DE102022202246A1 - Method of providing a warning in a motor vehicle - Google Patents

Abstract

The invention relates to a method for providing a warning (32) in a motor vehicle (1), comprising: providing a map (21) on which a driving trajectory (14, 15) is drawn for at least two adjacent lanes; Locating the motor vehicle (1) on the map (21); Determining a self-propelled trajectory (13) of the motor vehicle (1); Determining a first distance value (16) of a distance between the own driving trajectory (13) and the driving trajectory (14) for the lane of the motor vehicle (1) and checking whether this is greater than a first distance limit value (27); and/or determining a second distance value (17) of a distance between the own driving trajectory (13) and the driving trajectory (15) for the adjacent lane and checking whether this is smaller than a second distance limit value (28); and/or determining an area value (18) of an area between the own driving trajectory (13) and the driving trajectory (14) and checking whether this is greater than an area limit value (29); if at least one of the checks is successful, providing the warning (32) in the motor vehicle (1).

Description

The invention relates to a method for providing a warning in a motor vehicle. In addition, the invention relates to a motor vehicle that is designed to carry out such a method.

A motor vehicle can have at least one sensor device, which has a camera, a radar device, an ultrasound device and/or a lidar device, for example, and by means of which sensor data can be provided. Furthermore, the motor vehicle can be designed to receive swarm data, for example via a communication interface, which is provided, for example, by a number of other motor vehicles. The swarm data can, for example, describe a movement of the respective other motor vehicle that provides them. Based on the swarm data and the sensor data, for example, a current situation of the motor vehicle can be identified and, if necessary, a warning relating to the identified situation can be provided to a driver of the motor vehicle.

The US 2010/0188265 A1 shows a vehicle communication network over which information about a traffic situation in a local area can be transmitted. The information about the traffic situation is determined, for example, from a position, speed, acceleration or other information related to a traffic flow and is transmitted to local vehicles.

The US 10,449,967 B1 shows a system and a method for analyzing a target vehicle based on other vehicles, with driving data being recorded and evaluated for this purpose using vehicle sensors of the other vehicles.

The U.S. 2021/0284176 A1 shows warnings for a vehicle that may be displayed to a driver of the vehicle. For this purpose, for example, past driving behavior of a driver and/or general driving behavior of one or more drivers is taken into account.

It is the object of the invention to provide a solution by means of which a driver of a motor vehicle can be reliably warned.

The object is achieved by the subject matter of the independent patent claim and the subject matter of the subordinate patent claim.

A first aspect of the invention relates to a method for providing a warning in a motor vehicle. The method has the following steps: A map of an area surrounding the motor vehicle is provided, taking into account position information which describes a position of the motor vehicle. The map is an electronic map, which may alternatively be referred to as a digital map. The surroundings represented by the map can, for example, be limited to an area 1 km long and 1 km wide around the motor vehicle. The map can thus be a tile of an overall map, for example. In the map, a travel trajectory is drawn on the respective lane for at least two adjacent lanes of a road drawn in the map. The driving trajectory is a three-dimensional driving course, ie a path or a way, for driving on the corresponding driving lane. The driving trajectory thus includes a large amount of position information that was passed during at least one past trip on the lane. The driving trajectory can be a typical driving trajectory for the respective lane. For this purpose, the travel trajectory can be calculated, for example, from a number of individual travel trajectories that have been traveled by at least one motor vehicle for the lane. The travel trajectory can in particular be averaged from the several individual travel trajectories. The respective travel trajectory drawn on the map thus represents a route that describes known driving behavior for driving in the corresponding lane. The respective travel trajectory can alternatively be referred to as an average travel trajectory or average travel trajectory. The adjacent traffic lane can be a traffic lane for oncoming traffic flow, for example. In other words, a direction of travel of the two adjacent traffic lanes can be opposite to one another. As an alternative to this, a common direction of travel can be provided for the lane and the adjacent lane. Alternatively, the lane can be referred to as a lane. In addition, at least one lane boundary, for example, can be marked on the map at a lane edge of the respective lane.

A further method step includes locating the motor vehicle on the map in one of the lanes. The position information is taken into account for locating the motor vehicle on the map. The motor vehicle can be located on the map by means of an electronic location unit, which is comprised of a control device, for example. The control device is a rake device, that is, it has, for example, at least one microprocessor and/or microcontroller. It is thus determined with lane precision where the motor vehicle is located on the provided map.

In a further method step, a self-propelling trajectory of the motor vehicle, along which the motor vehicle is currently driving, is determined. The self-propelled trajectory can, for example, be calculated on the basis of the position information and in particular on the basis of a plurality of position information items from a past time interval, from, for example, greater than 1 second to less than 1 minute, starting from a current point in time. The driving trajectory shown on the map and the own driving trajectory can deviate from each other. The self-propelled trajectory can be determined, for example, by means of a self-propelled trajectory determination unit of the motor vehicle. The self-propelled trajectory determination unit may be included in the control device.

