DE102022203954A1 - Method and information device for informing a user of a vehicle with a driver assistance system regarding an action of the driver assistance system - Google Patents

Abstract

Method for informing, and in particular for instructing, a user of a vehicle (1) with a driver assistance system (32), which supports the user in driving the vehicle, in particular for longitudinal and/or lateral guidance and/or for changing lanes of the vehicle, suitable and determined, in relation to at least one action of the driver assistance system (32), wherein a plurality of trigger categories are specified for triggering the at least one action of the driver assistance system (32) and the action can be triggered by a trigger signal of each of these trigger categories. When the at least one action of the driver assistance system (32) is triggered by a trigger signal of a trigger category, at least one variable characteristic of the trigger category of the trigger signal is determined from the plurality of trigger categories and, depending on the trigger category, at least one information signal is determined for output to the user.

Description

The present invention relates to a method and an information device for informing, and in particular for instructing, a user of a vehicle with a driver assistance system, which is suitable and intended to support the user in driving the vehicle, with regard to at least one action of the driver assistance system.

Highly networked driver assistance systems are installed in modern series vehicles and are intended to support the driver in the driving task.

The basic function of the systems is always described in the vehicle's logbook. However, it must be borne in mind that complex driving situations occur in real driving that cannot be fully covered by the description in a logbook. A concrete example is assisted lane changing, where a variety of reasons can mean that it can be canceled or not released at all for safety reasons, legal reasons or due to incorrect operation.

These conditions are often not intuitively understandable for a user due to their great complexity, especially if they have not been using the vehicle or the specific assistance system for a long time. Another example is a pre-warning from the emergency brake assistant.

From the US 2021/0171067 A1 A vehicle warning method is known in which it is recorded during autonomous driving whether hands are not on the steering wheel for a period of 15 seconds. In this case, a visual warning is issued to the driver and the autonomous driving system is switched off.

From the US 2018/0259956 A1 an autonomous driving control is known, which decides whether the autonomous driving mode was canceled as a result of an operation of the operating section. If an action that expresses an intention to terminate an autonomous driving mode, such as pressing a selection key or a button displayed on the display section, is detected, this action is regarded as a request to terminate the autonomous driving mode.

From the US 2020/0331530 A1 a control device for an autonomous lane changing system is known. If the driver's intervention is consistent with the determination of an autonomous lane change, it is desirable for the autonomous driving mode to be continued. However, if the driver causes a lane change in a situation in which no lane change is yet to be carried out according to the autonomous lane changing system, the autonomous driving mode should not be continued because the driver's intention does not match the intention of the autonomous driving system. If the autonomous lane changing mode is canceled, this can be announced to the driver.

From the US 2020/0231181 A1 a device is known which controls the switching between autonomous and manual driving mode. For this purpose, based on predicted vehicle behavior, a decision is made for each individual actuator whether or not changing the actuator to manual operation should be permitted. The driver of the vehicle will be notified of the result of this decision.

The present invention is based on the object of overcoming the disadvantages known from the prior art and of providing a method and an information device for informing a user of a driver assistance system with regard to an action of the driver assistance system, which provides the user with feedback about a driver assistance system in the most user-friendly manner possible The reason for carrying out the action is so that the use of the driver assistance system can be improved and optimized by adapting the user's operating actions to the functionality of the driver assistance system in the fastest and most user-friendly manner possible, and thus an even greater user gain can be achieved through the use of the driver assistance system.

The object is achieved according to the invention by the subjects of the independent claims. Advantageous embodiments and further developments of the invention are the subject of the subclaims.

In a method according to the invention for informing, and in particular for instructing, a user of a vehicle with a driver assistance system, with regard to at least one action of the driver assistance system (in particular to be carried out and/or carried out and/or triggered automatically), the at least one action of the driver assistance system is to be triggered A large number of trigger categories are specified in the driver assistance system. The trigger categories of the large number of trigger categories (particularly in pairs) are different from one another.

The driver assistance system is suitable and intended to support the user in vehicle guidance, in particular for longitudinal and/or lateral guidance and/or for changing lanes of the vehicle. Is preferred the driver assistance system is used to support the user in vehicle guidance, in particular for longitudinal and/or lateral guidance and/or for changing lanes of the vehicle, and/or is activated for this purpose. Preferably, the driver assistance system is suitable and intended for carrying out a driving task, such as an (assisted and/or a semi-automatic and/or a (fully automatic) lane change of the vehicle (to support the user).

Preferably, at least one, preferably several and particularly preferably all trigger categories are vehicle situations and/or environmental situations of the vehicle that can potentially be taken into account by the driver assistance system when supporting the user in driving the vehicle. The vehicle situation can, for example, be influenced and/or given by a user input or operating action made via an input device (of the vehicle), such as a steering wheel of the vehicle, such as the user steering along or counter-steering. An environmental situation can be influenced and/or given by traffic-related influences (e.g. by surrounding vehicles from an area surrounding the vehicle) and/or weather-related influences (e.g. slippery conditions).

One of the trigger categories can be, for example, a (erroneous) user action, for example a user steering during a lane change that is to be carried out automatically. If the user steers too hard, a corresponding trigger signal causes the lane change to be aborted. A further trigger category can be specified, for example, in relation to environmental situations that can potentially be taken into account by the driver assistance system, such as surrounding vehicles.

The action of the driver assistance system can in particular be an action that is (still) to be carried out by the driver assistance system and/or an action that has already been carried out by the driver assistance system and/or an action of the driver assistance system that is currently being carried out (by the driver assistance system). In particular, the action involves an intervention by the driver assistance system in the vehicle guidance, in particular longitudinal and/or transverse guidance of the vehicle. The action is preferably an intervention by the driver assistance system in the vehicle guidance that can be perceived by the user.

Preferably, the action is triggered and/or carried out by the driver assistance system independently of a user action and/or automatically (without any operator action by the user). The user therefore has (initially) no precise knowledge that and/or whether the action will be carried out or at what point in time the action will be carried out.

The action can be triggered by a trigger signal from each of these trigger categories (the predetermined number of trigger categories). In other words, corresponding trigger signals from several trigger categories can cause the action to be carried out. Conversely, this means that the action can be carried out by respective trigger signals from several trigger categories.

In particular, a user of the driver assistance system, who indeed perceives the (automatic) execution of the action (by the driver assistance system), initially and in the method known from the prior art does not know which trigger category the trigger signal that triggers the action is from, since the trigger signals multiple trigger categories can lead to the same (perceivable) result, namely the action. The user is therefore typically initially unaware of which of the various options caused or triggered the action in the method known from the prior art.

According to the invention, when the at least one action of the driver assistance system is triggered by a trigger signal of a trigger category, at least one variable characteristic of the trigger category of the trigger signal (triggering the at least one action) is determined from the plurality of trigger categories.

Depending on the variable characteristic of the trigger category, at least one information signal is preferably determined for output to the user. Preferably, the at least one information signal is provided, preferably to an output device of the vehicle, for output to the user.

In other words, the trigger category assigned to this trigger signal is determined for the trigger signal that triggers the action.

In other words, at least one trigger category and preferably exactly one trigger category is selected from the multitude of trigger categories, the (at least one) selected trigger category being the trigger category of the trigger signal that triggers the action. This selection preferably determines a variable that is characteristic of the selected trigger category.

The proposed method offers the advantage that previously defined triggering situations or previously defined special situations can be recognized, and the user can therefore be informed about the existence of the triggering situation or the special situation.

In particular, the proposed method provides a situational interpretation of “special events”, such as incorrect operation (by the user), critical warnings and/or function aborts. The user can advantageously be provided with specially prepared, understandable information.

The described method for informing a user is preferably a computer-implemented method, which is preferably carried out by a particularly processor-based information device. In addition, it is also possible that only individual method steps of the proposed method, in particular, for example, the determination of the variable characteristic of the triggering category of the trigger signal, are computer-implemented method steps and also hardware-related method steps, such as the recording of sensor data and / or the output of the information signal to the user can be carried out.

