Methods for the automated driving operation of a vehicle

Abstract

The invention relates to a method for the automated driving operation of a vehicle (1 to m), wherein a lane-accurate driving path for the automated driving vehicle (1 to m) is determined. According to the invention, it is provided that - at least if a valid service contract with a service provider of an electronic toll payment system is stored on the vehicle side and if a valid route authorization for automated driving operation is in place in the area of ​​a toll station (M), - when the vehicle (1 to m) approaches such a toll station (M) with this toll payment system, a toll lane navigation route for electronic payment of a road usage fee to be paid by the vehicle (1 to m) is automatically determined as a route for the vehicle (1 to m) and is used as the basis for a driving control system for the automated driving operation of the vehicle (1 to m).

Description

[0001] The invention relates to a method for the automated driving operation of a vehicle, wherein a lane-accurate driving path is determined for the automated driving vehicle.

[0002] DE 10 2017 126 824 A1 discloses an automatic travel control device including a control unit. When executing automatic travel control, the control unit determines the presence of a toll barrier within a predetermined distance from the vehicle based on location and map information. The control unit transitions to the toll barrier passing mode under the condition that the presence of the toll barrier is determined within the predetermined distance and an increase in road width is detected based on the detection of the external environment.The control device causes the vehicle to approach the toll barrier based on the map information and / or position information of an object detected based on the external environment detection in a first period during which the toll barrier passing mode is set and a position of the toll barrier is undetectable based on the external environment detection.

[0003] Furthermore, DE 10 2022 001 030 B3 describes a method for determining a navigation route for automated driving of a vehicle. The navigation route for automated driving is determined lane-accurately by - based on a digital attribute-based road map, a node list is created that represents geographical coordinate points of a route determined by a navigation system, - the node list is transferred into a digital sensor-based road map containing a sensor-recorded description of the environment, - lane-accurate route section candidates are determined in the digital sensor-based road map based on the node list, - non-relevant driving section candidates are identified and eliminated, - the route is segmented into subgraphs with only one possible lane and subgraphs with several possible lanes, - optimal lanes are identified and - the optimal lanes are combined to create the desired lane-accurate navigation route.

[0004] The invention is based on the object of specifying a method for the automated driving operation of a vehicle.

[0005] The object is achieved according to the invention by a method which has the features specified in claim 1.

[0006] Advantageous embodiments of the invention are the subject of the subclaims.

[0007] A method for automated, in particular highly automated or autonomous, driving of a vehicle, wherein a lane-accurate driving path is determined for the automated driving vehicle, provides according to the invention that - at least if there is a valid service contract with a service provider of an electronic toll payment system stored on the vehicle and if there is a valid route release for automated driving in the area of ​​a toll station, - when the vehicle approaches such a toll station, this toll payment system automatically determines a toll lane navigation route for the electronic payment of a road user charge to be paid by the vehicle as a route for the vehicle and uses this route as the basis for a driving control system for the automated driving operation of the vehicle.

[0008] Alternatively or in addition to the existence of a valid service contract, it can also be recorded whether a valid toll payment card is inserted in a vehicle-mounted toll payment card reader and / or whether a valid toll payment card transmitted via a data connection in a vehicle-mounted security chip is present. By applying this method, the continuity and availability of the vehicle's automated driving operation can be improved, even in the vicinity of a toll station. The vehicle approaches the toll station, identifies an electronic toll payment lane, and can pass the toll station without further interaction from a passenger of the vehicle and / or the vehicle itself. This makes it possible to pass the toll station relatively quickly, significantly increasing comfort for the vehicle's occupants. This results in added value for the vehicle's occupants.

[0009] The procedure offers the possibility of optimised use of such an electronic toll payment lane in the automated driving mode of the vehicle, provided that the vehicle fulfils all the necessary requirements for the electronic toll payment system.

[0010] In one possible embodiment, the presence of an electronic toll payment lane for electronic payment at the toll station is determined based on attributes of an attribute-based navigation map of the vehicle's navigation system. Such an attribute-based navigation map is used to determine routes and provide guidance from a specified position to a specified destination and is a component of a navigation system. The attribute-based navigation map contains attributes that cannot be detected at all or are relatively difficult to detect automatically based on signals from environmental sensors, particularly from a vehicle. Such attributes can include street names, street classes, points of interest, house numbers, certain restrictions at complex intersections, etc.In particular, a number of lanes of a roadway, types of lanes, toll stations, a number of lanes at toll payment stations, payment options at toll payment stations for each lane, in particular a possibility of electronic toll payment and technical compatibility for using the electronic toll payment station can also be attributes of such an attribute-based navigation map.