In a further method step, a first distance value is determined. This can be done, for example, by means of an electronic distance determination unit or a different type of evaluation device, which is in each case included in the control device, for example. The first distance value describes a distance between the determined trajectory of one's own travel and the travel trajectory according to the provided map for the lane on which the motor vehicle is located. In this case, the distance is arranged in a direction transverse to a direction of travel of the motor vehicle. The direction transverse to the direction of travel typically corresponds to a transverse direction of the motor vehicle. The self-propelled trajectory can alternatively be referred to as the live path of the motor vehicle. The driving trajectory according to the map provided for the lane on which the motor vehicle is located can alternatively be referred to as a drivable own path ("drivable path ego"). Ultimately, the first distance value quantifies an offset in the transverse direction between the driver's own driving trajectory and the driving trajectory typical of the lane, which is stored in the map. A check then takes place as to whether the determined first distance value is greater than a first distance limit value. If the first distance value is less than or equal to the first distance limit value, the motor vehicle is driving on a trajectory that is spatially close to the driving trajectory in the current lane according to the map. However, if the first distance value is greater than the first distance limit value, this indicates a comparatively larger deviation between the driver's own driving trajectory and the driving trajectory on the current lane according to the map, which indicates a different driving behavior of the driver of the motor vehicle from the driving behavior typical for the lane according to the travel trajectory drawn on the map.

As an alternative or in addition to determining and checking the first distance value, a second distance value can be determined. This can also be determined using the electronic distance determination unit. The second distance value describes a distance between the determined own driving trajectory and the driving trajectory according to the provided map for the adjacent lane to the lane on which the motor vehicle is located. The second distance value is also provided as a distance arranged in the direction transverse to the direction of travel. In other words, the distance between the vehicle's own driving trajectory, that is to say the live path, and the typical driving trajectory in the adjacent lane is determined. Alternatively, the driving trajectory in the neighboring lane can be referred to as the neighbor's drivable path. A check then takes place as to whether the determined second distance value is less than a second distance limit value. In other words, it is determined whether the driver's own driving trajectory runs spatially close to the driving trajectory in the adjacent lane according to the map, since the second distance value is then smaller than the second distance limit value. As soon as the second distance value is greater than or equal to the second distance limit value, there is a relatively large distance between the vehicle's own driving trajectory in the lane on which the motor vehicle is driving and the driving trajectory in the adjacent lane according to the map, which, for example, can be driven by oncoming traffic , available. This indicates that the motor vehicle, for example, has not swerved into the adjacent lane, but is actually moving in the lane provided for the motor vehicle to travel.

As an alternative or in addition to this, an area value can be determined. This is also possible using the electronic determination unit, which can be referred to as an area value determination unit, for example, and can be included in the control device, for example. It can be provided that the area value is determined using the same unit or device as the first distance value and/or the second distance value. The determined area value describes an area between the determined own driving trajectory and the driving trajectory according to the provided map for the lane on which the motor vehicle is located. In other words, it becomes an integral between the self-propelled trajectory rie and the driving trajectory for the lane on which the motor vehicle is currently driving, calculated. A fixed length value of the area in the direction of travel can be specified, so that over a length of, for example, 5 meters, 10 meters, 20 meters, 50 meters, 100 meters, 200 meters, 300 meters, 500 meters, 1 kilometer, 2 kilometers, in particular 5 kilometers the area value can be calculated. The length can be specified, for example, at least partially based on the current position of the motor vehicle against the direction of travel, so that a part of the self-propelled trajectory that has already been traveled can be taken into account. The area value thus quantifies how much the motor vehicle deviates over the length of the area from the driving trajectory according to the map provided for the lane on which the motor vehicle is driving. This makes it possible to differentiate, for example, whether or not the motor vehicle deviates from the travel trajectory provided by the map for a short distance or over a comparatively longer distance. It is then checked whether the determined area value is greater than an area limit value. The determined area value is typically greater than the area limit value if the motor vehicle deviates repeatedly or at least once from the driving trajectory for its lane according to the map. However, if the motor vehicle is constantly driving close to the travel trajectory provided by the map, i.e. hardly deviating from it or even at least partially agreeing with it, a small area value is determined, which is then usually less than or equal to the area limit value. By checking the determined area value compared with the area limit value, a deviation between the driving behavior of the motor vehicle and a driving behavior expected for its lane can also be inferred.

In a further method step, if at least one of the three checks is successful, the warning is provided in the motor vehicle. The warning can be provided, for example, by means of an output device in the motor vehicle, which can include, for example, a display device and/or a loudspeaker device that has at least one loudspeaker. In other words, the warning can be output optically, that is to say by means of the display device, which for example comprises a screen, in particular a touch-sensitive screen, and/or acoustically by means of the loudspeaker device. The output device and/or the loudspeaker device can alternatively or additionally be included in a mobile terminal device, which is positioned in the motor vehicle, for example, and is designed, for example, as a smartphone or tablet. The warning advises a driver of the motor vehicle to drive carefully. This means that the warning advises the driver of the motor vehicle, for example, to reduce a driving speed of the motor vehicle compared to a current driving speed of the motor vehicle and/or to provide increased readiness to brake. In other words, careful driving means particularly careful driving, in which the driver drives the motor vehicle in preparation for possible manual intervention. The manual intervention includes, for example, braking and/or steering of the motor vehicle. In other words, whenever the self-driving trajectory of the motor vehicle indicates that it has a comparatively large deviation from an expected driving trajectory according to the comparison with the respective limit value, this is evaluated as a trigger signal for providing the warning in the motor vehicle. As a result, the driver of the motor vehicle can be reliably warned.

An exemplary embodiment of the invention provides that the position information is determined by means of a position detection device in the motor vehicle and is transmitted to a computing device. The position detection device can, for example, be included in a navigation system of the motor vehicle and/or be connected to the navigation system. The position detection device may determine the position information based on a global navigation satellite system (GNSS), for example based on the global positioning system (GPS). The position detection device is preferably a component of the motor vehicle, so that the motor vehicle itself can determine and provide its current position information. The computing device is arranged externally to the motor vehicle, with the position information being transmitted via a communication link between the motor vehicle and the external computing device. The communication connection is preferably wireless, in particular wireless, embodied, for example via a wireless local area network (WLAN for Wireless Local Area Network), a Bluetooth connection and/or a mobile data network, for example based on the Long Term Evolution (LTE) mobile radio standard Term Evolution Advanced (LTE-A), Fifth Generation (5G) or Sixth Generation (6G).