It is also conceivable that trigger signals from several trigger categories (in particular independently of one another and/or in particular essentially simultaneously) lead to the triggering of the action. In this case, it is conceivable that the multiple trigger categories of all trigger signals that (co-)trigger the action or variables characteristic for this are determined and preferably made available for output.

Preferably, the at least one determined information signal, in particular at least one output device (preferably of the vehicle and/or the user) is provided for output to the user and/or transmitted (via a wireless and/or a wired communication connection). Preferably, the at least one determined information signal is output to the user via the at least one output device (preferably the vehicle and/or the user).

In particular, a method for issuing recommendations for action when using complex vehicle systems is proposed (through the above method). Preferably, a recommendation for action is provided as an information signal, preferably depending on the characteristic variable determined for the triggering category of the triggering signal, for output to the user and is preferably output to the user.

In a preferred embodiment, the (at least one) information signal is characteristic of the (determined) trigger category (of the trigger signal that triggers the action of the driver assistance system). In this way, the user can advantageously be informed about the trigger category to which the trigger signal that triggers the action belongs. When the action is triggered (and preferably when each action is triggered), the user advantageously receives feedback from the driver assistance system with regard to the (current) event triggering the action through the information about the trigger category of the trigger signal that triggers the action. This can lead to a better understanding of the general functionality, such as the different trigger categories, of the driver assistance system, but also to clarification of the specific trigger situation. In particular, the information signal can be characteristic of a determined trigger criterion.

For example, if the user receives the information that steering too hard has led to the lane change being aborted, the user is advantageously made aware of the strength or degree of their own steering control action. This will allow the user to adapt their co-steering operation in the future (to predetermined triggering thresholds or triggering limits).

In a further preferred method, the information signal is characteristic of a recommendation for action for the user to take (current and/or future) influence, in particular avoidance, and/or reaction to the triggered action of the driver assistance system. This offers the advantage that the user receives a concrete recommendation as to how he can influence an action of the driver assistance function, particularly in the future and preferably in comparable (driving and/or environmental) situations.

The determination and/or the provision and/or the output of the information signal preferably takes place in a (close) temporal connection with the time at which the (at least one) action is triggered (by the triggering trigger signal). The determination and/or the provision and/or the output of the information signal preferably takes place essentially immediately after and/or essentially simultaneously at the time of the triggering of the (at least one) action (by the triggering trigger signal).

This offers the advantage that the user, upon perceiving the emitted information signal, can analyze the current situation with the help of the transmitted information and/or the transmitted recommendation for action and evaluate it with regard to the causal connections between, for example, operating actions carried out and/or a current environmental situation with the action carried out. This allows the user to develop a deeper understanding of how the driver assistance system works based on a specific situation. A close temporal reference also allows a link between an operating action carried out (or an existing environmental situation) and an action of the driver assistance system triggered thereby, whereby the user is informed about the causal connection between the operating action and the triggered action using the proposed method. If the user performs undesirable actions by the driver assistance system, the user can then avoid and/or suppress this action in the future by adapting his operating actions.

Furthermore, it has been shown that a learning effect through the connection to a concretely experienced situation is greater compared to a general discussion with a user manual in which the functionality and various termination conditions are explained. In addition, the proposed method offers the user a particularly user-friendly option for a learning process, in which not only the action triggered by a trigger signal is directly experienced as a result of the trigger signal that occurs, but also by means of “learning by doing”. the user is also informed about the reasons for the occurrence. This enables a more differentiated examination of how the driver assistance system works.

The trigger signal(s) are preferably electronic signals, which are preferably determined by means of, in particular, a processor-based trigger device. The triggering device can be part of the driver assistance system and/or the vehicle and/or an external server.

The trigger signal is preferably an (electronic) signal generated (in particular by the trigger device) on the basis of sensor data which was detected and/or determined and/or collected using at least one sensor device.

The sensor device is preferably a sensor device of the vehicle, which is preferably arranged firmly on the vehicle (and in particular cannot be detached in a non-destructive manner). However, it is also conceivable that it is an external sensor device in relation to the vehicle, for example a sensor device of at least one (further, for example, vehicle in front) and/or a sensor device of an infrastructure device. Thus, the at least one sensor device can be a data collection device for collecting swarm data (where the swarm data has been and/or is being collected from a plurality of vehicles and/or where the swarm data can be retrieved from an external storage device, in particular a backend server and accessed preferentially).

Preferably, the respective sensor device transmits, in particular in a wired manner (as preferred in the case of a sensor device of the vehicle) and/or wirelessly (as preferred in the case of an infrastructure device and/or a sensor device external to the vehicle), the detected and/or determined and /or collected sensor data to the triggering device and/or the driver assistance system and/or the vehicle.

The sensor device can be, for example, a sensor device for detecting sensor data from the vehicle interior and/or an input device for detecting an operating action by the user.

Alternatively or additionally, a sensor device can be provided or the sensor device is a sensor device which is suitable and intended for detecting and/or recording sensor data from the (external) vehicle environment of the vehicle.

Alternatively or additionally, at least one sensor device can be used to detect and/or determine and/or measure a vehicle-internal (measured) value, such as a kinematic variable in relation to a vehicle movement of the vehicle, such as a vehicle speed and/or a vehicle acceleration and/or an internal change in vehicle acceleration over a predetermined period of time. The respective kinematic size can relate to a transverse and/or a longitudinal direction of the vehicle in relation to the vehicle movement of the vehicle. Alternatively or additionally, the sensor device can be a sensor device for detecting and/or determining a steering wheel torque (applied by the user) or a torque acting on the steering wheel.

Alternatively or additionally, the at least one sensor device can be a sensor device for acquiring sensor data in relation to a driving task (to be carried out by the driver assistance device). For example, (e.g. in the case of a lane change to be carried out) a sensor device (such as a camera) can detect possible lanes. Furthermore, the sensor device can have an object recognition device for detecting a road and/or lane boundary (line) and/or a center line.

Alternatively or additionally, the at least one sensor device can be a device for collecting map data in relation to the vehicle surroundings, for example to determine possible lanes. The map data can, for example, be stored on an external storage device and retrieved (e.g. via wireless data exchange) by the device for collecting map data.

The at least one sensor device and preferably a plurality of sensor devices for detecting and/or determining and/or collecting sensor data can be selected from a group of sensor devices which have a sensor device for collecting and/or determining kinematic data in relation to a ( Vehicle longitudinal and/or transverse movement, such as a speed, an acceleration and/or a change in acceleration, a sensor device for collecting track data, a sensor device for collecting sensor data in relation to a position of the vehicle, in particular relatively to the vehicle environment, such as GPS data (GPS Global Positioning System), a sensor device for collecting map data in relation to the vehicle environment, in particular for determining route data (in the vehicle environment), a data collection device for collecting swarm data, an environment sensor device for recording and /or recording environmental data in relation to the vehicle surroundings, such as a sensor device for (in particular optical) detection of spatially resolved environmental data of the vehicle surroundings, ultrasound device, a rear radar device and/or a front radar device, a LIDAR and/or a RADAR device, a (front - and/or rear camera, an object recognition device for recognizing an object and in particular another road user in the vehicle's surroundings, in particular on the basis of surrounding data recorded and/or determined (by the surroundings sensor device), input device (of the vehicle and/or the user) for detecting a Operating action or an input by the user, a monitoring device for monitoring attention and / or driving ability and / or (sufficient) willingness to drive and / or (sufficient) vigilance of the user, such as a monitoring device for checking whether a steering wheel of the vehicle and/or another control element of the vehicle is gripped (according to a prescribed manner) and/or touched (such as via a KLR touch evaluation, where “KLR” abbreviates a so-called “capacitive steering wheel”, which in particular recognizes how and where the driver is grips the steering wheel, for example “strong grip on the right”), a sensor or a measuring device for detecting and/or determining a steering torque (applied by the user) and the like, as well as combinations thereof.

