital map. The driver assistance system can also record and store a reaction of the driver to certain states of the traffic light, for example the reaction to a yellow light signal, in order to carry out the control accordingly at a later point in time.

The driver assistance system can also record the behavior of dynamic objects, in particular motor vehicles, for example their speed or driving maneuvers, and use them for control at a later point in time.

Overall, such a method makes the control more intuitive and comfortable and flexible with regard to driver habits or changes in the environment.

Claims (15)

Method for adaptive driver assistance for a motor vehicle (1) in a high-speed mode, wherein - the motor vehicle (1) is driven along a road section (5) during a first period in the high-speed mode and again in the high-speed mode along the road section (5) for a second period of time ) is driven; and - by means of a driver assistance system (2) of the motor vehicle (1), a predefined environmental condition is detected during the first time period along the roadway section (5); characterized in that a drivable area of the road section (5) is identified by means of the driver assistance system (2) during the first period of time, traffic rules being taken into account in particular in the drivable area; the environmental condition is recorded again during the second period and a change in the environmental condition is identified; control data are generated as a function of the identified drivable area and the identified change in the environmental condition; and - during the second time period, a position of the motor vehicle (1) in the high-speed mode is at least partially automatically controlled based on the control data. Procedure according to Claim 1 , characterized in that - the drivable area is adapted by means of the driver assistance system (2) depending on the change in the ambient conditions; and - the control data are generated by means of the driver assistance system (2) depending on the adapted drivable area. Method according to one of the preceding claims, characterized in that - the motor vehicle (1) is driven according to a first trajectory during the first time period; and - during the second period of time, the position of the motor vehicle (1) is controlled at least partially automatically according to a second trajectory based on the control data, the second trajectory differing from the first trajectory depending on the change in the ambient conditions. Method according to one of the preceding claims, characterized in that - by means of the driver assistance system (2) a behavior of a driver of the motor vehicle (1) is recorded during the first time period; and - the control data are generated by means of the driver assistance system (2) as a function of the recorded behavior. Method according to one of the preceding claims, characterized in that - by means of an environment sensor system (4) of the driver assistance system (2), sensor data relating to the environment of the motor vehicle (1) are generated during the first time period; and - the drivable area of the roadway section (5) is identified as a function of the sensor data and / or the change in the environmental condition is identified as a function of the sensor data. Procedure according to Claim 5 , characterized in that - by means of the environment sensor system (4), lane markings (7) on a further lane section (5 ') adjoining the lane section (5) are recognized; - The lane markings (7) are extrapolated onto the lane section (5) by means of the driver assistance system (2); and - the drivable area of the lane section (5) is identified by means of the driver assistance system (2) based on the extrapolated lane markings. Method according to one of the Claims 5 or 6th , characterized in that - by means of the environment sensor system (4), a further motor vehicle traveling ahead of the motor vehicle (1) during the first period of time on the lane section (5) is detected; - a position of the further motor vehicle is tracked by means of the driver assistance system (2) in order to generate object tracking data; and - the drivable area of the road section (5) is identified by means of the driver assistance system (2) based on the object tracking data. Method according to one of the Claims 5 until 7th , characterized in that - at least one position of a static object (8, 8 ') located on the roadway section (5) is determined by means of the environment sensor system (4); and - the drivable area of the lane section (5) is identified by means of the driver assistance system (2) based on the at least one position of the static object (8, 8 ') and / or the environmental condition the at least one position of the static object (8, 8') ) contains. Method according to one of the Claims 5 until 8th , characterized in that it is recognized by means of the computing unit (3) based on the sensor data that there are no lane markings along at least part of the lane section (5) or that the lane markings are only present to the extent that the control is based solely on the lane markings not allowed. Method according to one of the preceding claims, characterized in that by means of the driver assistance system (2) - depending on the identified drivable area and / or the ambient conditions detected during the first period and / or the ambient conditions detected during the first period and / or the identified change creating or modifying a digital map based on the environmental condition; and - the position of the motor vehicle (1) is at least partially automatically controlled based on the digital map during the second time period. Procedure according to Claim 10 , characterized in that the digital map is generated or modified as a static map and / or as a dynamic map and / or as a free space map. Driver assistance system for a motor vehicle (1), the driver assistance system (2) having a computing unit (3) and an environment sensor system (4) which is set up to detect a predefined ambient condition during a first period of time during which the motor vehicle (1) is in a high-speed mode the road section (1) is driven along the road section (5) to be detected; characterized in that - the environment sensor system (4) is set up to re-record the environmental condition during a second period of time during which the motor vehicle (1) is again driven in the high-speed mode along the lane section (5); and - the computing unit (3) is set up to - identify a change in the environmental condition; - to identify a drivable area of the road section (5) during the first time period, traffic rules being taken into account in particular in the drivable area; - to generate control data depending on the identified passable area and on the change in the environmental conditions; and - during the second period of time, at least partially automatically control a position of the motor vehicle (1) in the high-speed mode based on the control data. Driver assistance system according to Claim 12 , characterized in that - the environment sensor system (4) is set up to generate sensor data relating to the environment of the motor vehicle (1) during the first time period; and - the computing unit (3) is set up to identify the drivable area of the roadway section (5) as a function of the sensor data. Computer program with instructions which, when executed by a computer system, cause the computer system to implement a method according to one of the Claims 1 until 11 perform. Computer-readable storage medium on which a computer program is based Claim 14 is stored.

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