EP3039614A1

EP3039614A1 - Method and device for determining the quality of a road

Info

Publication number: EP3039614A1
Application number: EP14744058.0A
Authority: EP
Inventors: Johannes FOLTIN
Original assignee: Robert Bosch GmbH
Current assignee: Robert Bosch GmbH
Priority date: 2013-08-26
Filing date: 2014-07-23
Publication date: 2016-07-06
Also published as: US20160200239A1; CN105493102A; WO2015028208A1; DE102013216903A1; JP2016529156A

Abstract

The invention relates to a method for determining the quality of a road (302) traveled on by a vehicle (304). Said method consists of the following steps; a specification for determining the quality of a road (302) traveled on by a vehicle (304) is modified (904) in accordance with an additional parameter (308) which displays information relating to the state of the road (310), which represents the quality of a section of a road in front of the vehicle (304) in the direction of travel (312).

Description

Description title

Method and device for determining a road quality prior art

The present invention relates to a method and for determining a road quality, to a corresponding device and to a corresponding computer program product.

AHC (Adaptive High Beam Control, also referred to in the literature as "adaptive cut-off line" = "aCOL") sets a beam angle of the headlamps of a vehicle, with the driver's sight without glare other road users or "opponents" on the street to be increased.

for example, via their light (signal) devices, and determines their position or object position, z. B. as a viewing angle of the camera. For this position information, a safety angle is set to the desired angle of the headlights. The safety angle is to prevent dazzling of the opponents, for example due to inadequacies in the measurement or especially in uneven floors.

In this context, in particular bridges or level crossings in the road are a particular challenge, since they have thresholds and / or expansion joints, which cause a pitching of the vehicle when driving over.

Disclosure of the invention

Against this background, with the present invention, a method for determining a road quality, further a device that this Method used, and finally a corresponding

Computer program product presented in accordance with the main claims.

Advantageous embodiments emerge from the respective subclaims and the following description.

Existing approaches for determining the road quality for the adjustment of the headlight emission angle or the safety angle focus on finding solutions to the fact that a headlight control often takes place a little too late and thus other road users are dazzled. It is assumed that the road quality over a longer period is constant and therefore one for the present

Road quality optimized safety angle can be adjusted. The pitch rate or pitch angle is evaluated. If large fluctuations occur, it is assumed that the road quality is poor. It is then set a large safety angle. If there are hardly any fluctuations in the pitch values, it is assumed (after some time, eg 20 s) that the

Road quality is good and there are hardly any fluctuations in the future. It can then be set a small safety angle for a high visibility. The reaction to the transition to poorer road quality occurs immediately to avoid dazzling the others. The reaction at

Transition to a good road quality is delayed because of the assumption of a constant road quality as preventive glare avoidance.

An alternative concept proposes a standardization of the road quality to enable a quick reaction of the safety angle to changes in speed. At high speeds, bumps have a greater effect on pitch behavior than at low speeds. The standardization gives a measure of the road quality with which a speed-dependent safety angle can be meaningfully determined.

With the inclusion of an additional parameter in a method for determining a road quality, a pronounced pitching movement of a vehicle can be integrated into the method such that at the same time a glare

Oncoming vehicles avoided by headlights of the vehicle and the best possible illumination of the road for a driver of the vehicle can be achieved. In a continuation of this approach, the additional parameter is based

For example, recognized by a camera of the vehicle signs or traffic signs, the z. B. indicate a presence of a bridge.

With the method extended by the additional parameter, for example, a temporary lowering of the headlights or a temporary increase in a safety angle for a headlight inclination can be realized so as not to dazzle opponents when driving over a bridge threshold, for example. Alternatively or additionally, the determination of the road quality can be suspended in order not to falsify a possibly necessary long measurement of the pitching behavior by extreme values which may be measured when crossing the sleepers of a bridge. It can thus be advantageously prevented that a strong pitching motion of the vehicle causes the road quality tends to be rated worse. The effect of a temporary, locally limited, lower road quality has thus little or no effect on the. According to the approach presented here

Road quality estimation used to adjust the safety angle, as the assumption that the determined road quality remains constant over a longer period of time can be replaced by a concrete calculable time window for road quality deterioration according to the approach presented here. A total visibility of the driver - the u. A. can depend on the safety angle - can thus be advantageously increased.