[0011] In one embodiment, an entire route of the vehicle is segmented into sections without an electronic toll payment system and sections with an electronic toll payment system. This means that the entire route from a specified position of the vehicle to a specified destination is divided into these subsections. For this purpose, a determined optimal overall route is checked by comparing it with the attributes stored in the attribute-based navigation map. The segmentation of the overall route is therefore carried out taking into account the attribute-based navigation map, in which toll stations are stored as attributes, so that subsections of the overall route can be determined on which toll stations relevant to the automated vehicle, in particular with an electronic toll payment system, are located.

[0012] In a further embodiment, the route transmitted by a navigation system to the vehicle's control system is formed based on sections without the use of electronic toll payment lanes and sections with the use of electronic toll payment lanes, with lane-specific accuracy. Both section types are identified using distinguishable attributes. This allows a distinction to be made between these sections.

[0013] In one embodiment, the lane-specific sections are sub-segmented along individual edges of a route graph in the attribute-based navigation map using electronic toll payment lanes. This sub-segmentation is performed in particular to ensure that automated driving can be carried out smoothly on this section, allowing the automated vehicle to pass the toll station essentially without complications.

[0014] In one possible implementation, for each of these edges, a total number of lanes of a roadway forms part of a data set, with the data set additionally containing: - which of these lanes are electronic toll payment lanes, - what access requirements exist for technical compatibility of the vehicle's toll payment system with the toll station, - which lane for a lane-accurate navigation route was determined by the navigation system as part of the overall route and - where there are transitions between lanes to enable a lane change.

[0015] Based on this data set, which forms the basis for vehicle control for automated driving, it is possible, provided the vehicle meets the requirements for passing the toll station in automated driving mode, to pass it largely unhindered by electronically paying the toll, i.e. electronically paying a road user fee.

[0016] In one embodiment, for each section using electronic toll payment lanes, the lane-accurate driving path of the attribute-based navigation map, including the electronic toll payment lanes, is mapped onto a congruent lane-accurate driving path for the automated driving operation of the vehicle. This means that a mapping of the respective section, using a navigation system based on the digital attribute-based navigation map, onto a digital sensor-based map suitable for implementing automated, particularly highly automated or autonomous, driving operation is enabled, particularly in such a way that the respective section can be traveled automatically by the vehicle.

[0017] In one possible embodiment, the mapping is carried out in such a way that for each edge with electronic toll payment lanes of the driving path from the navigation, a lane-accurate mapping is carried out onto the lanes of the attribute-based navigation map in such a way that corresponding sections in the driving path of the automated driving operation use the electronic toll payment lanes at corresponding positions, so that based on the driving path it is possible for the vehicle to pass the toll station in automated driving operation by using the electronic toll payment lane without any interaction being required.

[0018] In one embodiment, with reference to the illustration, it is checked whether a toll area required in the sub-section is covered by a fulfillable service contract, so that this sub-section can be passed in the automated driving mode of the vehicle under given conditions.

[0019] In one embodiment, if it is determined that the route for automated driving is being used without electronic toll payment lanes, i.e., if the conditions for using the electronic toll payment lanes are not met, a corresponding visual, acoustic, and / or haptic indication is issued in the vehicle. This alerts a vehicle occupant to this circumstance and informs them that, for example, at the next toll station, the occupant will need to interact with the toll station, for example, to collect a ticket or pay a toll.

[0020] Embodiments of the invention are explained in more detail below with reference to a drawing.

[0021] It shows: Fig. 1 schematically shows a plan view of a toll station with a plurality of lanes and vehicles on them.

[0022] The single figure shows a toll station M with a plurality of lanes F1 to Fn and a plurality of vehicles 1 to m in a plan view.

[0023] Toll stations M are generally known, for example, on motorways in France and Spain. There are toll systems where a road user fee, i.e., a toll, can be paid electronically, so no interaction is required between a vehicle occupant (1 to m) and the toll station M. Depending on the country, there is one or several different toll system operators. Some toll systems are technically compatible with each other, such as the toll systems in France, Portugal, Spain, and Italy.

[0024] The use of an electronic toll payment system is possible if, in addition to a technical toll payment device, a valid service contract with a toll system operator is available.