The external computing device can at least carry out method step a, ie provide the map. This procedure is based on the idea that the map of the surroundings of the motor vehicle, on which the travel trajectories are drawn, is typically extensive is. It is therefore stored centrally in the external computing device, for example, and is only made available when required. This has the advantage that the map can be updated and revised continuously, for example on the basis of position information provided by motor vehicles. Because the position information is transmitted to the external computing device, it can determine and provide the map for the current surroundings of the motor vehicle. For example, the map can then be transmitted to the motor vehicle. It is thus ensured that an up-to-date map adapted to the actual position of the motor vehicle is always provided.

In addition, an exemplary embodiment can provide that at least one of the further method steps b to f is also carried out using the external computing device. This relates to the method steps of locating the motor vehicle, determining the trajectory of one's own travel, determining the first distance value, determining the second distance value and/or determining the area value. In other words, the entire evaluation can be carried out based on the position information of the motor vehicle using the external computing device, as a result of which the computing capacities required in the motor vehicle are kept as low as possible. However, this presupposes that the motor vehicle, preferably continuously, transmits its position information to the external computing device via the communication link, so that it can determine the trajectory of its own travel, for example.

In an alternative exemplary embodiment, it is provided that method steps b to f are carried out using the control device of the motor vehicle. It can therefore be provided that only the map is provided by the external computing device, but this is provided in such a way that the map of its surroundings is transmitted to the motor vehicle via the communication link, so that the location of the motor vehicle on the map, the determination of the own driving trajectory , the determination of the first distance value, the determination of the second distance value and/or the determination of the area value in the motor vehicle can be carried out by means of its control device, for example. This ensures that the method can also be carried out at any time, for example if the communication connection to the external computing device is lost, and that a type of additional driver assistance system or warning system is therefore provided locally in the motor vehicle.

The control device can be assigned to a camera of the motor vehicle, in particular a front camera of the motor vehicle. The control device can be included in the camera. Alternatively or additionally, the control device can be a central control unit of the motor vehicle. Preferably, at least the location of the motor vehicle on the map provided is at least partly carried out by means of the control device of the camera. In this regard, the control device of the camera can carry out at least one localization of the motor vehicle in the area surrounding the motor vehicle. The further method steps that are carried out by the control device, in particular locating on the map, can also be carried out using the control device of the camera and/or using the control device as the control device.

In addition, one embodiment provides that the map is determined from swarm data. The swarm data will be provided by at least one swarm vehicle that previously drove in the lane or the adjacent lane. The swarm vehicle is, for example, another vehicle that was previously driven in the lane, such as another motor vehicle and/or a fleet vehicle of a fleet of vehicles provided for detecting the lane. The swarm data are, for example, camera data, position data and/or trajectory data of the swarm vehicles describing the driving trajectory. The map can be supplemented by further data from the swarm vehicles, such as information on a maximum, minimum and/or average speed of the respective motor vehicle in the lane and/or further sensor data from the swarm vehicles. As a result, the map can be provided in a particularly reliable manner, since it is based on data actually recorded on the respective lane.

In addition, an exemplary embodiment provides that the map is only provided if swarm data has been provided from a minimum number of journeys in the lane. It can therefore be a prerequisite that, for example, at least ten trips have been made in the lane, with the swarm data being provided for each trip so that the map can be provided for at least the part of the lane that is traveled that often. In particular, it can be provided that the swarm data on which the map is based must meet a swarm data quality criterion so that they can be used to generate the map. It can therefore be specified that the map can only be generated on the basis of provided swarm data if the respective swarm data are of sufficiently high quality. For example, can Swarm data is of poor quality if it was determined during a trip on which only a single swarm vehicle providing the swarm data was driving on the road with the lane and/or in the area of the part of the lane. The swarm data obtained in this way are then not taken into account when creating the map if the swarm data quality criterion requires a minimum traffic density for the swarm data on which the map is based. Alternatively or additionally, the swarm data quality criterion can relate to the swarm data itself, ie it can, for example, set a minimum requirement for a resolution of the swarm data and/or a lighting condition when capturing the swarm data. It is thus ensured that a reliable map is generated that is not based on swarm data recorded erroneously and/or only in a single measurement, for example.

According to a further exemplary embodiment, it is provided that the map provided has status information for each of the at least two adjacent lanes. The status information describes whether or not the driver is to be advised of careful driving when driving in the respective lane by means of the warning. The status information therefore specifies whether or not the warning is generally to be provided for the lane on which the motor vehicle is currently driving. In this way, for example, it can be taken into account that there may be known stretches, streets or lanes of which it is known that increased caution on the part of the driver compared to another stretch, street or another lane makes sense there. Such a situation is present, for example, on a winding road and/or a road with extensive bicycle traffic. The road with extensive bicycle traffic is characterized, for example, by the fact that at least one cyclist is repeatedly driving along the side of the road, whom the driver may want to overtake with the motor vehicle. As an alternative or in addition to this, the status information can generally provide for a road without a center line marking and/or for a road with a width in the direction transverse to the direction of travel that is less than a predetermined road width limit value that the warning for careful driving is to be provided.