Sensor data is (i.e.) preferably recorded by means of the sensor device and evaluated in particular by the triggering device, preferably based on predetermined triggering criteria and/or triggering rules. To evaluate the sensor data, at least one triggering threshold value and/or a triggering limit and particularly preferably a plurality of triggering threshold values and/or triggering limits can be predefined. At least one (own) triggering threshold and/or a triggering limit and particularly preferably a plurality of triggering thresholds and/or triggering limits are predetermined for each triggering category.

The respective triggering threshold values and/or triggering limits and/or the respective plurality of triggering threshold values and/or triggering limits can be stored individually or all on an internal memory device of the vehicle and in particular of the driver assistance system and/or the triggering device and/or an external memory device (in relation to the vehicle), such as a backend server described below. Preferably, the respective triggering threshold values and/or triggering limits and/or the respective plurality of triggering threshold values and/or triggering limits are predetermined and in particular cannot be changed by the user of the vehicle. However, it is also conceivable that individual or all values of the respective triggering threshold values and/or triggering limits and/or the respective plurality of triggering threshold values and/or triggering limits can be set and/or predetermined in a user-specific manner.

Preferably, for the trigger signal that triggers an action, at least one variable characteristic of a trigger category is stored on an in particular internal memory device of the vehicle and/or the driver assistance system and/or the trigger device. This variable, which is characteristic of the trigger category, can be stored as function-internal data (values), in particular as debug data for debugging or error diagnosis and/or for further development purposes.

Preferably, the essence of the proposed method is the reliable detection of previously defined special situations (which can be given and/or (at least partially) defined, for example, by the presence of trigger signals of certain trigger categories). Recognizing these situations can be done with the help of function-internal data that was previously available during development but is no longer (currently) used in a customer vehicle. This information can be processed and interpreted using other vehicle measurement data to provide situation-specific driver information and support the driver's learning process.

Preferably, in a particularly internal storage device of the vehicle and/or the driver assistance system and/or an external storage device (in relation to the vehicle, such as a backend server), in particular function-internal, data is stored which is for a triggering situation in which at least one Trigger signal was and/or is generated to trigger an action, is characteristic. The data characteristic of the triggering situation can be characteristic of the triggering signal and/or of the triggering category of the triggering signal that triggers the action.

Preferably, the stored data characteristic of the trigger category of the trigger signal that triggers the action is not used to trigger and/or carry out the action (and/or the driving task to be carried out by the driver assistance system). Preferably, the trigger signal is required to trigger and/or carry out the action, but not data characteristic of the trigger category of the trigger signal.

Preferably, the at least one trigger signal for the trigger category (triggering the action of the driver assistance system) is retrieved from the (internal and/or external) storage device on which they are stored (in particular from the information device) and/or sent to the vehicle (and in particular the information device). Preferably, the at least one variable characteristic of the triggering category of the triggering signal is determined on the basis of the data stored on the memory device (and in particular the data retrieved from the memory device) that is characteristic of the triggering situation.

The action is preferably an intervention by the driver assistance system, which can be perceived by the user.

In a preferred method, the at least one action is selected from a group of actions which include canceling an execution of a driving task to be carried out and/or initiated by the driver assistance system, starting a driving task, releasing a driving task to be carried out by the driver assistance system, and canceling the operation of the driver assistance system, changing a driving task, preventing execution of a driving task, interrupting execution of a driving task, suppressing intervention in vehicle guidance, delaying execution and / or starting a driving task, accelerating execution of a driving task and the like and combinations thereof.

In combination with these actions, the proposed method offers the advantage that a (particularly perceptible) deviation from an implementation or execution of an action (in particular intended by the user) can be detected by transmitting information to the user, for example regarding the reason for the change or a recommendation for action ( via output of the information signal depending on the characteristic trigger category) can be checked for plausibility or a (current or future) operating action (to avoid or as a reaction to the action) can be suggested.

The driving task can be, for example, a (partially automatic or fully automatic and/or assisted) (travel) lane change of the vehicle (from a first lane to another lane).

If an execution of a driving task to be carried out and/or initiated by the driver assistance system is aborted, the (previously) driving task to be carried out can be aborted (and the driver assistance system nevertheless remains activated), so that execution of a new driving task can be initiated (at any time and/or in principle). It is also conceivable that steps that have already been started and/or that have already been carried out to carry out the driving task, such as moving the vehicle towards the lane marking, are at least partially and preferably completely reversed and/or an abort phase is initiated, in which in particular the vehicle goes into one (predetermined) driving position is guided in relation to the road.

If the operation of the driver assistance system is aborted, the operation of the driver assistance system can, for example, be deactivated, so that the driver assistance system must be activated beforehand, for example before initiating another driving task.

The start of a driving task can in particular follow a preparation and/or planning phase by the driver assistance system, in which no (system) intervention by the driver assistance system, for example in a longitudinal and/or transverse guidance of the vehicle, takes place. When the driving task is started, an initial (system) intervention can be carried out by the driver assistance system to carry out the driving task, for example by means of an intervention in a longitudinal and/or transverse guidance, in order to carry out the intended driving task.

Changing a driving task can, for example, involve changing the lane into which you want to change. It would be conceivable that the driver assistance system of a vehicle that is moving on a three-lane road changes to a right-hand lane instead of a left-hand lane as seen from the vehicle's current lane.

Preferably, at least one triggering category and particularly preferably all triggering categories (in particular the plurality of triggering categories) can be an abort category or (in each case) abort categories (in particular a multiplicity of abort categories). In this case, (corresponding) trigger signals of these abort categories can in particular trigger or bring about an abort of a (predetermined and/or to be carried out and/or currently in execution) driving task of the driver assistance system.

In a further preferred method, the plurality of triggering categories is selected from a group which includes a triggering category in relation to an operating action by the user, a triggering category in relation to an incorrect operating action, in particular by the user, a vehicle safety-related and/or traffic safety-related triggering category, a vehicle-internal triggering category, a vehicle-external triggering category, an environment-related triggering category, a triggering category in relation to other road users, in particular a surrounding vehicle, a weather-related triggering category, a topology-related triggering category, a triggering category in relation to the complexity of the current (traffic) and/or environmental and/or operating and/or road data and/or weather situation of the vehicle, a trigger category in relation to a system limit of the driver assistance system being exceeded and the like, as well as combinations thereof. In particular, one, preferably several and particularly preferably all trigger categories can be an abort category, with the (all) trigger signals of the abort category(s) leading to the abort of a driving function to be carried out by the driver assistance function.

A trigger category in relation to an incorrect operation (in particular by the user) can be understood as a trigger category to which trigger signals are assigned, which are generated on the basis of an incorrect operation (in particular by the user). In other words, the driver assistance system is configured in such a way that in the case of trigger signals of the trigger category in relation to an incorrect operation, the action (to be carried out by the driver assistance system) is triggered due to an incorrect operation (detected by a sensor device) (in particular by a user, in particular the user ) results.

In the case of a driver assistance system for (automatic and/or semi-automatic) lane changing, the incorrect operation can be, for example, countersteering (in particular by the user or the driver). The driver assistance system is preferably configured in such a way that countersteering (by the driver) triggers the action of aborting the lane change. If the lane change is aborted, it is preferably determined (by the information device) which trigger category was the trigger signal that triggered the abort. In the case of a previous countersteering, for example, the triggering category in relation to an incorrect operation and/or the triggering category in relation to countersteering would be determined as the triggering category or selected from the large number of (predetermined) triggering categories. If, for example, a variable that is characteristic of the triggering category in relation to counter-steering is determined, depending on this, the user can be given appropriate information (by providing and/or outputting an information signal), such as the information that due to the counter-steering the (automatic ) Lane change was canceled.