[0025] Areas with a number of roads where it is possible to pay a toll using a single electronic toll payment system are hereinafter referred to as toll areas.

[0026] Typically, a ticket must be taken at a toll station M, which is then scanned at the next toll station M to determine the amount to be paid. Manual payment of the toll is often possible using a credit card or cash.

[0027] Since the vehicle 1 to m must be stopped at toll station M to take a ticket and pay the toll manually, this can lead to an increased need for parallel payment stations, particularly during peak traffic times, although a backlog of vehicles 1 to m still regularly forms.

[0028] To optimize traffic flow at such a toll station, an electronic toll payment system was introduced. This allows toll amount calculation, billing, and payment while the vehicle is in motion, without stopping. This can significantly reduce traffic bottlenecks on highways, especially during peak hours, for highway users and the entire road system.

[0029] According to the Fig. In the embodiment shown in Figure 1, the two right-hand lanes F1, F2 are intended for the electronic toll payment system, whereas the other lanes F3 to Fn are intended for manual payment of the toll.

[0030] When using the electronic toll payment system, provided that the technical toll payment device is present on the vehicle and a valid service contract with a corresponding toll system operator, the toll station M, in particular its electronic payment station, can be passed without stopping and the toll to be paid is paid automatically.

[0031] Generally, a navigation system for a vehicle (1 to m) is designed to allow for electronic toll payment. This allows the driver of a vehicle (1 to m) to make sufficient use of toll roads, depending on the reference. This assumes that the driver of the vehicle (1 to m) follows the navigation system's route guidance in manual mode, implements it, and knows and adheres to the constraints regarding technical compatibility, a valid service contract, and an on-board payment device.

[0032] Furthermore, it is generally known that further development of automated driving of a vehicle 1 to m takes place primarily through data-driven approaches. Vehicles 1 to m are equipped with extensive environmental sensor technology, which comprises a number of sensors arranged in and / or on the vehicle 1 to m, for example lidar-based, radar-based, ultrasound-based and / or in the form of a camera. These sensors continuously record signals which are used to examine various aspects of the environment and provide environmental data. Based on this environmental data, a model of the environment is created using, for example, machine learning methods. The vehicle 1 to m is integrated into this model of the environment, hypotheses are created by projecting movements into the future, and from these, possible actions for automated, lane-accurate vehicle control are then determined and executed.

[0033] In order to verify the plausibility of a position estimate of one's own vehicle 1 to m, to verify the plausibility of the modeling and ultimately also to verify the plausibility of the possible actions, it is state of the art for safety reasons not only to rely on the current environmental data, but also to take environmental data from the past into account.

[0034] This environmental data, i.e., sensor data, from past journeys, especially from several different vehicles (1 to m), is abstracted and accumulated in a sensor-based map using machine learning methods, for example. This sensor-based map describes the lane-accurate travel path segments recorded in the past, as well as an image of the encountered environment based on the accumulated environmental data.

[0035] A navigation system, on the other hand, requires an attribute-based navigation map to create a route, which primarily serves to calculate a route and provide guidance from a given position to a given destination.

[0036] The attribute-based navigation map is significantly abstracted and consists of at least edges, which are also called links or segments or road segments, nodes, i.e. connections between edges and intersections, and relations, i.e. relationships and conditions between the edges, for example, no-turn restrictions.

[0037] The attribute-based navigation map has a comparatively large number of attributes that cannot be detected automatically, or are relatively difficult to detect, based on the signals recorded by the environmental sensors. In particular, the attribute-based navigation map includes attributes such as street names, street classes, points of interest, house numbers, or specific restrictions at complex intersections, such as vehicle- and / or time-based turn bans. Furthermore, the attribute-based navigation map contains a number of lanes (F1 to Fn) on a roadway, types of lanes (F1 to Fn), toll stations (M), a number of lanes (F1 to Fn) at toll payment stations, payment options at toll payment stations for each lane (F1 to Fn), in particular the possibility of electronic toll payment, and technical compatibility.

[0038] An interaction between navigation using the attribute-based navigation map and automated driving using the sensor-based map for regular roads without taking special lanes, such as electronic toll payment lanes, into account is known from the prior art, in particular from DE 10 2022 001 030 B3. The methods known from the prior art are particularly suitable for optimally mapping general edge-based and thus lane-accurate navigation paths into a lane-accurate path optimized for automated driving.