With the concept presented here even a caused by a pitch of the vehicle short-term glare of the opponent - also referred to as "flash" - effectively avoided.

A method for determining a road quality for one of

Vehicle-driven road has the following step:

Modifying a processing rule for determining a road quality for a road traveled by a vehicle in response to an additional parameter representing a road condition information that is a nature of a vehicle in front in a direction of travel

Road section represents. Under the road quality, a state of a road to be traveled by the vehicle, in particular with respect to a roughness of the

Road surface are understood. In particular, such unevenness may be relevant, requiring adjustments of a headlamp system of the vehicle to the traffic situation-dependent illumination of the road. Under a

Additional parameters can be understood as a control parameter for controlling the execution of a processing instruction, for example for

momentarily stopping the determination of the road quality of the

Vehicle driven roadway or to take into account a (for example also) short-term change in the safety angle of inclination for a

Adjustment of a headlight. Under a processing rule, an algorithm for determining a quality of a road from a vehicle and / or adjusting an inclination angle of headlights of the vehicle

Vehicle understood. The road condition information may be indicative of a particularity of the vehicle ahead

Provide road section, which may be particularly relevant, for example, for controlling a tilt of the headlights of the vehicle. In the

Special feature may be a locally and related to your driving time clearly limited or limited phenomenon. For example, the lane state information may indicate an existence or a presence

Degree of an expression of bumps or across the roadway extending thresholds. In particular, the

Road condition information provide this hint before the vehicle has reached the lane section marked by the particularity. Such thresholds exist z. B. in the driveway on and departure from bridges and at

Level crossings. By changing a processing rule for

Determining a road quality for a road traveled by a vehicle can thus be intervened in an embodiment of an example prefabricated algorithm of the method

Road condition information represented a peculiarity of the subject

Sufficient attention can be paid to the road section. Specifically, for example, a headlamp system of the vehicle may be controlled with sufficient lead time such that an oncoming vehicle is not dazzled by the headlights of the ego vehicle. According to one embodiment, the method comprises a step of reading in the road condition information. It can the

Road condition information come from different sources, so be provided by a suitable device in the vehicle or outside the vehicle. The reading of the road condition information can be repeated, for example, at predetermined intervals.

In particular, the method may include a step of tilting at least one headlamp of the vehicle for a predetermined period of time based on the additional parameter. Here, the predetermined period may be specified by a content of the road condition information. In the step of tilting, the headlight and a second headlight of the

Vehicle in particular downwards, so inclined in the direction of the road. The inclination of the headlights of the vehicle can be carried out for example by a high beam assistant of the vehicle, which uses the method according to the invention. The predetermined period may correspond to a travel time for traversing the specificity of the road ahead road section specified by the road state information. This embodiment offers the advantage that a period of the headlight inclination so as not to dazzle a driver of an oncoming vehicle can be kept as short as possible. The driver of the vehicle using the method has thus at the earliest possible time again optimal view of the lying in front of him track section. The tilting of the headlamp can be implemented differently depending on the actual realization. In addition to a mechanical pivoting of the headlamp or a headlamp module (e.g., lens in a

Projection system) is also a change in the light distribution possible.

In particular, the emission angle of the cut-off line can be lowered, which is obvious in adaptive systems such as AHC. Depending on

Implementation of the headlamp can be done for example by changing a diaphragm in the headlight (subtractive generation of light distribution) or, for example, by switching off or dimming individual areas (additive light generation, for example, in LED headlamps). In an adaptive system such as CHC or matrix beam additionally or alternatively, a horizontal safety angle can be increased so as not to blind other vehicles during the rolling motion of the vehicle.

Also, the method may include a step of increasing a safety angle with respect to a determination of a degree of inclination of the at least one headlamp for a predetermined period of time based on the

Have additional parameters. Here, the predetermined period may be specified by a content of the road condition information. With this

Embodiment may provide even better driver protection of a

Oncoming vehicle can be ensured against glare, as well as an insufficient inclination of the headlights due to, for example, measurement or calculation errors effectively and easily

can be prevented.