If, for the lane on which the motor vehicle is located, the status information according to the provided map describes that the driver is to be advised of careful driving by means of the warning, the warning is provided in the motor vehicle. In this case, the warning is always provided in the motor vehicle independently of the checking of the first distance value, the second distance value and/or the area value. Provision can be made for the warning to be provided once, that is to say when the corresponding lane is first driven into. As an alternative or in addition to this, provision can be made for the warning to be provided each time the vehicle is driven in the corresponding lane. As an alternative or in addition to this, a maximum value of warnings provided can be specified, which quantifies how often the warning is provided overall when driving in the lane. For example, it can be specified that after a second, third, fifth, tenth or, in particular, fifteenth time the driver has driven into the lane, the warning is no longer provided, since it is assumed that the driver is already informed that he is on a lane where he should drive carefully. It is therefore possible, for example, to specifically mark a lane on the map as a lane to be used carefully, so that the warning is provided in this lane independently of the trajectory of one's own travel. This makes sense in particular when a driver is not yet familiar with at least one section of a road that he is currently driving and therefore does not know that particular care must be taken on this section.

In addition, an exemplary embodiment provides that the map provided has overtaking information for the respective lane. The overtaking information describes a typical relative speed of a swarm vehicle to another vehicle, the swarm vehicle having overtaken the other vehicle while driving in the lane. If the relative speed is greater than a relative speed limit value, the status information for the lane describes that the driver is to be advised of careful driving by means of the warning. The overtaking information can therefore be used to provide information as to whether the other road user overtaken by the swarm vehicle on the road, i.e. the other vehicle, is moving fast or is at least moving at a comparable speed compared to the swarm vehicle, or whether it is an in Slower moving vehicle compared to the swarm vehicle. This makes it possible to identify, for example, whether more bicycles, agricultural machinery and/or slow-moving trucks are driving in the lane, which typically have a low driving speed compared to the swarm vehicle. In the case of these road users, the relative speed would therefore be greater than the relative speed limit value. If the relative speed is less than or equal to the relative speed limit value, the status information for the lane describes that the driver does not indicate careful driving is to be pointed out. It is assumed here that the swarm vehicle and in particular all swarm vehicles drive on average at a speed comparable to that of the average motor vehicle, ie in a speed range in which an average driving speed of the motor vehicle lies. The status information therefore only notes the road on the map as a road potentially to be traveled with caution if, in particular repeatedly, vehicles that are moving more slowly than the swarm vehicle are overtaken on this road. The reason for this is that when other, comparatively fast-moving vehicles are overtaken, it is concluded that these are not obstacles to be overtaken, so that no warning needs to be provided. This means that reliable status information can be determined.

Furthermore, according to one exemplary embodiment, it is provided that a trajectory determination criterion is applied to the position information and to steering information in order to determine the trajectory of one's own travel. The steering information describes a current steering input for steering the motor vehicle. The trajectory determination criterion is an algorithm and/or a rule that can be used to estimate and determine the trajectory of one's own travel. The determined self-driving trajectory has a predicted partial area that lies in front of the current position of the motor vehicle in a direction of travel. The predicted partial area can be calculated, for example, from the steering information in combination with the current position information, since, for example, based on the steering information, it can be concluded in which direction the motor vehicle is going, for example, within the next 5 meters, 10 meters, 20 meters, 50 meters, 100 meters, 200 meters, in particular 500 meters is expected to drive. The predicted partial area can have a minimum length, which can be 5 meters, 10 meters, 20 meters, 50 meters, 100 meters, 200 meters, in particular 500 meters, for example. The steering information can be provided by a steering system of the motor vehicle, for example. In addition to the predicted sub-area, the self-driving trajectory also includes a sub-area that has already been covered and is therefore past, as well as the current position of the motor vehicle. As a result, the area value, for example, but also the first and second distance values can be calculated particularly reliably.

In addition, an exemplary embodiment provides that a warning level is determined and the warning is provided at the determined warning level. The alert level determined depends on how many checks are successful. If, for example, only the first distance value is greater than the first distance limit value, a different warning urgency can be inferred than if, for example, both distance values are greater or smaller than the respective distance limit value according to their checking. Therefore, in this example, two different warning levels would be determined. For example, a first slight warning level can be provided, which is always determined when precisely one of the checks is successful, a second warning level, which is increased in comparison thereto, which is always determined when two checks are successful, and a third, for example the highest level Warning level in case all three checks are successful. It can also be taken into account whether the status information generally refers to the warning, so that, for example, the highest warning level can only be determined if all three checks are successful and the status information also indicates a lane to be driven carefully. It is therefore ultimately possible to differentiate as to how clearly the warning is to be output in the motor vehicle. As a result, for example, a warning can only be given discreetly, for example by means of a display on the screen, at the first warning level, but a warning can be given more clearly at the highest warning level, for example with the aid of an acoustic warning.

Furthermore, an exemplary embodiment provides that a warning level is determined and the warning is provided at the determined warning level, with the determined warning level depending on a size of the deviation of the checked value from the respective limit value. It can thus be differentiated whether, for example, the first distance value is only slightly greater than the first distance limit value or whether it deviates significantly from it, for example by a factor of two compared to the distance limit value. Analogously to this, the size of the deviation of the second distance value from the second distance limit value or of the area value from the area limit value can be considered. This makes it possible to differentiate whether the motor vehicle, for example in the case of the first distance value, is only moving relatively slightly away from the typical driving trajectory for its lane or whether the distance already indicates a serious and therefore strong deviation from driving behavior typical of the lane. For example, if the motor vehicle swerves particularly sharply into the neighboring lane, this can be determined by a strong overlap of the corresponding limit values in all three checks, so that such driving behavior would, for example, result in a warning of a higher warning level than driving behavior in which the respective limit values only by a small amount, for example be exceeded by less than 5%. As a result, the warning level can be determined and taken into account in a particularly differentiated manner.