Another example of incorrect operation is preferably the user actuating a direction indicator of the vehicle in the opposite direction than the intended lane change, i.e. in particular flashing in the direction wrong direction. This also preferably triggers an abort of the lane change (to be carried out by the driver assistance system).

In the case of a driver assistance system for (automatic and/or semi-automatic) lane changing, the operating action can be, for example, steering (in particular of the user or the driver). The driver assistance system is preferably configured in such a way that steering (in particular too strong) and/or steering (of the driver) that meets predetermined criteria triggers the action of aborting the lane change. If the lane change is aborted, it is preferably determined (by the information device) which trigger category was the trigger signal that triggered the abort. In the case of a previous co-steering, for example, the trigger category would be determined in relation to an operating action and/or the trigger category in relation to (too strong) co-steering would be determined or selected from the large number of (predetermined) trigger categories. In accordance with this, the user is then preferably informed by transmitting information adapted to this, such as a (future) recommendation for action “steer less the next time you change lane”.

A vehicle-internal triggering category can be understood, in particular, as a triggering category in relation to a sensor device and/or measuring device and/or data collection device, which each (in particular exclusively) collect and/or record (sensor and/or measurement) data from the vehicle interior .

For example, the vehicle-internal triggering category can be a triggering category in relation to monitoring the user or driver with regard to their vigilance and/or attentiveness. A (so-called) hands-off sensor device is preferably provided for such monitoring.

For example, the vehicle-internal triggering category can be a triggering category in relation to (internal) system data of the vehicle and/or the driver assistance system, for example a (predetermined and/or determined) time of the end of the maneuver and/or a (predetermined and/or determined) time for the maneuver start, act. For example, the action can be triggered, in particular a lane change can be aborted, for example, if a (in particular predetermined) maximum period of time (in particular since the start of the maneuver or the driving task to be carried out by the driver assistance system) has been exceeded.

For example, the vehicle-internal triggering category can be a triggering category in relation to kinematic movement data of the vehicle, such as (absolute and/or in relation to at least one surrounding vehicle - such as a vehicle being overtaken or a vehicle to be overtaken, relative) speed and/or acceleration (Longitudinal and/or transverse acceleration) and/or averaged acceleration and/or change in the acceleration of the vehicle, each in the longitudinal and/or transverse direction (with respect to a forward direction of travel of the vehicle).

A trigger category that is caused externally to the vehicle can, for example, be a trigger category in relation to other road users (particularly in the area surrounding the vehicle). For example, if the vehicle is notified and/or recognized about an emergency vehicle approaching quickly from behind and/or a following vehicle that is following too closely and/or a vehicle in front that is braking heavily, the driving task to be carried out by the driver assistance system could be aborted and/or interrupted.

An environment-related trigger category is preferably a trigger category in relation to environment data and particularly preferably in relation to track data.

For example, the environment-related triggering category could be a triggering category in relation to a marking or regulation (in particular in accordance with the road traffic regulations) to be detected in the surroundings of the vehicle and/or detected by means of a sensor device for recording surroundings data of the vehicle driving task to be carried out by the driver assistance system. The identification or regulation (in particular in accordance with the road traffic regulations) with regard to the driving task to be carried out by the driver assistance system could, for example, be traffic signs (such as traffic signs to indicate a no overtaking) and/or electronic traffic control systems (such as traffic display boards) and/or floor markings (such as lane markings, which, through their type of marking, provide an indication of behavior in road traffic, for example through a line type (solid - dashed) and/or a color (white - or yellow, with yellow being used to identify a construction site area).

For example, if the driving task to be carried out by the driver assistance system is an (automatic) lane change, this could be done, for example, by a sensor (by a sensor). sensor device for detecting the surroundings of the vehicle) detected type of lane marking (such as a floor marking), an abort can be triggered. For example, if the (line) type of the recognized (ego) lane marking changes (for example while the lane change is being carried out) from a dashed to a solid marking, an abort can occur.

A vehicle safety-related trigger category could, for example, be a trigger category in relation to a (particularly general) vehicle error, such as in relation to a vehicle dynamics control, e.g. an ESC error ("ESC" is the abbreviation for "Electronic Stability Control", an electronic one Driving assistance system, which is intended to counteract the vehicle swerving by braking individual wheels. This driving assistant is also driving dynamics control). Another example of a vehicle safety-related trigger category may be a trigger category related to an ACC status (“ACC” is the abbreviation for “Adaptive Cruise Control”).

A weather-related triggering category could, for example, be a triggering category in relation to (predictively determined or detected) slipperiness in a (relevant) road area and/or weather affecting the performance of the driving task (by the driver assistance system), in particular potentially affecting it.

A trigger category related to the complexity of the current situation and/or a predictive situation could be a trigger category related to a data processing volume and/or computing power effort.

A topology-related triggering category is preferably a triggering category in relation to a topological event, such as a motorway exit, an exit, an exit, stop points, intersections, bottlenecks, traffic lights, curves, in particular with regard to geometry, beginning, apex, end, crests, Traffic signs and the like. The presence of a topological event is preferably based on (in particular from an external and/or internal storage device) retrieved and/or detected and/or predictively determined route data and/or map data (by the driver assistance system and/or by the triggering device and/or by the information device).

The large number of trigger categories is preferably specified. However, it is also conceivable that the large number of trigger categories can be set, particularly user-specific. For example, it is conceivable that a finer categorization can be carried out by the user and/or automatically, in which a larger number of trigger categories are used.

However, it is also conceivable that, conversely, the large number of trigger categories is reduced and/or a finer categorization is replaced by a not so finely divided categorization. You can (particularly for one and preferably for every action)

The large number of trigger categories can remain unchanged, in particular it is conceivable that the large number of trigger categories

The driver assistance system preferably supports the user in the longitudinal and/or lateral guidance of the vehicle, in particular when the vehicle changes lane.

In a further preferred method, for the (triggered) action (and preferably for each action of the driver assistance system to be triggered), a large number of different information sizes, in particular each with different information content for the user, are predefined and/or (in an internal and/or external storage device ) filed. To determine the information signal (depending on the determined variable that is characteristic of the triggering category), at least one information variable is preferably selected from the large number of different information variables. This offers the advantage that information output can be adapted in particular to the determined variable that is characteristic of the trigger category. The information content can provide a recommendation for action and/or a reason for the action triggered.

Preferably, at least one information quantity (in particular unique) is assigned to each trigger category. Advantageously, an output information signal can be clearly attributed by the user to (exactly) a trigger category. This offers the advantage that the user receives feedback based on the information signal as to which trigger category the trigger signal that triggered the action was. The user therefore receives feedback about the reason and/or a recommendation for action, which is precisely tailored to the trigger category. It is also conceivable that there is a clear association between the large number of trigger categories and the large number of information variables.

It is particularly important not to flood and annoy a driver who already knows the systems well with unnecessary information.

In order to only support inexperienced drivers, driver recognition using a backend is preferably proposed, which registers how often the driver has already been informed about certain special situations. If it is noted in the backend that the driver has already been informed three times that he should not steer too hard when changing lanes automatically, this additional information will be suppressed in the future and only information that the driver has not received sufficiently often is output. The threshold for how often a certain piece of information can be shown can be freely applied.

The information from the backend can also be transferred to car sharing vehicles so that the driver is not warned again in every sharing vehicle.

In a further preferred method, at least one training variable is determined depending on a number of (already completed) outputs of at least one predetermined information signal, on the basis of which it is determined whether the predetermined information signal (in the case of an occurring trigger signal of a trigger category, which leads to the generation of the predetermined Information signal would continue to be output and/or should be output.

In other words, when a trigger signal of a predetermined trigger category occurs, it is determined depending on the training variable whether an information signal is to be provided and/or output and/or generated. The training variable is/was preferably determined depending on past output information signals, which were generated and/or output based on trigger signals of this predetermined trigger category.