Alternatively or additionally, the method may include a step of suspending the determination of the road quality for a predetermined period of time based on the additional parameter. The predetermined period may be specified by content of the road condition information. Thus, it can be easily prevented that a result of the determination of the road quality is not falsified by an extreme measured value, such as may occur, for example, when crossing a bridge threshold. This embodiment has the advantage that a possibly too strong inclination of the headlights of the vehicle, the driver's view of the

restricting the route section ahead, can be prevented.

According to an embodiment of the method, in the step of

In addition, a lane condition information may be used which includes a content of one of an optical sensor of the vehicle

Represent traffic sign. The content of the traffic sign may mark the road section in front of the vehicle as a bridge and / or a railroad crossing. The optical sensor may be a camera of the vehicle. Thus, advantageously closed from the contents of the traffic sign in time for an imminent pitching movement due to the crossing of a bridge threshold or -dehnfuge and For example, an adaptive high-beam assistant of the vehicle can be set or regulated with a time lapse.

Alternatively, the content of the traffic sign may be the road section ahead of the vehicle as having a deteriorated road section

Mark roadway quality. Thus, the method proposed here can advantageously be extended to include detection of further potential causes for pronounced pitching motion of the vehicle. Further, in the step of changing, road condition information representing a shape and / or color of a traffic sign detected by an optical sensor of the vehicle may be used.

Accordingly, based on the shape and / or color of a

Pre-parameterization of the additional parameter. For example, the triangular shape typical of warning signs from a camera of the vehicle without

Other very quickly detected and by means of a simple suitable

Algorithm of the process can be assigned beyond doubt. With the advantageous pre-parameterization of the time gain can be further increased by the method.

According to another embodiment of the method, in the step of changing, road condition information representing a mark in a digital map of a navigation system of the vehicle may be used, the mark being ahead of the vehicle

Road section as a bridge and / or a railway crossing can mark. Thus, even without the presence of a vehicle camera, it is unequivocally possible to identify a bridge lying ahead or a railroad crossing or a comparable form of development that can cause pronounced pitching motion of the vehicle when driving over it. Thus, the method can be used particularly cost-saving, since a device for the optical

Capture can be omitted.

For example, in the step of changing one

Road condition information is used, which is a user-made entry in a digital map of a navigation system of the

Represent vehicle. For example, the entry may be the one before the Vehicle lying road section as a road section with

feature deteriorated roadway quality. With this embodiment, a so-called "learning map" can be advantageously used for the purposes of the concept proposed here embodied in the method presented here.

An apparatus for determining a road quality for a road traveled by a vehicle has the following feature: a change means for determining a road quality for a road traveled by a vehicle in response to an additional parameter representing road state information having a nature of one in a traveling direction represented in front of the vehicle road section.

The device may be designed to carry out or implement the steps of the method presented here in the corresponding device. Also by this embodiment of the invention in the form of a device, the object underlying the invention can be solved quickly and efficiently.

In the present case, a device can be understood as meaning an electrical device which processes sensor signals and outputs control and / or data signals in dependence thereon. The device may have an interface, which may be formed in hardware and / or software. In the case of a hardware-based embodiment, the interfaces can be part of a so-called system ASIC, for example, which contains a wide variety of functions of the device. However, it is also possible that the interfaces are their own integrated circuits or at least partially consist of discrete components. In a software training, the interfaces may be software modules that are present, for example, on a microcontroller in addition to other software modules.

An advantage is also a computer program product with program code, which on a machine-readable carrier such as a semiconductor memory, a

Hard disk memory or an optical memory can be stored and for carrying out the method according to one of the above Embodiments is used when the program product is executed on a computer or a device.

The invention will now be described by way of example with reference to the accompanying drawings. Show it:

Fig. 1 is an illustration of a typical bridge structure;

FIG. 2 is an illustration of an example railroad crossing; FIG.

Fig. 3 is a block diagram of an apparatus for determining a

Road quality, according to an embodiment of the present invention;

4 shows examples of traffic signs indicating the presence of a bridge;

Fig. 5 shows examples of traffic signs indicating the presence of a railroad crossing;

Fig. 6 shows examples of road signs indicating the presence of a poor roadway road section;

7 shows an abstracted representation of a warning sign;

8 is a diagram illustrating a response to a sleepershaft with and without a road quality determination device according to embodiments of the present invention; and

9 is a flowchart of a method for determining a

Road quality, according to an embodiment of the present invention.