To determine the magnitude of the deviation, a number of distance limit values or area limit values can be taken into account, so that, for example, different intervals of distance limit values that are exceeded or not reached are possible and can be checked. The size of the deviation can be specified as a percentage or as an absolute value. The extent to which the deviation is large or not can be defined using at least one other predefined limit value, which is, for example, 5 percent, 10 percent, 20 percent, 30 percent, 40 percent, 50 percent, 60 percent, 70 percent, 80 percent, 90 percent, 100 percent, 150 percent, 200 percent, in particular 300 percent, from the respective limit value, that is to say from the first distance limit value, second distance limit value or the area limit value. Alternatively, the further limit value can lie between the specified limit values, in particular in any desired interval between the specified limit values.

A further exemplary embodiment provides that the warning provides at least one of the following warnings: A white text message that is displayed on a display device in the motor vehicle, it being possible for the display device to be the screen. Alternatively or additionally, the warning can provide a red text message that is displayed on the display device in the motor vehicle. It is assumed here that the red message usually draws more attention from the driver than the white message, so that a stronger warning can be implemented in this way, which can consequently be assigned a higher warning level than the warning using the white text message . Alternatively or in addition to this, a colored or differently colored warning can be displayed. As an alternative or in addition to this, a vibration of the steering wheel of the motor vehicle can be provided as a warning. As a result, the driver can still be warned if, for example, he is not currently looking at the display device in the motor vehicle. As an alternative or in addition to this, an acoustic message can be output as a warning using the loudspeaker device in the motor vehicle. The acoustic message can, for example, have a warning tone and/or a voice output with a text pointing to careful driving, for example. In comparison to the red and white text message, the vibration is preferably assigned to a higher warning level and the acoustic message to an even higher warning level in comparison thereto, for example the highest warning level. As an alternative or in addition to this, a reduction in the volume of an output from a multimedia device in the motor vehicle to a volume value that is reduced compared to the previous volume value can be provided. In this way, for example, the driver can be informed that he should now concentrate more. For example, the reduction in volume can be combined with the other warnings described for each warning level and/or can be provided as a separate warning level. The multimedia device is a music player, for example, which includes a radio in particular. The multimedia device can also be designed to play a video. The multimedia device can include the loudspeaker device and/or the display device of the motor vehicle. It is also possible for the various warnings mentioned to be combined with one another, so that, for example, at the highest warning level, both the red text message and the vibration of the steering wheel as well as the acoustic message and the reduction in the volume of the multimedia device output are possible.

According to a further exemplary embodiment, it is provided that a check is made as to whether the driver is holding a steering wheel of the motor vehicle with both hands. It is therefore checked whether the driver is currently touching and, in particular, holding the steering wheel of the motor vehicle with both hands. If so, no warning is provided. The idea here is that the driver who drives with both hands on the steering wheel controls the motor vehicle with a high degree of attentiveness compared to a driver who drives with only one hand or no hand on the steering wheel and therefore does not need to be advised to drive carefully . However, if the driving behavior of the driver, who for example is only holding one hand on the steering wheel, indicates that he may be driving carelessly, this can be taken as a further indication that the warning should be provided. In particular, the trigger for providing the warning to the driver with both hands on the steering wheel may begin at a higher warning level compared to the driver with only one or even no hand on the steering wheel. This ensures that no unnecessary warning is provided.

Alternatively or additionally, for example, a driver's line of sight can be taken into account, which can be detected by an interior camera of the motor vehicle, whereby if he looks at the road, no warning or only a warning with a lower warning level is provided compared to the Case in which the driver, for example, a Passenger looks at or looks out of a window of the motor vehicle.

Another aspect of the invention relates to a motor vehicle. The motor vehicle is designed to carry out the method described above. The motor vehicle has, for example, a control device that can be designed as a computing device. The control device is designed at least to carry out method steps b to g, ie all method steps from locating the motor vehicle to providing the warning in the motor vehicle. The exemplary embodiments described in connection with the method according to the invention apply accordingly, to the extent applicable, to the motor vehicle according to the invention, specifically individually and in combination with one another.

The invention also includes the control device for the motor vehicle. The control device has a processor device which is set up to carry out the method according to the invention, in particular one exemplary embodiment or several exemplary embodiments of the method. For this purpose, the processor device can have at least one microprocessor and/or at least one microcontroller and/or at least one FPGA (Field Programmable Gate Array) and/or at least one DSP (Digital Signal Processor). Furthermore, the processor device can have program code which is set up, when executed by the processor device, to carry out the method according to the invention, in particular the exemplary embodiment or the plurality of exemplary embodiments of the method. The program code can be stored in a data memory of the processor device.

The control device and/or the external computing device carry out the method steps provided for them in the method according to the invention.

Another aspect of the invention relates to a computer program product, which can be a computer program, for example. The computer program product according to the invention comprises instructions which, when the program is executed by a computer, for example by the control device of the motor vehicle and/or the external computing device, cause the latter to carry out the method described above and one or more exemplary embodiments of the method according to the invention.

The invention also includes the combinations of features of the described embodiments.

• 1 eine schematische Darstellung eines Kraftfahrzeugs, das ein Fahrrad überholt; und
• 2 in schematischer Darstellung einen Signalflussgraphen eines Verfahrens zum Bereitstellen einer Warnung in einem Kraftfahrzeug.