[0039] However, these methods are not suitable for using a lane-accurate, electronic toll lane navigation route in automated driving mode of the respective vehicle 1 to m, particularly due to specific electronic toll lane data, which can only be determined using the attribute-based navigation map and the attributes present there. One reason for this is the optimization of the route on the part of the automated driving operation with regard to criteria optimized for automated driving, which are not present in a subsystem of a vehicle control system of the automated driving operation that optimizes the route. These criteria include knowledge of the specific rules and conditions to which the electronic toll payment lanes are subject, the technical compatibility of a toll payment system with a route, and the existence of a valid and fulfillable service contract with a toll system operator.

[0040] Automated driving is therefore not possible according to the methods described in the known prior art in areas of a toll station M because the vehicle control system does not have any information about the presence of electronic toll payment lanes and their access requirements and / or it cannot be ensured on the vehicle side whether the access requirements, i.e. technical compatibility of the electronic toll payment system and the service contract, are met or not and / or specific lane-accurate toll lane navigation paths cannot be converted into congruent, automated drivable paths with lane accuracy.

[0041] The following describes a procedure which makes it possible to use electronic toll payment lanes in the automated driving operation of a vehicle 1 to m.

[0042] For this purpose, the vehicle 1 to m has a vehicle control system for executing automated, in particular highly automated or autonomous, driving operation, with environmental sensors for determining environmental data. Furthermore, the vehicle 1 to m has a route release unit coupled to the vehicle control system for executing automated driving operation.

[0043] In addition, the vehicle 1 to m is connected to a central computer unit, to which the route release unit is connected.

[0044] The vehicle control system is designed to determine a lane-accurate driving strategy planning, whereby the vehicle control system automatically executes the determined lane-accurate driving strategy, whereby an environment of the vehicle 1 to m is monitored using continuously recorded signals from the environmental sensors.

[0045] The vehicle 1 to m has a navigation system which is designed to determine a travel path within a navigation system which is optimal with regard to a travel time and which is lane-accurate for the electronic toll payment lanes and to transmit this travel path to the vehicle control system for automated driving operation.

[0046] The vehicle control system is also equipped with a test device for verifying the requirements for using the electronic toll payment lanes for a section of an entire route, from the beginning of use of an electronic toll payment lane to the end of this section using an electronic toll payment lane. The test device checks for the existence of a valid and enforceable service contract between the vehicle and the toll system operator for this section and the associated toll area. This test device can be part of the navigation system and / or part of the vehicle control system for automated driving, or it can be implemented separately.

[0047] The requirements are checked in such a way that, depending on the configuration of the vehicle 1 to m and / or the vehicle control system, it is checked whether a valid payment card is inserted into a card reader on the vehicle and thus whether a valid service contract exists between the vehicle 1 to m and the toll system operator for the relevant toll area.

[0048] Alternatively or additionally, an online query is carried out via the central computer unit with a connection to the toll system operator as to whether a valid and fulfillable service contract exists for the relevant toll area, including valid payment data, consent provisions, conditions, etc.

[0049] Vehicle 1 to m detects a situation where electronic toll payment lanes are present along a navigation route, proceeding as follows: This involves the navigation system calculating a route, in particular a route path, to a specified destination with lane accuracy. Settings and / or other specified assumptions of the navigation system's route calculation allow the use of electronic toll payment lanes. A "use electronic toll" setting can be activated for this purpose. Furthermore, road sections, and in particular lanes F1 to Fn, that allow electronic toll payment are given priority, for example, through cost reductions in route calculation known from the state of the art.

[0050] Furthermore, it is planned that the calculated optimal overall route will be checked by comparing it with the attributes of the attribute-based navigation map to determine whether the overall route contains sections, in particular lanes F1, F2, with actual use as electronic toll payment lanes, which sections, if any, are used as electronic toll payment lanes, where they begin and where they end.

[0051] The entire route is then segmented into sections without electronic toll payment and sections with electronic toll payment. For sections with electronic toll payment, the technical access requirements—i.e., compatibility, particularly with a toll system—are determined by querying the attribute-based navigation map. This information, i.e., the toll area, is then added to each section. For example, the question arises whether a section can be used with a compatible electronic toll system, particularly from another country. The sum of all sections forms the overall route.