In the following description of preferred embodiments of the present invention, the same or similar elements shown in the various figures and similar will be used Reference numeral used, wherein a repeated description of these elements is omitted.

1 shows a sectional view of a typical construction of a bridge 100. Two arrows mark thresholds or expansion joints 102 at the beginning and end of the bridge 100. Driving over the sleepers 102 leads to pronounced pitching motion in vehicles, which results in more dazzling glare

Vehicles may cause by headlights of the vehicle.

Fig. 2 shows a representation of an exemplary railroad crossing 200. Even at level crossings 200 are thresholds 102 - at the transition from road to

Rail bed and on the rails themselves - available. Thus, there is also the danger here that when the headlamps of a vehicle crossing the level crossing 200 a driver of an oncoming

Vehicle blinded by flash.

In addition to the features explained with reference to FIGS. 1 and 2, other road construction conditions, such as, for example, a roadway quality impaired as a result of roadworks, may also have a pronounced road surface

Cause pitching motion of a vehicle. Also, these features have u. U. a great impact on an in-vehicle investigation of the

Road quality. FIG. 3 shows a block diagram of an embodiment of a device 300 for determining a road quality. Shown is a vehicle 304 traveling on a road 302 in which the device 300 is installed. The vehicle 304 is any road-bound vehicle such as a passenger or truck. The device 300 comprises a change device 306 for determining a road quality for a road 302 traveled by a vehicle 304 in dependence on a road

Additional parameter 308 to the device 300. The additional parameter 308 is based on a read in the changing means 306

Road condition information 310. The road condition information 310 indicates a condition of a portion of the vehicle ahead in a direction of travel 312 indicated by a directional arrow Road 302. In the embodiment shown in FIG. 3, the road condition information 310 represents content 314 of a traffic sign 316 detected by an optical sensor 315 of the vehicle 304. The optical sensor 315 is one behind one

Windshield of the vehicle 304 installed camera, which is mounted on a in the

Direction of travel 312 is located in front of the vehicle 304 lying environment.

In the content of the corresponding reference 314 of

Traffic sign 316 may be text and / or shape and / or color. The modifier 306 includes appropriate algorithms to decrypt the text and / or the shape and / or color and to determine the appropriate additional parameter 308 based thereon. The traffic sign 316 includes the exemplary one shown in FIG

Traffic scene on an upcoming bridge. Accordingly, the road condition information 310 includes a text in the form of a name of

Water body spanned from the bridge. So can from the

Road condition information 310 to a presence of at least one threshold and / or expansion joint 102 is closed and the additional parameter 308 determined accordingly.

Based on the additional parameter 308, an inclination information 318 for an arrow-marked inclination 320 of headlights 322 of the vehicle 304 is determined in the device 300 and transmitted via a

Interface to a suitable device, eg. B. a high-beam assistant of the vehicle 304, output, so that the inclination 320 of the

Headlight 322 can be performed so that even with a strong pitching motion of the vehicle 304 when crossing the threshold 102 drivers of oncoming vehicles are not dazzled. The inclination 320 of the headlights 322 is based on the additional parameter 308 for a predetermined period of time, resulting from the content 314 of

Road condition information 310 results. Depending on the embodiment of the

Headlamps, instead of a tilt of the headlamp and the

Light distribution itself, which is emitted by the headlight, are changed in the way that the radiation angle is less strong upward. According to an embodiment, not shown in the figures of

Device 300 has this means for enlarging a

Security angle with respect to a degree of inclination 320 of the headlights 322 on. Also for the increase of the safety angle, a period is predetermined, which results from the content 314 of the roadway condition information 310.

As an alternative to interpreting the vehicle scene shown in FIG. 3, the content 314 of the traffic sign 316 may represent other structural features that may trigger a high pitching motion of the vehicle 304, such as a grade crossing or road surface contamination due to a nearby job site.

In the embodiment of the apparatus 300 shown in FIG. 3, the altering means 306 receives the lane state information 310 from the optical sensor 315 of the vehicle 304. According to an alternative

Embodiment, the device 300 may be formed to the

Road condition information 310 to receive in a device not shown in the illustration in Fig. 3, to determine the additional parameter 308 and to transmit this to the device 300 for determining the road quality.

