Driver assistance device and method for determining the availability of autonomous driving functionality

Abstract

Driver assistance device (20) for a vehicle (10), in particular a vehicle operating autonomously at least temporarily, for determining the availability of autonomous driving functionality for operation of the vehicle (10) on a predetermined route and / or sections of the predetermined route, comprising: - a communication interface (23); and - a processor unit (21) which is in data communication with the communication interface (23), configured for: - receiving, via the communication interface (23), input data (42) including at least one road graph for the predetermined route;- Determining driving parameters (47) and / or vehicle parameters of the vehicle (10), and- Determining the availability of the autonomous driving functionality on the specified route and / or on the sub-sections of the specified route, prior to reaching each of these, based on the received input data (42) and the determined driving parameters (47) and / or vehicle parameters, and wherein the processor unit (21) is further configured to compare the determined availability of the autonomous driving functions on the specified route and / or on the sub-sections of the specified route with a specified availability threshold and to provide the road graph modified based on the result of the comparison.;

Description

[0001] The present invention relates to a driver assistance device and a method for determining the availability of autonomous driving functionality on a route. Furthermore, the invention relates to a motor vehicle and a computer program.

[0002] A vehicle with automated driving functionality (up to and including autonomous driving) can monitor its surroundings using various sensors to automatically perform longitudinal and / or lateral guidance for collision-free travel. Furthermore, a route can be defined to reach a predetermined destination. The route can be determined based on geopositioning data from a GNSS (Global Navigation Satellite System, e.g., GPS) and / or road map data. While the GNSS and road map data can provide information about static aspects of the environment, dynamic aspects can be obtained from the simultaneously recorded sensor data and / or traffic information data.

[0003] The precision and reliability of automated driving depend on the timely and accurate detection of objects in the driving environment and on the ability of the vehicle's algorithm to process information about the environment and provide correct instructions to the vehicle controls and powertrain. Therefore, automated / autonomous driving and its effective use depend on a number of additional conditions. Regardless of the ADAS (Advanced Driver Assistance Systems) level, an autonomous vehicle's automated functionality is only available within a predefined framework, the so-called Operational Design Domain (ODD). Restrictions to certain geographical areas and / or restrictions to certain road classes (e.g., highways, motorways, etc.) may apply.motorway only), as well as the prevailing weather conditions and / or lighting conditions and / or visibility conditions, as the availability of the sensors can be negatively affected.

[0004] To ensure that the time spent on automated / autonomous driving is maximized, it is important that the route planning and navigation system can cover most, preferably the entire, of the route to be driven using the available automated driving function. This should be achieved, in particular, by taking into account the needs and requirements of a driver when continuous automated vehicle guidance is not possible. Automated / autonomous driving should enable the driver to make alternative and optimal use of the necessary driving time.

[0005] Furthermore, the driver should be aware of an impending shutdown of his vehicle's ADAS system in order to be able to intervene in a timely and prepared manner.

[0006] Currently known systems only offer the driver the option of making assumptions about which route and / or sections of a route an automated driving function can be fully and continuously deployed. Even experience-based knowledge of a route cannot provide the necessary security required to pursue extended secondary activities uninterrupted and thus keep the focus off the road. Instead, the driver must be able to concentrate on manually controlling their vehicle at all times, as the automated driving function could be sporadically deactivated due to missing data and / or the aforementioned dynamic aspects.

[0007] The state of the art in this regard can be found in US 10,331,141 B1 and US 2016 / 0347327 A1.

[0008] There is a need for a driver assistance device and a method that determines and / or provides information about the availability of autonomous driving functionality and at least partially overcomes the aforementioned disadvantages.

[0009] The present invention is therefore based on the object of providing a driver assistance device and a method for determining the availability of autonomous driving functionality, as well as a vehicle and a computer program. The driving functionality is available in particular whenever the autonomous driving function can be activated, i.e., the vehicle is in an operational domain of the driving function. Accordingly, the driving functionality is not available in particular when the driving function may not or cannot be activated because the environment does not permit it, e.g., the vehicle is not in an operational domain of the driving function.