Preferably, when a predetermined threshold of numbers of information signals that have already been output (in particular in a specific period of time) is exceeded, such an information signal is no longer output permanently and/or for a predetermined period of time. This offers the advantage that a user is not unnecessarily burdened by unused information outputs and thereby increases the density of information outputs that appear valuable and helpful to the user and are used.

The threshold can preferably be specified (by the user), so that the user himself can set the type and frequency of information transmissions that are repeated in comparable situations.

However, it is also conceivable that the threshold in relation to a predetermined information signal and/or in relation to a predetermined triggering category depends on a further threshold in relation to a further specified information signal and/or in relation to a further specified triggering category (in particular automatically and preferably by the information device ) is determined. This offers the advantage that it can be taken into account whether a user generally adapts his operating action to the transmitted information signals and uses the transmitted information.

It is preferably recorded (in particular by the information device) whether a user adapts his operating action(s) and/or in a subsequent and/or subsequent comparable situation, which is particularly suitable for a trigger signal of the same trigger category to trigger an identical action changes. This is preferably taken into account when determining the training size and/or the (specified) threshold.

The number of outputs of a predetermined information signal can relate to a predetermined period of time, for example to a yearly period (e.g. the previous 12 months), or to a (previous) period of at least 1 month, preferably at least 2 months, preferably at least 4 months and preferably at least 6 months.

The training variable(s) and/or the predetermined thresholds and/or the number of already output (predetermined) information signals is preferably determined in a user-specific and/or vehicle-specific manner. Preferably, the training variable(s) and/or the predetermined thresholds and/or the number of already output (predetermined) information signals are stored on an external storage device, such as a backend server, so that these variables are (each) used by another vehicle ( in particular its information device) can be accessed and/or used.

Preferably, the information device of the (or another) vehicle retrieves a training variable and/or a predetermined threshold and/or one for the number of already output (predetermined) information signals from an external storage device, in particular a backend server.

In a further preferred method, the training size and/or the number of outputs Ben of the predetermined information signal is determined in a user-specific manner and/or is stored in a user-specific manner (on an external and/or internal storage device).

In a further preferred method, the number of outputs of the predetermined information signal is stored in a user-specific manner. This offers the advantage that an output of a (in particular each) predetermined information signal can be specifically adapted to a user and independent of the vehicle.

Preferably, the driver assistance system is selected from a group that includes (at least) a lane change assistance system, a parking assistance system for supporting a parking operation of the vehicle into a parking space (which can be aligned approximately parallel or transverse to a roadway), for example by providing and/or issuing support instructions for the user how the vehicle can be guided into the recognized parking space to park, a parking steering assistance system, an overtaking assistance system for overtaking another vehicle, an avoidance assistance system, an emergency braking assistance system, a braking assistance system, a distance control assistance system, a hill start and / or hill descent assistance system, a highway driving assistance system, a lane keeping assistance system, a (driving) speed control assistance system and the like as well as combinations thereof.

A parking steering assistance system can include at least one sensor for detecting obstacles and/or open spaces in an environment transverse to a longitudinal direction of the motor vehicle, an evaluation and control unit coupled to the at least one sensor for evaluating sensor signals from the at least one sensor and controlling vehicle systems, in order to park the vehicle in an activated automatic parking mode in a parking space without steering intervention by a driver.

The driving assistance system supports the user, in particular the driver, of the vehicle in carrying out at least one (and preferably all) driving task(s).

The driver assistance system can (in each case) be a system that is ready to take over driving at least partially automatically. It is also conceivable that it is a driver assistance system which is at least temporarily suitable (and intended) to completely take over (in particular independent) vehicle control (in particular within defined limits).

The present invention is further directed to an information device for a vehicle with a driver assistance system, which is suitable and intended to support the user in driving the vehicle, in particular for longitudinal and/or lateral guidance and/or for changing lanes of the vehicle, for providing information a user of the vehicle with the driver assistance system in relation to at least one action of the driver assistance system. In order to trigger the at least one action of the driver assistance system, a large number of trigger categories are specified and the action can be triggered by a trigger signal from each of these trigger categories.

According to the invention, the information device is set up and intended, when the at least one action of the driver assistance system is triggered by a trigger signal of a trigger category, to determine at least one variable from the plurality of trigger categories that is characteristic of the trigger category of the trigger signal and, depending on the trigger category, to output at least one information signal to identify and/or create the user. According to the invention, the information device is suitable and designed and configured to provide and/or transmit the information signal to an output device for output to the user.

It is therefore also proposed within the scope of the invention to output an information signal adapted to a specific trigger category to the user.

The information device is preferably set up, suitable and/or intended to carry out the method described above and all method steps already described above in connection with the method individually or in combination with one another. Conversely, the method can be equipped with all the features described in the context of the information device individually or in combination with one another.

The information device can be a (in particular purely) processor-based device. However, it is also conceivable that the information device has, for example, the output device.

The information device is preferably part of a vehicle. However, it is also conceivable that the information device is implemented as part of an external server, such as a backend server, and is configured to transmit the (respectively) determined information signal to the (respective) vehicle (in particular wirelessly).

Preferably, the at least one output device, and in particular the display devices, is selected from a group that includes a head-up display, a multifunctional display device, a display device in a rearview, exterior and/or side mirror, a display device in an infotainment, a mobile End device and the like. The output device can be an output device of the vehicle, in particular an output device that is fixed to the vehicle (in particular cannot be detached in a non-destructive manner) and/or a (particularly mobile) output device of the user.

The information device preferably generates a signal which is characteristic of the training variable (described above) and/or a predetermined threshold and/or the number of (predetermined) information signals that have already been output. The information device preferably generates a signal which is characteristic of whether a (predetermined) information signal should be output. In particular, the information device generates a signal which is characteristic of the fact that no information signal should be output in the event of a trigger signal of a trigger category that triggers an action.

An external server (or preferably each of the above-mentioned servers) is understood to mean, in particular, a server that is external to the vehicle, in particular a backend server. The external server is, for example, a backend of a vehicle manufacturer or a service provider. The functions of the backend or the external server can be carried out on (external) server farms. The (external) server can be a distributed system. The external server and/or the backend can be cloud-based.

The present invention is further directed to a vehicle, in particular a motor vehicle, comprising an information device described above corresponding to an embodiment (described above) and/or a triggering device corresponding to an embodiment (described above). The vehicle preferably has at least one output device (described above). The vehicle preferably has at least one sensor device (described above) and particularly preferably a plurality of (different) sensor devices.

The vehicle can in particular be a (motorized) road vehicle. The vehicle is preferably a car-sharing vehicle, i.e. in particular a vehicle that can be used by different users as part of car-sharing services.

A vehicle can be a motor vehicle, which in particular is a motor vehicle controlled by the driver (“driver only”), a semi-autonomous, autonomous (for example autonomy level level 3 or 4 or 5 (the SAE J3016 standard)) or self-driving Motor vehicle is. The autonomy level level 5 refers to fully automated vehicles. The vehicle can also be a driverless transport system. The vehicle can be controlled by a driver or drive autonomously. In addition to a road vehicle, the vehicle can also be an air taxi, an airplane and another means of transport or another type of vehicle, for example an air, water or rail vehicle.

The present invention is further directed to a computer program or computer program product, comprising program means, in particular a program code, which represents or encodes at least some of and preferably all of the method steps of the method according to the invention and preferably one of the preferred embodiments described and is designed to be executed by a processor device.

The present invention is further directed to a (computer-readable) data memory on which at least one embodiment of the computer program according to the invention or a preferred embodiment of the computer program is stored.

The present invention is further directed to a data carrier signal (preferably an information signal, in particular described above), which transmits and/or determines and/or provides (for transmission and/or output) the computer program described above).

The present invention has been described in relation to a vehicle. The present invention can also be transferred to methods and systems or devices with user assistance systems to support the user in carrying out a (given) task, in which the respective user assistance system can carry out at least one action, which can be triggered by trigger signals from a large number of trigger categories. The applicant reserves the right to also claim items related to this.