According to another embodiment not shown in the figures, the device 300 comprises means for suspending the determination of the road quality for a supplemental parameter based one

predetermined period. Thus it is achieved that the determination of the

Road quality is not due to an extreme value as a result of

Vehicle pitch is disturbed. The device for suspending the determination of the road quality can be easily used with the

Variation device 306 are combined.

FIG. 4 shows, to illustrate the vehicle scene explained in FIG. 3, some examples of traffic signs 316 which are indicative of a vehicle

upcoming bridge can be set up on the roadside. The traffic sign 316 on the left in the illustration is a u. A. Information placed in front of bridges for military motor vehicles. Shield 316 indicates here for which load class an upcoming bridge is designed. Thus, the traffic sign 316 here indirectly indicates the presence of a bridge. In the form illustrated in the center and to the right of the illustration, the traffic sign 316 is directly implemented as a signpost for a particular flow, thus directly indicating an imminent bridge. In the exemplary traffic signs illustrated in FIG

Fig. 3 explained content of the traffic sign a unique text.

As explained with reference to the illustration in FIG. 3, the camera of the vehicle driving onto the signboard 316 recognizes the sign 316, which points to the bridge. Thereupon the headlight system of the vehicle, incl. Control algorithm and

Road quality determination, set on the bridge.

FIG. 5 shows some examples of the illustration of the road quality calculation on signs explained with reference to FIG

Road sign 316 indicating the presence of a railroad crossing

clues. Shown are various examples of signs 316 and signal devices indicating a level crossing as illustrated in FIG. Here, the explained in Fig. 3 content of the traffic sign 316, an image - here z. B. in the form of a locomotive or a barrier - and, for example, additionally represent a shape, since the shape of the used for railroad crossings

St. Andrew's Cross is clearly identifiable. The device presented in FIG. 3 can also be designed to evaluate light signals at level crossings.

Detecting the level crossings on the plates 316, such as the

"St. Andrew's Cross", traffic lights or a barrier, can advantageously be used according to the approach presented here to respond to the presence of a railroad crossing.

FIG. 6 shows, according to a further embodiment of the present invention, examples of traffic signs 316 indicating the presence of a

Road section with potentially deteriorating road quality. These can also provide road condition information, based on which the appropriate additional parameter can be determined. In the illustration in Fig. 6, a warning sign 316 is shown, which is for estimating a deterioration of

Road quality can be used. An example is a selection of

Additional signs shown, which are used in combination with the warning sign 316 can. The warning sign 316 is clearly identifiable as such because of its characteristic triangular shape and / or red color. The additional characters provide additional road condition information via their text. In combination, therefore, from the warning sign 316 plus additional sign on road damage,

Bumps and potential pollution of the road are closed, which can be used advantageously in determining the headlight angle or the safety angle at AHC.

To clarify the traffic sign recognition, FIG. 7 shows an abstracted representation of the traffic sign 316 as a warning sign. In the basis of the

Representation in Fig. 3 explained here presented device, the

characteristic triangular shape of the warning sign 316 as a first approximation

used to pre-parameterize the road quality detection. As a result, z. B. increases the safety angle or the road quality be assessed as temporary or preventive than worse. Advantageous is the simple

Recognition of the character, which can save resources. To improve the recognition performance and differentiation for the

Road quality detection irrelevant road signs (eg such

Warning signs that indicate a narrowing of the road), for example, the information from the additional signs shown in Fig. 6 are used. In addition to the shape of the warning sign 316 of course also helps to detect the color red of this shield in the correct assignment.

Fig. 8 shows various diagrams for explaining a response to a bridge threshold or comparable track feature with and without one

Apparatus for determining a road quality, according to

Embodiments of the present invention. Shown is a plurality of graphs plotted over a given period of time. The superposition of the graphs can be different

Reaction times depending on the different technical

Compare requirements well. Traces of the graphs are the

For the sake of clarity, shown schematically and simplified.