Exemplary embodiments of the invention are described below. For this shows:

• 1 a schematic representation of a motor vehicle overtaking a bicycle; and
• 2 a schematic representation of a signal flow graph of a method for providing a warning in a motor vehicle.

The exemplary embodiments explained below are preferred exemplary embodiments of the invention. In the exemplary embodiments, the described components each represent individual features of the invention to be considered independently of one another, which also develop the invention independently of one another and are therefore also to be regarded as part of the invention individually or in a combination other than that shown. Furthermore, the exemplary embodiments described can also be supplemented by further features of the invention already described.

Elements with the same function are each provided with the same reference symbols in the figures.

In 1 1, a motor vehicle 1 is sketched driving along a mountain 3 on a road 2 in a mountainous environment. A bicycle 4 is driving in a direction of travel in front of the motor vehicle 1. The motor vehicle 1 is controlled by a driver 5 who, in the situation outlined, is in the process of overtaking the bicycle 4, for example by moving from a lane he is traveling on to an adjacent lane, which is intended for oncoming traffic, pulls out.

The motor vehicle 1 has a control device 6 . This can have a localization unit and/or a determination unit, in particular a self-propelled trajectory determination unit, a distance determination unit and/or an area value determination unit. The motor vehicle 1 also has a position detection device 7 that can detect the current position of the motor vehicle 1, for example based on a global navigation satellite system (GNSS for Global Positioning System).

The motor vehicle 1 can have several output devices, namely here a display device 8, which is designed for example as a screen, in particular as a touch-sensitive screen, and a loudspeaker device 9, which has at least one loudspeaker. The display device 8 can output visual information in the motor vehicle 1 for the driver 5 . The speaker device 9 can output an acoustic message for the driver 5 in the motor vehicle 1.

Motor vehicle 1 has a communication interface 10 . Furthermore, an external computing device 11, which is arranged outside of the motor vehicle 1, can be provided, wherein a communication connection 12 can be set up and maintained between a communication interface 10 of the external computing device 11 and the communication interface 10 of the motor vehicle 1. The communication link 12 is a wireless, in particular wireless, communication link 12. The communication link 12 can be based, for example, on vehicle-to-infrastructure communication.

In 1 a self-driving trajectory 13 of the motor vehicle 1 is drawn in, along which the motor vehicle 1 is driving. In addition, 1 a driving trajectory 14 is outlined, on which a motor vehicle 1 typically drives in the lane on which the motor vehicle 1 drives. A driving trajectory 15 is also sketched for the adjacent lane, on which a motor vehicle 1 drives, which in particular typically drives on the adjacent lane on the road 2 . Furthermore, in 1 a first distance value 16 is outlined, which describes a distance between the driver's own driving trajectory 13 and the driving trajectory 14 for the lane on which the motor vehicle 1 is driving. A second distance value 17 is also drawn in, which describes the distance between the driver's own driving trajectory 13 and the driving trajectory 15 for the lane adjacent to the lane on which the motor vehicle 1 is driving.

In 1 an area with an area value 18 is also drawn in, which describes an area between the driver's own driving trajectory 13 and the driving trajectory 14 for the lane on which the motor vehicle 1 is driving. This area, which is described by the area value 18, is shown here as a hatched area.

In 2 a method for providing a warning 32 in a motor vehicle 1 is outlined. In a method step S1, position information 20 can be determined here by means of the position detection device 7 of the motor vehicle 1, with the position information 20 describing the current position of the motor vehicle 1. In a method step S2, the determined position information 20 can be transmitted to the external computing device 11 via the communication link 12. A method step a can then follow, which is carried out by means of the external computing device 11 . In method step a, a map 21 of an area surrounding motor vehicle 1 is provided. The area is, for example, an area 1 km by 1 km around motor vehicle 1 and corresponds, for example, to a tile of an overall map. The map 21 is an electronic map 21, which may alternatively be referred to as a digital map 21. The map 21 is provided on the basis of the position information 20 that was determined and transmitted to the external computing device 11 . In the map 21, the driving trajectory 14, 15 is shown on the respective lane for at least two adjacent lanes of the street 2 shown in a map 21.

The map 21 is typically determined from swarm data that is provided by at least one swarm vehicle that previously drove in the respective lane. In addition, at least one lane boundary can be marked on the map 21 at a lane edge of the respective lane, that is to say, for example, a lane edge marking and/or a central reservation marking. The map 21 is only provided, for example, when swarm data from a minimum number of journeys in the respective lane has been provided. The swarm data on which the map 21 is based must in particular meet a swarm data quality criterion, i.e. driving trajectories 14, 15 for at least ten trips in the respective lane must be known before the driving trajectory 14, 15 is actually plotted on the map 21. The travel trajectories 14, 15 that are drawn in are typically average trajectories that have been averaged over individual trajectories of numerous swarm vehicles, in particular at least ten swarm vehicles. The swarm data quality criterion can also provide that several motor vehicles 1 must always be driving in the vicinity of the swarm vehicle at the same time so that its swarm data can be taken into account, in particular in order to be able to eliminate data protection-related concerns, for example.

In a method step S3, the map 21 can be made available to the motor vehicle 1 via the communication link 12. This is followed by a method step b, in which the motor vehicle 1 is located on the map 21 on one of the lanes, with the position information 20 being taken into account for this purpose. Method step b can either continue to be carried out in the external computing device 11 or in the control device 6 of the motor vehicle 1 if method step S3 has been carried out, ie the map 21 has been made available to the motor vehicle 1 . A method step c can then follow, which in turn is carried out either by the external computing device 11 or by the control device 6 of the motor vehicle 1 can, depending on, for example, where the localization of the motor vehicle 1 on the map 21 took place.