[0010] According to a first aspect, the present invention relates to a driver assistance device. The driver assistance device can be provided for a vehicle. The vehicle according to the invention can preferably be designed as a motor vehicle, in particular as a passenger car or truck, or as a passenger bus or motorcycle. It can generally be provided to provide the driver assistance device according to the invention in a mobile device that is provided for an autonomous driving function. The driver assistance device is provided in particular for an at least temporarily autonomously operating vehicle, for determining the availability of the autonomous driving functionality for autonomous operation of the vehicle on a predetermined route and / or on subsections of the predetermined route.

[0011] The driver assistance device can have a processor unit, optionally a memory unit, and a communication interface. The driver assistance device can also have additional components. The processor unit can be in data communication with the memory unit and the communication interface, preferably via a communication medium. The communication medium can be configured such that different communication protocols can be used for data communication.

[0012] The processor unit is designed to receive input data. The input data can be received via the communication interface. The input data includes at least one road graph for a predetermined route, i.e., a route description for how to travel to a predetermined destination. Furthermore, the processor unit is provided for determining driving parameters and / or vehicle parameters of the vehicle. The driving parameters and / or vehicle parameters can be determined (using suitable means of the vehicle and / or using a wirelessly connected backend server). In addition, the processor unit is further provided for determining or ascertaining the availability of the autonomous driving functionality, i.e., for checking the prerequisites for the usability of the driving functionality along the route. The driving function is not usable on a partial section, for example, i.e.The driving functionality is not available if the sections and / or the environmental conditions prevailing when passing the section are outside the specified ODD. Conversely, the autonomous driving functionality can always be recognized as available where a section complies with the ODD. Corresponding test criteria are known in connection with automatic shutdown logic of autonomous driving functions. The availability of autonomous driving functionality can thus be determined on the specified route and / or on sections of the specified route based on the received input data and the determined driving parameters and / or vehicle parameters, in particular before each of these is reached.

[0013] The invention is based on the idea that a driver assistance device can be used to determine when the autonomous driving functionality of the vehicle is available. In particular, the aspects of the driver and the vehicle should be taken into account in order to guarantee the driver plannable and / or reliable autonomous driving over the specified route and / or sections of the specified route. For the purposes of the present invention, the driver is understood to be the person who sits on the side of the autonomously driving vehicle to manually control the vehicle or who must be available to do so and who assumes control of the vehicle (i.e., vehicle guidance) in corresponding situations without autonomous driving function.

[0014] For the purposes of the present invention, a driver assistance device is understood to be a system that receives corresponding data as input and provides output signals according to a predetermined program. The output signals can be provided to the driver so that they react to them intuitively. Furthermore, these output signals can be provided to a route planning and / or navigation system in order to modify the approaching route according to the output signals. In particular, the route to be traveled (planned route) can be planned and / or subsequently modified based on the wishes and / or specifications of the driver and / or the vehicle's specifications. The driver assistance device can be implemented as a control device for the motor vehicle.The control device can comprise a processor unit that is configured to carry out an embodiment of the method according to the invention. For this purpose, the processor device can have at least one microprocessor and / or at least one microcontroller and / or at least one FPGA (Field Programmable Gate Array) and / or at least one DSP (Digital Signal Processor). Furthermore, the processor device can have program code that is configured to carry out the embodiment of the method according to the invention when executed by the processor device. The program code can be stored in the memory unit of the processor device. The processor circuit of the processor device can, for example, have at least one circuit board and / or at least one SoC (System on Chip).

[0015] Alternatively, the driver assistance device can be partially or fully implemented as an external unit in a cloud, and the data is transmitted to the cloud via the communication interface using a transmission medium. The cloud is configured to execute an embodiment of the method according to the invention. Thus, computing power can be outsourced to the cloud. The cloud can be configured as a stationary backend server of the motor vehicle.