In the diagram shown in FIG. 8, a first dot line crossing the graphs indicates a point in time 800 of a recognition of the traffic sign 316, here by way of example in the form of the reference to FIG. 4 illustrated MLC shield for military vehicles. A second the

Graphene crossing dotted line indicates a time 802 of a

Crossing the bridge threshold. A first graph 804 shows a pitch angle profile of a vehicle before, during and after crossing the threshold. As graph 804 shows, in the beginning there is a slight sway that results from the road quality. At 800, the military shield 316 can be seen, often placed in front of bridges. At 802, a large rash of pitch angle is observed as the vehicle has crossed the threshold of the bridge. After crossing the threshold is the

Road quality again as good as before the threshold.

A second graph 806 is illustrative of conventional implementations for adjusting the tilt or safety angle of headlamps

applied. An increase in the graph at 802 indicates here an increase in the safety angle at the headlight inclination. As based on the

is clearly seen in the schematic diagram of the second graph 806, conventional systems are reactive, i. h., An adjustment of the safety angle takes place only at 802 with crossing the threshold. Accordingly, other road users are dazzled by flashing at least in the short term. After

Threshold 802 remains high in the conventional design

Obtained safety angles, since the system assumes in the determination of the road quality that the road quality is on average the same and here

Transition to a section of road in bad condition is present. The driver of the ego vehicle has a worse visibility after the bridge than before, although the quality of the road has not changed.

A first improvement according to the approach presented here shows a progression of a third graph 808. As a result of the inventive recognition of the shield 316 at 800, a higher safety angle can already be set earlier, as a result of which

Flash at 802 can be prevented. As the graph of the graph 808 shows, the preventive setting of the safety angle already takes place shortly after the time 800 and comparatively long before the time 802. On the basis of a fourth graph 810, a further embodiment of the concept presented here is explained, namely the advantageous suspension of the determination the road quality for a predetermined period 812. The suspension of the

Determining the road quality is indicated by a different representation of the graph 810 by means of a dashed line. As shown in FIG. 8, suspension of determining the road quality begins shortly after the time 800 of recognizing the character 316 and ends at a time 814 indicated by a third dot line crossing the graphs. As already explained, a duration of the predetermined Period 812 determined based on the additional parameter. After the threshold, the road quality is still determined to be "normal". By suspending the determination of road quality, the driver has a good view of the threshold, as he continues to be (justified) on a good road

can be assumed. The safety angle is correspondingly smaller than for the settings illustrated by graphs 806 and 808. It is advantageous in this method that the driver of the ego vehicle does not notice the suspension of the determination of the road quality, since the determination takes place within the system. A lowering at a falsely recognized bridge does not occur here.

A fifth graph 816 illustrates a particularly advantageous embodiment of the concept presented here, namely the combination of the exemplary embodiments explained with reference to graphs 808 and 810 of the preventive increase of the safety angle and the suspension of the determination of the road quality. After the bridge or sign 316 has been detected at 800, the determination of the road quality is suspended for the duration of the predetermined time period 812 and, secondly, the safety angle is temporarily increased. As a result, a flash or glare when crossing the threshold is prevented. At the same time a distortion of the determination of the road quality is prevented, whereby the driver has a good adjusted safety angle and thus a good visibility even after crossing the bridge.

Incidentally, the inventive analysis of the road signs 316 can be used even if no direct determination of the road quality is performed, for example, to adjust a fixed safety angle. Since the signs 316 indicate an insufficient road quality in the broader sense, the safety angle can be adjusted or increased without explicitly measuring the road quality. It is advantageous to save the computing power in determining the road quality. A possibly inaccurate adjustment of the safety angle and the lack of opportunity to accurately recognize a good road quality again - as it is unclear when a sign will lose its validity - is to be accepted in this case.

9 shows a flow chart of an embodiment of a method

900 for determining a road quality for one of a vehicle

busy road. In a step 902, a lane condition information is read in which is a condition of one in a traveling direction ahead of

Vehicle lying road section represents. In a step 904, a processing rule for determining a road quality for a road traveled by a vehicle is changed in response to an additional parameter representing road condition information including a road map

Texture of a lying in a direction of travel in front of the vehicle

Road section represents. Based on the additional parameter, in a step 906A, headlights of the vehicle for a predetermined

Period is inclined downwards by a predetermined degree or it is a

Safety angle with respect to a determination of the degree of tilt of the

Headlamps increased for the predetermined period. In an additional or alternative step 906B, determining the road quality is suspended based on the additional parameter for the predetermined time period.