In method step c, the trajectory 13 of the motor vehicle 1 is determined. The steering information describes a current steering input for a steering of the motor vehicle 1. The self-driving trajectory 13 determined in this way can have a predicted partial area 26, which is in the direction of travel of the motor vehicle 1 in front of the current position of the motor vehicle 1 and can be calculated at least on the basis of the steering information 25.

Method step c can be followed by method step d, e and/or f. Method step d provides for first distance value 16 to be determined, which describes the distance between determined own driving trajectory 13 and driving trajectory 14 according to provided map 21 on the lane on which motor vehicle 1 is located. A check then takes place as to whether the determined first distance value 16 is greater than a first distance limit value 27 . Alternatively or in addition to this, in method step e, the second distance value 17 is determined, which describes the distance between the determined own driving trajectory 13 and the driving trajectory 15 according to the provided map 21 for the lane adjacent to the lane on which the motor vehicle 1 is located. A check then also takes place as to whether the determined second distance value 17 is less than a second distance limit value 28 . The first distance limit value 27 can be unequal to the second distance limit value 28 . Alternatively or additionally, in method step f, the area value 18 is determined, which describes the area between the determined own driving trajectory 13 and the driving trajectory 14 according to the provided map 21 for the lane on which the motor vehicle 1 is located. A check is then carried out to determine whether the determined area value 18 is greater than an area limit value 29 . Method steps c, d, e and/or f can be carried out either by means of the external computing device 11 or by means of the control device 6 of the motor vehicle 1, in particular when method step S3 has taken place.

If at least one of the three checks from the method steps d, e and/or f is successful, the warning 32 is provided in the motor vehicle 1 in a method step g indicates the driver 5 of the motor vehicle 1 to drive carefully. Careful driving provides, for example, for a driving speed of the motor vehicle 1 to be reduced, in particular to a predefined driving speed. As an alternative or in addition to this, careful driving can provide that the driver 5 prepares for a possible manual intervention, in particular for braking and/or a steering intervention.

A method step S4 can be possible before method step g. In method step S4 it can be checked whether the driver 5 is holding a steering wheel of the motor vehicle 1 with both hands or not. If he is holding the steering wheel with both hands, no warning 32 can be provided, for example, and the method can thus be ended, for example. However, if the driver 5 does not have both hands on the steering wheel of the motor vehicle 1, a method step S5 can take place or method step g can take place immediately. The method step S5 provides that a warning level 31 is determined and the warning 32 is provided in the determined warning level 31 . The warning level 31 determined can depend on how many checks were successful in method steps d, e and/or f. As an alternative or in addition to this, the warning level 31 can determine the size of the deviation of the checked respective value, i.e. the first distance value 16, the second distance value 17 and/or the area value 18, from the respective limit value, i.e. the first distance limit value 27, the second distance limit value 28 or the area limit value 29. In this case, the warning 32 is output in method step g according to the warning level 31 determined.

The warning 32 can generally provide one of the following warnings 32, in particular depending on the warning level 31: a white text message and/or a red text message, which is displayed on a display device 8; a vibration of the steering wheel of the automobile 1; an acoustic message that is output by means of the loudspeaker device 9; and/or a reduction in the volume of an output from a multimedia device in motor vehicle 1 to a predetermined volume value, for example, which is lower than a current volume value for the output of the multimedia device.

Status information 22 can be taken into account when deciding whether or not warning 32 is provided in method step g. For this purpose, the map 21 provided can have status information 22 for the at least two adjacent lanes, which describes, for example, whether or not the driver 5 should be warned to drive carefully when driving in the respective lane by means of the warning 32 . If for the lane on which the motor vehicle 1 is located, the status information 22 according to the map 21 describes that the driver 5 is to be advised of careful driving by means of the warning, it can be provided that the warning 32 is always provided in method step g. In particular, this can be done independently of the results of the checks in method steps d, e and/or f.

A method step S6 can also be provided. For this it is assumed that the provided map 21 has overtaking information 23 for the respective lane, which describes a typical relative speed 33 of the swarm vehicle to another vehicle, the swarm vehicle having overtaken the other vehicle while driving in the lane. It is checked whether the relative speed 33 is greater than a relative speed limit value 34 . If this is the case, status information 22 for the lane describes that warning 32 is to be used to warn driver 5 to drive carefully. However, if the check is negative, that is to say if the relative speed 33 is less than or equal to the relative speed limit value 34, the status information 22 for the lane describes that the driver 5 is not to be advised of careful driving. The result of the check in method step S6 is then taken into account in the further assessment as to whether the warning 32 is provided in method step g or not.

Overall, the examples show a method for improving driver interaction using swarm data. In this case, the motor vehicle 1 is first located within the swarm data, i.e. within the map 21. A warning level 31, which can alternatively be referred to as a respective risk level, is then called up for the next few meters, i.e. on the basis of the predicted sub-area 26 of the own driving trajectory 13. Finally, a driver warning occurs as a function of warning level 31, that is, warning 32 is output in method step g. At level 0, for example, no warning 32 can occur, at level 1 a text message in white and at level 2 a text message in red, the vibration of the steering wheel and/or the acoustic output.

In one example, it can be provided that instead of or in addition to warning 32, the steering of motor vehicle 1 is automatically controlled and/or motor vehicle 1 is braked, so that, for example, emergency braking can be carried out automatically.