[0016] Furthermore, within the meaning of the present invention, autonomous driving functionality means that the vehicle and its driving systems independently assume all driving tasks, in particular maneuver planning and / or vehicle guidance. The vehicle is thus capable of traveling distances without intervention by a human driver. The driver only assumes control of the vehicle when requested by the driver assistance system. In this case, the vehicle is preferably guided entirely by the driver assistance system from start to finish. The driver becomes a passenger.

[0017] Furthermore, within the meaning of the present invention, the specified route and / or subsections of the specified route are to be understood as the route that the driver wishes to travel, i.e. the planned route. The driver and / or the driver assistance device can specify a destination point or a travel destination, and the route is specified to the driver by route planning, e.g. of the navigation system, taking into account selectable and / or deselected criteria. The specified route can comprise several subsections or be divided into subsections. A route can be made up of several subsections, which are represented in a road graph. A road graph consists of a large number of nodes as subsections, which are connected to one another via edges. The edges can include weightings in order to determine the route via the nodes.The weighting can be determined from user criteria and / or driving parameters and / or vehicle parameters. An edge can represent a specific roadway section in a traffic network.

[0018] Furthermore, within the meaning of the present invention, "suitable means" refers to sensors and / or communication elements with which driving parameters and vehicle parameters of the vehicle can be determined. In this regard, sensors and communication elements known in the prior art can be used to provide / enable the determination or detection. "Determining driving parameters" can also be understood as detecting or ascertaining them.

[0019] The inventive concept makes it possible to provide the driver with the availability of autonomous driving functionality of their vehicle on the selected and therefore predetermined route and / or sections of the predetermined route. Thus, the driver's route can be planned in such a way that the greatest possible degree of autonomous driving and / or the foregoing of autonomous driving or the use of autonomous driving under conditions specified by the driver (e.g., at time intervals specified by the driver and / or at locations specified by the driver) is implemented. Furthermore, the driver can be informed in a timely manner of the loss of autonomous driving functionality, so that the driver assumes control of the vehicle. This avoids the need for rapid reactions when the autonomous driving functionality is deactivated.In addition, the determined or ascertained availability of autonomous driving functionality on the specified route can be used to optimize it so that the autonomous driving functionality is maximally available on the specified route.

[0020] The invention also includes embodiments which provide additional advantages.

[0021] According to one embodiment, the determined or ascertained availability of the autonomous driving functionality on the specified route and / or on subsections of the specified route can be compared with a predetermined threshold value for the availability. The comparison can be made, in particular, with respect to a distance share of the availability in relation to the entire route and / or the respective subsection and / or with respect to a time share of the availability in relation to an estimated travel time and / or with respect to a degree of overlap or overlap share with geographical areas specified by the driver (e.g., road types and / or environments, e.g., autonomous driving in scenic sections) and / or the time intervals (e.g., autonomous driving during a lunch break). If the agreement according to the threshold value is too low, the route is advantageously replanned, i.e.an alternative route is determined. A given route and / or a section of a given route can have a threshold value for the availability of autonomous driving functionality, e.g. specified by the driver, which determines at what degree of deviation the route should be replanned. This threshold value can specify how long (in terms of time and / or distance) the autonomous driving functionality should be available and / or at which time intervals (absolute time specification or relative, e.g. to the start of the journey or the estimated end of the journey) and / or on which route type (e.g. on serpentines, in scenic surroundings). Based on the result of the comparison, the road graph can be provided in a modified form. The respective threshold value can be assigned to the edges between the nodes in the road graph. The comparison can include the result of exceeding or falling below the threshold value.Based on this, the road graph can be provided in a modified, preferably automated, form. A modified road graph preferably meets the threshold requirements, thus fulfilling the desired availability of autonomous driving functionality. The review of each newly determined road graph can be repeated or iterated until a road graph is determined that meets the described threshold criterion. If no suitable road graph can be found after a predetermined number of iterations and / or due to a lack of further routes, the one determined that most closely matches the threshold can be used, and / or the driver can be prompted to select one.