The method 900 may be performed by the apparatus 300 explained with reference to FIG. 3.

According to further exemplary embodiments of the present invention, which are not shown in the figures, the use of road maps, for example of a navigation system, can also be used to adapt the safety angle to level crossings and bridges, etc. Likewise, it is possible for a user of a navigation system according to exemplary embodiments to enter the road quality or areas of temporarily lower road quality in a digital map. Such a digital map is also called a "learning map".

The use of the present invention can also be done when determining the road quality or a safety value on the roll rate. This is particularly important in concepts such as the glare-free high beam (CHC or vCOL) and matrix beam. The embodiments described and shown in the figures are chosen only by way of example. Different embodiments may be combined together or in relation to individual features. Also, an embodiment can be supplemented by features of another embodiment.

Furthermore, method steps according to the invention can be repeated as well as carried out in a sequence other than that described.

If an exemplary embodiment comprises a "and / or" link between a first feature and a second feature, then this is to be read so that the embodiment according to one embodiment, both the first feature and the second feature and according to another embodiment either only first feature or only the second feature.

Claims

claims

A method (900) of determining road quality for a road (302) traveled by a vehicle (304), the method (900) comprising the step of:

Modifying (904) a processing rule for determining road quality for a road (302) traveled by a vehicle (304) in response to an additional parameter (308) including a

Is road condition information (310) which is a nature of one in a direction of travel (312) ahead of the vehicle (304)

Road section represents.

Method (900) according to claim 1, characterized in that the

Method (900) comprises a step of reading (902) the

Road condition information (310).

The method (900) according to one of the preceding claims, characterized in that the method (900) comprises a step (906A) of tilting (320) at least one headlight (322) of the vehicle (304) for a predetermined time period (812) based on the Additional parameter (308), wherein the predetermined period of time (812) is specified by content (314) of the lane state information (310).

The method (900) according to one of the preceding claims, characterized in that the method (900) comprises a step of increasing a safety angle (906A) relating to a determination of a degree of tilt (320) of the at least one headlight (322) for a predetermined period ( 812) based on the additional parameter (308), wherein the predetermined period (812) is specified by content (314) of the lane state information (310). Method (900) according to one of the preceding claims, characterized in that the method (900) comprises a step (906B) of exposing the determination of the road quality for a predetermined time period (812) based on the additional parameter (308), wherein the predetermined time period (812) by a content (314) of

Road condition information (310) is specified.

Method (900) according to one of the preceding claims, characterized in that in the step of changing (904) a

Road condition information (310) is used, which represents a content (314) of a traffic sign (316) detected by an optical sensor (315) of the vehicle (304), wherein the content (314) of the

Traffic sign (316) lying in front of the vehicle (304)

Road section as a bridge (100) and / or a railway crossing (200).

Method (900) according to one of claims 1 to 5, characterized

characterized in that in the step of changing (904) a

Traffic sign (316) lying in front of the vehicle (304)

Road section as a street section with deteriorated

Roadway quality features.

Road condition information (310) is used, which represents a shape and / or color of a traffic sign (316) detected by an optical sensor (315) of the vehicle (304), wherein based on the shape and / or color, a pre-parameterization of the additional parameter (308) he follows.

Road condition information (310) is used, which is a marker in represents a digital map of a navigation system of the vehicle (304), the marker identifying the road section ahead of the vehicle (304) as a bridge (100) and / or a railroad crossing (200).

10. The method (900) according to one of the preceding claims, characterized in that in the step of changing (904) a

Road condition information (310) is used, which is a user-carried entry in a digital map of a

Navigation system of the vehicle (304), wherein the entry as the front of the vehicle (304) road section as a

Road section with deteriorated roadway quality features.

Apparatus (300) for determining road quality for a road (302) being traveled by a vehicle (304), the apparatus (300) comprising: a means (306) for determining road quality for one of a vehicle (304) Road (302) as a function of an additional parameter (308) representing road condition information (310) representing a condition of a road section lying in a traveling direction (312) in front of the vehicle (304).

12. Computer program product with program code for carrying out the method (900) according to one of claims 1 to 10, when the

Program product is executed on a device (300).