Further advantages and embodiments result from the attached drawings:

• 1 eine schematische Darstellung eines Ablaufdiagramms eines erfindungsgemäßen Verfahrens gemäß einer Ausführungsform;
• 2 eine schematische Darstellung eines Ablaufdiagramms eines erfindungsgemäßen Verfahrens gemäß einer weiteren Ausführungsform;
• 3 eine schematische Darstellung eines Ablaufdiagramms eines erfindungsgemäßen Verfahrens gemäß einer weiteren Ausführungsform;
• 4 eine schematische Darstellung eines Ablaufdiagramms eines erfindungsgemäßen Verfahrens gemäß einer weiteren Ausführungsform; und
• 5 eine schematische Darstellung zur Illustration eines erfindungsgemäßen Verfahrens in Bezug auf ein Spurwechsel-Fahrerassistenzsystem gemäß einer Ausführungsform.

Show in it:

• 1 a schematic representation of a flowchart of a method according to the invention according to one embodiment;
• 2 a schematic representation of a flowchart of a method according to the invention according to a further embodiment;
• 3 a schematic representation of a flowchart of a method according to the invention according to a further embodiment;
• 4 a schematic representation of a flowchart of a method according to the invention according to a further embodiment; and
• 5 a schematic representation to illustrate a method according to the invention in relation to a lane change driver assistance system according to one embodiment.

A particularly central idea of the method according to the invention according to one embodiment is a software component which recognizes “special situations”, which are defined in particular in advance. These “special situations” are preferably linked to a driving situation and very detailed driver information. The preferred goal is not to leave the driver alone with a simple pop-up in the instrument cluster, but rather to provide the driver with a complex situation interpretation in the vehicle's infotainment system.

First of all, in order to implement the method proposed according to the invention in a specific embodiment, it is necessary that “special events” be defined. In the following, this will be done using the example function of automated lane changing. This can be canceled based on a variety of (for example ten) cancellation categories. For the user of a vehicle, each of these aborts is visualized in the state of the art via the same popup in the vehicle's instrument cluster. When developing such a system, internal, so-called debug data can be visualized using special measurement technology in order to understand, analyze and, in the best case, minimize the reasons for termination.

• - Blinker
• - Gegenlenken
• - Gegenlenken 3 Nm
• - Geschwindigkeit/Querbeschleunigung
• - Hands-Off (Der Fahrer hat insbesondere keine Hand am Lenkrad)
• - Mitlenken
• - Umfeld/ Spur

Specific termination criteria can be seen below as examples:

• - Indicator
• - Countersteering
• - Countersteering 3 Nm
• - Speed/lateral acceleration
• - Hands-Off (the driver in particular has no hand on the steering wheel)
• - Steer along
• - Environment/track

Some of these termination criteria can only occur due to a system error and are therefore only relevant for development and not for the method proposed here.

Others, however, are caused either by (incorrect) operating actions by the driver or by perception of an environment that is too complex (system boundary) around the vehicle by an environmental sensor such as radars or cameras.

An example of an (incorrect) operating action is steering too hard or flashing.

With the method known from the prior art, this results in the problem that the user does not receive any information about what he did wrong in order to learn from it.

1 shows a schematic representation of a flowchart of a method according to the invention according to an embodiment using the example of a termination of a lane change of a vehicle, which is carried out in particular by a lane change driver assistance system of the vehicle.

The reference number 12 indicates an abort of a lane change (to be carried out by the driver assistance system). The user of the vehicle is informed about the cancellation of the lane change by displaying a cancellation pop-up, for example in the instrument cluster. Such a display of the cancel popup in the instrument cluster is in 1 marked with the reference number 14.

Aborting the lane change can be caused by the occurrence of a special situation. An abort can be triggered by trigger signals from different trigger categories (in particular abort categories). For example, the termination can be caused by several special situations. A termination category can reflect a particular type of special situation.

By means of a method step identified by reference number 16, in the method according to the invention according to in 1 In the embodiment shown, a situation analysis is carried out by a (new) software component to detect special situations. The situation analysis can be used to determine the termination category to which the trigger signal that triggers or causes the termination is assigned. This allows conclusions to be drawn about the particular situation that triggered or caused the termination.

By determining the special situation and/or by determining the trigger category associated with the triggering trigger signal (or in this case the cancellation category), the user can be provided with a detailed explanation of the situation (in particular by means of the new software component), particularly in the infotainment display. Such an explanation is in 1 marked with the reference number 18.

The detailed explanation of the situation is preferably adapted exactly to the cancellation category.

2 shows a schematic representation of a flowchart of a method according to the invention according to a further embodiment using the example of a (travel) lane change function (executed and/or to be executed by a driver assistance system). The reference number 22 denotes internal data of one of the lane change functions, such as debug data. With the help of this internal data 22, in particular in the event of the lane change being aborted, an analysis of the special situation is carried out, in particular by identifying or determining a reason (such as a trigger category of the trigger signal that triggers the special situation) for the occurrence of the special situation, what a 2 is identified by the reference numeral 24. Reference number 26 denotes the subsequent procedural step in which a recommendation for action is issued depending on the analysis of the particular situation.

Example 1:

For example, changing lanes is aborted because the driver steers too hard. The software component for recognizing special situations, which can be carried out, for example, by the (processor-based) information device 30 described above, recognizes that a lane change abort (the term “lane change” is also abbreviated as “FSW” below) and thus a special situation exists. The software component then analyzes the situation and triggers driver information that is adapted to this situation.

In one possible exemplary embodiment, a graphic with text can appear in the infotainment system or in an output device of the vehicle, which clearly explains to the driver that the automated lane change had to be canceled for safety reasons because the driver was steering too hard.

The recommendation for action is preferably issued (in method step 26) that the driver should steer less or not at all. This sets the driver on a continuous learning process, which helps him to better use the complex system in all situations.

Example 2:

In another example, the lane change is aborted because another vehicle is driving into the legally required safety area around your own vehicle.

The software component, which is executed, for example, by the (processor-based) information device 30 described above, recognizes that a lane change abort and thus a special situation exists. The software component then analyzes the situation and triggers driver information that is adapted to this situation.

Preferably, driver information appears in the infotainment display and/or in (at least) one output device of the vehicle (such as a display), preferably a graphic with text, which clearly explains to the driver that the automated lane change had to be canceled for safety reasons because an unfamiliar vehicle was hitting in particular, has driven into the legally prescribed safety area around your own vehicle.

It is even conceivable to describe exactly and/or output via the output device which vehicle caused the crash (distances to the vehicle are known from the surrounding sensor system). For example, by means of a graphic display of the critical vehicle (in particular the vehicle causing the crash), the driver information could be transmitted as to which vehicle in the vehicle environment caused and/or influenced the crash. This advantageously makes it possible to improve the driver's understanding of the situation.

Another possible reason would be, for example, a cancellation due to something not permitted th type of lane marking. For example, if the type of detected ego lane marking changes from a dashed to a solid marking during execution, an abort may occur.

The driver is preferably informed about specified safety distances around the vehicle - for example the ones prescribed in ECE R-79, particularly with the help of graphics and understandable texts. In the specific situation, this additional information about the popup helps him to better understand why the system reacted the way it did.

3 shows a schematic representation of a flowchart of a method according to the invention according to a further embodiment using a driver assistance system for carrying out an (automated or partially automated) lane change.

• - Blinker
• - Gegenlenken
• - Gegenlenken 3 Nm
• - Geschwindigkeit/Querbeschleunigung
• - Hands-Off (Der Fahrer hat insbesondere keine Hand am Lenkrad)
• - Mitlenken
• - Umfeld/ Spur

It is preferably provided in the driver assistance system that a lane change activated in the driver assistance system (for execution) and/or a (automated or partially automated) lane change that is (currently) being executed by the driver assistance system is dependent on the following (in particular determined) states and/or actions and /or actions can be influenced and/or changed and preferably canceled or will be canceled:

• - Indicator
• - Countersteering
• - Countersteering 3 Nm
• - Speed/lateral acceleration
• - Hands-Off (the driver in particular has no hand on the steering wheel)
• - Steer along
• - Environment/track

The aforementioned states and/or actions (of the user) and/or actions can (each) form trigger categories and in particular cancellation categories, which in 3 is marked with the reference number 42.