Reference List

1

motor vehicle

2

Street

3

Mountain

4

Bicycle

5

driver

6

control device

7

position detection device

8th

display device

9

speaker setup

10

communication interface

11

computing device

12

communication link

13

self-propelled trajectory

14

driving trajectory

15

driving trajectory

16

first distance value

17

second distance value

18

area value

20

position information

21

map

22

status information

23

overtaking information

24

trajectory determination criterion

25

steering information

26

subarea

27

first distance limit

28

second distance limit

29

area limit

31

warning level

32

warning

33

relative speed

34

relative speed limit

a-g

process steps

S1-S6

process steps

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited 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

• US 2010/0188265 A1 [0003]
• US10449967B1 [0004]
• US 2021/0284176 A1 [0005]

Claims (14)

Method for providing a warning (32) in a motor vehicle (1), the method having the following steps: (a) Providing an electronic map (21) of an area surrounding the motor vehicle (1), taking into account position information (20) that describes a position of the motor vehicle (1), wherein in the map (21) for at least two adjacent lanes one in the Map (21) drawn road (2) a travel trajectory (14, 15) is drawn on the respective lane; (b) locating the motor vehicle (1) on the map (21) in one of the lanes, taking into account the position information (20); (c) determining a self-driving trajectory (13) of the motor vehicle (1) along which the motor vehicle (1) is currently driving; (d) determining a first distance value (16), which describes a distance between the determined own driving trajectory (13) and the driving trajectory (14) according to the provided map (21) for the lane on which the motor vehicle (1) is located, and checking whether the determined first distance value (16) is greater than a first distance limit value (27); and or (e) determining a second distance value (17), which is a distance between the determined own driving trajectory (13) and the driving trajectory (15) according to the provided map (21) for the adjacent lane to the lane on which the motor vehicle (1) is located , describes and checking whether the determined second distance value (17) is smaller than a second distance limit value (28); and or (f) determining an area value (18), which describes an area between the determined own driving trajectory (13) and the driving trajectory (14) according to the provided map (21) for the lane on which the motor vehicle (1) is located, and Checking whether the determined area value (18) is greater than an area limit value (29); (g) if at least one of the three checks is successful, providing the warning (32) in the motor vehicle (1), the warning (32) advising a driver (5) of the motor vehicle (1) to drive carefully. procedure after claim 1 , the position information (20) being determined (S1) by means of a position detection device (7) in the motor vehicle (1) and to a computing device (11) which is arranged externally of the motor vehicle (1) via a communication link (12) between the motor vehicle ( 1) and the external computing device (11) is transmitted (S2), whereupon the external computing device (11) carries out at least method step a. procedure after claim 2 , wherein at least one of the method steps b to f is also carried out by means of the external computing device (11). Procedure according to one of Claims 1 or 2 , wherein method steps b to f are carried out by means of a control device (6) of the motor vehicle (1). Method according to one of the preceding claims, in which the map (21) is determined from swarm data which is provided by at least one swarm vehicle which has previously traveled in the respective lane. procedure after claim 5 , the map (21) only being provided if swarm data from a minimum number of journeys in the respective lane has been provided, the swarm data on which the map (21) is based in particular fulfilling a swarm data quality criterion. Method according to one of the preceding claims, wherein the provided map (21) for the at least two adjacent lanes has status information (22) which describes whether the driver (5) when driving in the respective lane by means of the warning (32) caution is to be indicated or not, and if for the lane on which the motor vehicle (1) is located, the status information (22) according to the provided map (21) describes that the driver (5) by means of the warning ( 32) to advise careful driving, the warning (32) is provided. procedure after claim 7 and one of the Claims 5 or 6 , wherein the provided map (21) has overtaking information (23) for the respective lane, which describes a typical relative speed (33) of a swarm vehicle to another vehicle, the swarm vehicle having overtaken the other vehicle when driving in the lane, and if the relative speed (33) is greater than a relative speed limit value (34), the status information (22) for the lane describes that the warning (32) should be used to advise the driver (5) to drive carefully, and if the relative speed (33 ) is less than or equal to the relative speed limit value (34), the status information (22) for the lane describes that the driver (5) is not to be advised of careful driving. Method according to one of the preceding claims, in which a trajectory determination criterion is used to determine the trajectory of one's own travel (13). (24) is applied to the position information (20) and steering information (25), which describes a current steering input for steering the motor vehicle (1), and the determined self-driving trajectory (13) has a predicted sub-area (26) which is in a Direction of travel in front of the current position of the motor vehicle (1). Method according to one of the preceding claims, wherein a warning level (31) is determined (S5) and the warning (32) is provided in the determined warning level (31), the determined warning level (31) depending at least on how many checks are successful. Method according to one of the preceding claims, wherein a warning level (31) is determined (S5) and the warning (32) is provided in the determined warning level (31), the determined warning level (31) being at least dependent on a magnitude of the deviation of the checked value from respective limit value. Method according to one of the preceding claims, wherein the warning (32) provides at least one of the following warnings (32): - A white text message that is displayed on a display device (8) in the motor vehicle (1); - A red text message that is displayed on a display device (8) in the motor vehicle (1); - A vibration of a steering wheel of the motor vehicle (1); - An acoustic message that is output by means of a loudspeaker device (9) in the motor vehicle (1); and or - a reduction in the volume of an output from a multimedia device in the motor vehicle (1) to a volume value. Method according to one of the preceding claims, wherein it is checked whether the driver (5) is holding a steering wheel of the motor vehicle (1) with both hands (S4) and, if this is the case, no warning (32) is provided. Motor vehicle (1) which is designed to carry out method steps of a method according to one of the preceding claims provided for the motor vehicle (1).

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