[0052] This is followed by a lane-accurate determination of an optimal route for vehicle 1 to m along the sections using electronic toll payment lanes, including an entry and exit to these toll payment lanes and a passage through toll station M, in particular to ensure that lanes F1 and F2 are actually used as electronic toll payment lanes. This lane-accurate determination is based on the attribute-based navigation map, taking into account the activated vehicle setting for the use of electronic toll payment lanes, with the aim of optimizing the use of lanes F1 and F2 reserved for electronic toll payment at all times.

[0053] Steps already carried out, in particular from the lane-accurate route calculation of the route to the lane-accurate determination of the optimal travel path, are transmitted as a data packet relating to the travel path with all associated data to the vehicle control system for the automated driving operation of the vehicle 1 to m.

[0054] The route transmitted from the navigation system to the vehicle control system for automated driving consists of lane-specific sections without the use of electronic toll payment lanes and lane-specific sections with the use of electronic toll payment lanes, including transitions into and out of these sections. Both section types are marked and distinguishable using attributes.

[0055] The lane-accurate sections using electronic toll payment lanes are sub-segmented along the individual edges of a route graph in the attribute-based navigation map. For each edge, a dataset contains the total number of lanes F1 to Fn of the roadway, as well as which of these lanes F1 to Fn are electronic toll payment lanes, the access requirements regarding technical compatibility for the relevant toll area, which lanes F1 to Fn were determined by the navigation system as part of the overall route for the lane-accurate navigation route, and where transitions between lanes F1 to Fn exist to facilitate lane changes.

[0056] On sections without the use of electronic toll payment lanes, no special consideration of such a situation is required. In this case, the vehicle control subsystem reconstructs the optimal lane-accurate route for automated driving according to the state of the art.

[0057] For each individual section using electronic toll payment lanes, the lane-accurate navigation path containing the electronic toll payment lanes is mapped to a congruent lane-accurate path for automated driving within the vehicle control subsystem, in particular so that for each edge with electronic toll payment lanes of the navigation path, a lane-accurate mapping to lanes F1 to Fn of the attribute-based navigation map takes place in such a way that corresponding sections in the path for automated, in particular highly automated or autonomous, driving use the electronic toll payment lanes at corresponding locations.

[0058] In addition, the mapping is carried out on the congruent lane-accurate driving path, so that lane changes to or from electronic toll payment lanes or lane changes to the entrance or exit of electronic toll payment lanes are evaluated, taken into account and mapped from the navigation system in such a way that the corresponding sections in the driving path for automated driving also have corresponding lane changes at corresponding points.

[0059] Furthermore, the mapping is carried out onto the congruent lane-accurate travel path for automated driving operation, so that by means of the described mapping of the lane-accurate navigation path, which takes into account usage rules and / or access requirements known in navigation, onto the lane-accurate navigation path in automated driving operation, the travel path for automated driving operation ultimately automatically fulfills these usage rules and / or access requirements.

[0060] In addition, with reference to the illustration, a check is carried out to determine whether the toll area required in a sub-section can be covered by the toll payment device present in vehicle 1 to m with its toll area, in particular with regard to technical compatibility.

[0061] With regard to the mapping, it is also checked whether the toll space required in the sub-section is actually covered by a feasible service contract.

[0062] Furthermore, the mapping is carried out in such a way that the driving path for automated driving meets all requirements for a legal, permissible and sensible driving path integrated into the vehicle control of automated driving.

[0063] If it is determined that the driving path for automated driving cannot meet all the requirements for a legal, permissible and reasonable driving path integrated into the vehicle control system for automated driving, but the requirements for technical compatibility and service-side coverage are met, this driving path can be rejected.Thus, as a fallback solution, a conventional mapping of the navigation path onto a lane-accurate path for automated driving can be implemented along a relevant partial navigation path, excluding electronic toll payment lanes. A passenger of the vehicle 1 to m is informed via a user interface, a text message on a display unit, for example, an infotainment system, and / or a voice message and / or a notice using colored ambient lighting, so-called ambient lighting, and / or by marking on a displayed map, indicating where, why, and possibly even partially preventing electronic toll payment, and how this can be remedied. It is also conceivable that the notice could be issued haptically, alternatively or additionally.

[0064] If, in the mapping to a driving path for automated driving, there are still degrees of freedom in the use of one of several electronic toll payment lanes, in particular if there are several electronic toll payment lanes that can be used in parallel, it is possible to optimize the automated driving path in the vehicle control system by determining and using an optimal driving path within the existing electronic toll payment lanes that can be used in parallel, in accordance with rules known from the state of the art, from the perspective of automated driving.