In other words, the aforementioned listed events or situations (particularly under certain additional conditions and/or states) can trigger an abort of a lane change.

The driver assistance system is preferably suitable and intended to store characteristic data as internal data of the lane change function 34 (e.g. as debug data) in a memory device (of the driver assistance system) for a trigger signal that triggers the cancellation of a lane change. The characteristic data preferably includes the trigger category of the trigger signal that triggers the termination of the lane change.

Based on the internal data 34 of the lane change function, an analysis of the special situation can be carried out 3 marked with the reference number 36. Depending on the analysis 36, a recommendation for action can be issued, which is indicated by the reference number 38 in 3 is marked. The recommendation for action can be output as a text output and/or as a voice output and/or as a video output.

The reference number 40 indicates an exemplary situation in which the driver steers with, for example, 4 Nm (unit Newton meters) when changing lanes. This action by the driver triggers a trigger signal in the “co-steering” abort category, which triggers the lane change to be aborted. By analyzing which cancellation category the trigger signal belonged to, the user is advantageously given a recommended action 46 that is tailored to the cancellation category as a recommendation for action 38, for example: “steer less yourself the next time you change lane”.

Reference numeral 44 denotes a further exemplary situation in which the vehicle has a speed below 85 km/h. This triggers a trigger signal of the trigger category or abort category “Speed” and thereby causes the lane change to be aborted. Depending on the trigger signal and in particular depending on the trigger category of the trigger signal, the driver is advantageously given an action recommendation adapted to this, here for example the action recommendation marked by reference number 46 “Lane change only available above 90 km/h”.

4 shows a schematic representation of a flowchart of a method according to the invention according to a further embodiment.

The reference numbers 50, 52 and 54, like the reference numbers 22, 24 and 26 (or 34, 36 and 38), identify internal data of the lane change function 50, which can be stored as debug data, based on this internal data of the lane change function 50 Analysis of the special situation 52 and an issue of a recommendation for action 54 depending on this analysis or the analysis result.

The reference numeral 56 denotes examples of internal data of the lane change function, which are recorded and/or determined and in particular stored (on a particular internal storage device) in order to carry out the lane change function. Such internal data can be a speed (of the vehicle), a KLR touch evaluation or data characteristic for this (steering wheel gripped, "KLR" here stands for capacitive steering wheel), steering torque, environmental sensors or data recorded thereby (e.g. ultrasound, rear radar, Front radar), lateral acceleration and/or lane data act.

The (internal) variables are preferably compared in the method step marked with the reference number 58 with, for example, ECE specifications (ECE abbreviation for Economic Commission for Europe), that is, here, for example, that the lateral acceleration is less than X m / s ² (where X represents a predetermined speed value ), the speed is lower and/or higher than (specified) limit values, the (driver's) hands are on the steering wheel, no flashing again, ACC active and/or the like.

In particular, based on the comparison (in the method step marked with reference number 60), an assignment to the situation from a catalog, for example lane change mode = active (details, for example page 9), is preferably carried out; Bit_Hands_Steering Wheel == true; bit_speed == false.

Based on this assignment, a recommendation for action as described in the catalog/map will preferably be issued, which in 4 is illustrated with the reference numeral 62.

5 shows a schematic representation to illustrate a method according to the invention in relation to a lane change driver assistance system according to one embodiment. The embodiment refers to exemplary regulations for changing lanes according to UN ECE. In 5 A TA lane change according to UN-R 79.03 is described as an example (“TA” here stands for a driver assistance system known as “Travel Assist”).

The reference number 1 denotes the (ego) vehicle (of a driver) with a (processor-based) driver assistance system 32 to support the driver of the (ego) vehicle 1 when changing lanes of the (ego) vehicle 1.

First, the (ego) vehicle 1 is in a road section A1 of a road. In this road section A1, the (ego) vehicle 1 is located in the right lane (with respect to a forward travel direction of the ego vehicle 1) of the two lanes of a road shown. The two lanes are separated from each other by a center marking shown in this figure by a dashed line.

In the in 5 In the exemplary embodiment shown, there is another vehicle 2 in the road section A1 in the left lane of the road seen in the forward direction of travel of the ego vehicle 1, namely one also moving in the forward direction of travel of the (ego) vehicle 1 and one (the (ego) vehicle). 1) overtaking vehicle 2 (also called “overtaking vehicle”).

For example, the (ego) vehicle 1 could move in the forward direction in section A1 at a speed of 100 km/h (V_Ego = 100 km/h). The speed of the overtaking vehicle 2 could be, for example, 120 km/h (V_overhauler = 120 km/h). In one possible case, the relative distance (measured exclusively in the forward direction of the (ego) vehicle 1) between the (ego) vehicle 1 and the overtaking vehicle 2 could be (a minimum distance of) 35 m (X_minimum = 35 m) .

The (ego) vehicle 1 preferably has (at least) one sensor device for object recognition, for example a rear radar, by means of which, for example, a two-wheeler and/or a car and/or a truck and the like can be detected and/or recognized. A lane change carried out by the driver assistance system preferably takes place depending on an object recognized by the sensor device, here the object recognition rear radar, and/or a relative distance thereto and/or a (relative) speed of the recognized object (in particular in relation to the (ego) Vehicle 1).

In the exemplary embodiment shown, for example, the (ego) vehicle could use the sensor device to detect the overtaking vehicle 2 and/or the (relative) (driving) speed and/or a (relative) distance (with respect to the (ego) vehicle 1. If there is a sufficient distance between the overtaking vehicle 2 and the (ego) vehicle 1 (for example S_rear > 55 m) and an appropriate relative speed (in particular a relative speed that is preferably within a predetermined relative speed range depending on the distance), the lane change can be carried out be performed.

The arrow P1 illustrates the process in which the driver of the (ego) vehicle 1 carries out a driving task, such as changing lanes. activated by the driver assistance system 32, here the so-called “Travel Assist”.

Whether a lane change (assisted by the driver assistance system) can be carried out when the driver assistance system is activated or can be assisted by the driver assistance system can be checked (by the driver assistance system) according to specified regulations, such as a calculation rule according to R79.03.

As a result of activation of the driving task in the driver assistance system, the driver assistance system can activate a standby mode of the lane change (to be assisted by the driver assistance system). For example, a (driving) speed of the ego vehicle 1 can be 80 km/h or such a speed can be set.

As a result (see arrow P5), a lane change option can be determined (by the driver assistance system). In the middle bottom picture the 5 It is illustrated that an option to change lanes into the left lane of the road was identified here. The lane change option determined in this way can be displayed to the driver (e.g. visually).

The driver can then, for example, activate the tip indicator and this can be used to start the automatic lane change (in the left lane here) by the driver assistance system. The start of carrying out the driving task, here changing lanes, is in 5 illustrated by arrow P2.

The implementation of the lane change is divided into different phases, which are: 5 be carried out in the road sections A2 - A6 (sequentially). The arrow P3 illustrates the first phase following the start, namely the delay phase, in which the (ego) vehicle continues to maintain the previous lane unchanged for a predetermined period of time, for example for 1 s.

In the subsequent phase (compare road section A3), which is preferably carried out within 3 - 5 s after the start of the lane change (in 5 illustrated by arrow P4), the vehicle moves (by the driver assistance system) in the direction of the lane marking.

The lane change maneuver of the (ego) vehicle 1 is in the in 5 The example shown is carried out in the road section A4 (preferably within a period of time <5 s; t <5s).