[0065] A lane-accurate overall route for automated driving of vehicle 1 to m along the entire navigation route is composed of the sections without use of the electronic toll payment lanes and the sections with use of the electronic toll payment lanes. The overall route represents the route of a navigation system-specific route with lane-accurate instructions for automated driving.

[0066] This entire route can be driven in automated driving mode, whereby sections of the route with electronic toll payment lanes are also driven in automated driving mode and the toll payment is carried out fully automatically, without any interaction between an occupant of the vehicle 1 to m and the toll station M being required.

[0067] Furthermore, in one embodiment, the method provides for continuous monitoring of a state of fulfillment of the service contract, i.e. a service contract.For example, if a valid toll payment card is removed from a vehicle-mounted toll payment card reader and / or information about non-fulfillment of the service contract provided by a toll system operator via a connection to the central computer unit and / or information about non-fulfillment of the service contract retrieved by the system from the toll system operator, this leads to the above-mentioned procedural steps being checked again, starting from the mapping of the lane-accurate navigation path containing the electronic toll payment lanes to a congruent lane-accurate path for automated driving, for all remaining sections of the path with electronic toll usage until the entire path is driven automatically, in accordance with the possible uses of electronic toll payment lanes. List of reference symbols 1 to m vehicle F1 to Fn lane M toll station QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This 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

[0000] DE 10 2017 126 824 A1

[0002] DE 10 2022 001 030 B3 [0003, 0038]

Claims

[1] Method for the automated driving operation of a vehicle (1 to m), wherein a lane-accurate driving path is determined for the automated driving vehicle (1 to m), characterized by that at least in the case of a valid service contract stored on the vehicle with a service provider of an electronic toll payment system and in the case of a valid route release for automated driving in the area of ​​a toll station (M) and when the vehicle (1 to m) approaches such a toll station (M), a toll lane navigation route for the electronic payment of a road user charge to be paid by the vehicle (1 to m) is automatically determined as a route path for the vehicle (1 to m) with this toll payment system and is used as the basis for a driving control for the automated driving operation of the vehicle (1 to m). [2] Method according to claim 1, characterized bythat the presence of an electronic toll payment lane for electronic payment at the toll station (M) is determined based on attributes of an attribute-based navigation map of a navigation system of the vehicle (1 to m). [3] Method according to claim 1 or 2, characterized by that an entire route of the vehicle (1 to m) is segmented into sections without an electronic toll payment system and sections with an electronic toll payment system. [4] Method according to claim 2 or 3, characterized by that the route transmitted from a navigation system to the vehicle's control system (1 to m) is formed on the basis of sections without the use of electronic toll payment lanes, with lane accuracy, and sections with the use of electronic toll payment lanes, with lane accuracy, and both section types are identified by means of distinguishable attributes. [5] Method according to claim 4, characterized bythat the lane-accurate sections using electronic toll payment lanes are sub-segmented along individual edges of a route graph in the attribute-based navigation map. [6] Method according to claim 5, characterized by that for each of these edges, a total number of lanes (F1 to Fn) of a roadway forms part of a data set, where the data set additionally contains: - which of these lanes (F1 to Fn) are electronic toll payment lanes, - what access requirements exist for technical compatibility of the toll payment system of the vehicle (1 to m) with respect to the toll station (M), - which lane (F1 to Fn) was determined by the navigation system as part of the overall route for a lane-accurate navigation route and - where there are transitions between lanes (F1 to Fn) to enable a lane change. [7] Method according to one of claims 4 to 6, characterized by that for each section using electronic toll payment lanes, the lane-accurate travel path of the attribute-based navigation map containing the electronic toll payment lanes is mapped to a congruent lane-accurate travel path for the automated driving operation of the vehicle (1 to m). [8] Method according to claim 7, characterized by that the mapping is carried out in such a way that for each edge with electronic toll payment lanes of the driving path from the navigation, a lane-accurate mapping to the lanes (F1 to Fn) of the attribute-based navigation map is carried out in such a way that the electronic toll payment lanes are used at corresponding positions in the driving path of the automated driving operation. [9] Method according to claim 7 or 8, characterized bythat, with regard to the illustration, it is checked whether a toll area required in the sub-section is covered by a service contract that can be fulfilled. [10] Method according to one of the preceding claims, characterized by that if the conditions for using the electronic toll payment lanes are not met, a corresponding visual and / or acoustic and / or haptic warning will be given in the vehicle (1 to m).

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