In the subsequent phase (which in 5 is carried out in the road section A5), preferably carried out by the driver assistance system, preferably a resumption of the so-called “lane keeping function” of the (ego) vehicle. It may be that no time limit is set for the resumption and/or implementation of this lane keeping function (t = n.def.)

Preferably, the turn signal of the (ego) vehicle is deactivated in a (final) phase. In 5 This takes place in the A6 road section. This can/is done within a period of less than 0.5 s (t < 0.5 s).

• - vorgegebene Grenz- bzw. Schwellwerte für eine seitens des Fahrers auf das Lenkrad ausgeübte Kraft (beispielsweise Grenzwert für diese Kraft F_{L, max} = 50 N)
• - vorgegebene(r) Grenz- bzw. Schwellwert(e) für eine insbesondere maximale, bevorzugt absolute, Beschleunigung des Fahrzeugs, z.B.: $${\ddot{y}}_{max,abs}=3m/s^2$$
  
• - vorgegebene(r) Grenz- bzw. Schwellwert(e) für eine insbesondere relative, bevorzugt absolute, Beschleunigung des Fahrzeugs, z.B.: $${\ddot{y}}_{max,rel}=1m/s^2$$
  
• - vorgegebene(r) Grenz- bzw. Schwellwert(e) für eine insbesondere über einen Zeitraum von 0,5 s gemittelte, Änderung der Beschleunigung des Fahrzeugs, z.B.: $${\overline{\stackrel{⃛}{y}}}_{\mathrm{0,5}s}=5m/s^3$$
  

When carrying out the lane change (in particular after the start of carrying out the lane change), the implementation of the lane change is preferably aborted depending on predetermined limits. These predetermined limits may be one or more or all of the following limits:

• - specified limit or threshold values for a force exerted by the driver on the steering wheel (for example limit value for this force F _{L, max} = 50 N)
• - predetermined limit or threshold value(s) for a particularly maximum, preferably absolute, acceleration of the vehicle, e.g.: $${\ddot{y}}_{max,abs}=3m/s^2$$
  
• - predetermined limit or threshold value(s) for a particularly relative, preferably absolute, acceleration of the vehicle, e.g.: $${\ddot{y}}_{max,rel}=1m/s^2$$
  
• - specified limit or threshold value(s) for a change in the acceleration of the vehicle, in particular averaged over a period of 0.5 s, e.g.: $${\overline{\stackrel{⃛}{y}}}_{0.5s}=5m/s^3$$
  

If one or more of these (predefined) limits are exceeded and/or fallen below, the lane change will be aborted.

All of these phases are usually described (in detail) in (each different) sections of a user manual and/or a catalog, so that a driver could obtain basic information about how it works and in particular about the termination criteria. Furthermore are The limits are not described in nearly as much detail in the user manual. However, life experience shows that this source of information is only used by a few users and, in most cases, not all termination criteria can be retained by the user when dealing with it “theoretically”.

The output of information in relation to the termination criterion, which is adapted to the respective termination situation and in particular to the current termination criterion, as proposed here, enables the user to learn in a very user-friendly and intuitive and sustainable manner in the specific situation that occurs.

The applicant reserves the right to claim all features disclosed in the application documents as essential to the invention, provided that they, individually or in combination, are new compared to the prior art. It should also be noted that the individual figures also describe features that can be advantageous in themselves. The person skilled in the art immediately recognizes that a specific feature described in a figure can be advantageous even without adopting further features from this figure. Furthermore, the person skilled in the art will recognize that advantages can also arise from a combination of several features shown in individual or different figures.

Reference symbol list

1

vehicle

12

Aborted lane change

14

Display the cancellation popup

16

Situation analysis

18

Explanation of the situation

22, 34, 50

Internal data

24, 36, 52

Analysis of the special situation

26, 38, 54

Issue a recommendation for action

30

Information device

32

Driver assistance system

40

Steer with 4 Nm when changing lanes

42

Aborts

44

Speed below 85 km/h

46, 48

adapted recommendation for action

56

Example list of internal data

58

Comparison of sizes

60

Assignment to the situation

62

adapted recommendation for action

P1 - P6

Arrows

A1 - A6

Road sections

QUOTES INCLUDED IN THE DESCRIPTION

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

Cited patent literature

• US 20210171067 A1 [0005]
• US 20180259956 A1 [0006]
• US 20200331530 A1 [0007]
• US 20200231181 A1 [0008]

Claims (10)

Method for informing, and in particular for instructing, a user of a vehicle (1) with a driver assistance system (32), which is used to support the user in driving the vehicle, in particular for longitudinal and/or lateral guidance and/or for changing lanes of the vehicle ( 1), is suitable and determined in relation to at least one action of the driver assistance system (32), wherein a plurality of triggering categories are specified for triggering the at least one action of the driver assistance system (32) and the action can be triggered by a triggering signal of each of these triggering categories, characterized in that when the at least one action of the driver assistance system (32) is triggered by a trigger signal of a trigger category, at least one variable characteristic of the trigger category of the trigger signal is determined from the plurality of trigger categories and, depending on the variable characteristic of the trigger category, at least one information signal is output to the user is determined. Procedure according to Claim 1 , characterized in that the at least one action is selected from a group of actions which include canceling an execution of a driving task to be carried out and/or initiated by the driver assistance system, starting a driving task, releasing a driving task to be carried out by the driver assistance system, canceling the Operation of the driver assistance system, preventing execution and / or starting a driving task, suppressing intervention in vehicle guidance, interrupting execution of a driving task, delaying execution of a driving task, accelerating execution of a driving task and the like as well as combinations thereof . Method according to one of the preceding claims, characterized in that the plurality of triggering categories is selected from a group which includes a triggering category in relation to an operating action by the user, a triggering category in relation to an incorrect operating action, in particular by the user, a vehicle safety-related triggering category, a vehicle-internal triggering category, a vehicle-external triggering category, an environment-related triggering category, a triggering category in relation to other road users, in particular a surrounding vehicle, a weather-related triggering category, a topology-related triggering category, a triggering category in relation to the complexity of the current situation of the vehicle , a trigger category in relation to exceeding a system limit of the driver assistance system and the like, as well as combinations thereof. Method according to one of the preceding claims, characterized in that the information signal is characteristic of the trigger category determined. Method according to one of the preceding claims, characterized in that the information signal is characteristic of a recommendation for action for the user to influence, in particular avoid, and/or react to the triggered action of the driver assistance system. Method according to one of the preceding claims, characterized in that a large number of different information variables, each with a different information content, are specified and/or stored for the user for the action, and in that at least one information variable is selected from the large number of different information variables to determine the information signal . Method according to one of the preceding claims, characterized in that, depending on a number of previous outputs of at least one predetermined information signal, at least one training variable is determined, on the basis of which it is determined whether the predetermined information signal is output. Method according to the preceding claim, characterized in that the training variable and/or the number of outputs of the predetermined information signal is determined in a user-specific manner and/or is stored in a user-specific manner. Information device (30) for a vehicle (1) with a driver assistance system (32), which is suitable and intended to support the user in driving the vehicle, in particular for longitudinal and/or lateral guidance and/or for changing lanes of the vehicle, for Informing a user of the vehicle (1) with the driver assistance system (32) regarding at least one action of the driver assistance system (32), a plurality of trigger categories being predetermined to trigger the at least one action of the driver assistance system (32) and the action by a trigger signal Each of these triggering categories can be triggered, characterized in that the information device (30) is set up and intended to trigger the at least one action of the driver assistance system (32) by a triggering signal from a triggering category tegory, to determine from the plurality of trigger categories at least one variable that is characteristic of the trigger category of the trigger signal and, depending on the variable that is characteristic of the trigger category, to determine at least one information signal for output to the user. Vehicle (1), in particular a motor vehicle, with a driver assistance system (32) to support the user in driving the vehicle, comprising an information device (30) according to the preceding claim.

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