[0022] To meet the threshold criterion, it may also be possible to offer the purchase and / or rental of vehicle functions that reduce the likelihood of a "drop," i.e., the interruption of autonomous driving. This can be achieved using the well-known function-on-demand technology.

[0023] To meet the threshold criterion, it may also be provided that a driving speed profile for the road graph is adjusted such that a specified time interval for autonomous or manual driving is maintained. This is particularly preferred if an alternative road graph would result in greater energy consumption and / or a longer driving time.

[0024] The vehicle can then be navigated along the route according to the determined road graph.

[0025] According to one embodiment, a user interface can be provided. Via the user interface, input data can be provided to the vehicle, and in particular to the driver assistance device, for processing. The user interface is an interface for interaction between a vehicle driver and the driver assistance device and / or the vehicle. Information can be input by the vehicle driver and provided to the vehicle driver via the user interface. The user interface can be configured as separate hardware for inputting information (e.g., mouse, keyboard, stick) and as separate hardware for displaying information (screen, monitor, LCD display).In an alternative embodiment, the user interface can be designed as a touch display, via which information and / or commands from the vehicle driver can be received and information can be output on the display. The input data is provided to the driver assistance device via the user interface for further processing. The input data is processed according to the method according to the invention.

[0026] According to one embodiment, the input data may include at least one or more of the following information. This information may be provided and may be taken into account when determining the availability of autonomous driving functionality. Provision may be made for a single input date or a combination of input data to be taken into account. Input data preferably refers to the information with which the driver would prefer to have his route calculated / provided through route planning. Thus, personal route preferences and requirements of the driver are taken into account in addition to the actual navigation parameters.

[0027] It may be provided that information about the driver, the driver's qualifications and the driver's condition are taken into account. In particular, it may be provided that the legal admissibility to drive the vehicle in question is taken into account through proof of appropriate identification documents (age, lack of a driver's license). A person without a driver's license, for example, is not authorized to drive the vehicle manually. Furthermore, the qualifications to drive the vehicle in question can be checked. If the person is unable to drive the vehicle manually due to a lack of instruction / training, manual driving of the vehicle may remain prohibited. Furthermore, the condition, in particular a medical condition of the driver, can be checked and manual driving of the vehicle must be prohibited accordingly.Based on the restrictions, the driver assistance device can trigger route planning that involves deactivating the autonomous driving function, meaning that the autonomous driving functionality is not active.

[0028] It can be provided that information about the starting point of a journey is taken into account. For route planning, the starting point is taken into account to determine the route. It can be determined whether autonomous driving functionality can be provided at the start of the journey, particularly at that location.

[0029] It can be specified that information about the destination of a trip is taken into account. The destination of the trip is taken into account for route planning to determine the route. A route can be determined that prioritizes the availability of autonomous driving functionality.

[0030] It may be provided that information about the departure time of a trip is taken into account. It may also be considered whether there are restrictions on autonomous driving functionality at that departure time. In one embodiment, the departure time can be combined with the starting point, thus taking local restrictions into account to determine availability.

[0031] It can be planned to take into account information about the arrival time of a trip. Furthermore, route planning can be triggered when a destination is reached at a specific arrival time and autonomous driving functionality is available.

[0032] It can be provided that information about the number of hands-off journeys is taken into account. A hands-off journey is defined as driving the vehicle in which the driver does not need to actively intervene. The vehicle is controlled and guided without the driver's input. This can be used to specify how often the driver wishes to take over manual driving of the vehicle along the route. For example, the driver can specify that they only want / need to take over twice, particularly if planned, for the specified route. Furthermore, the driver can specify that they do not want to take over at all on the specified route. The driver assistance device can therefore trigger route planning so that a route is driven by enabling the driver's hands-off preference.The opposite of hands-off driving is hands-on driving, in which the driver actively and manually controls the vehicle. However, manual control does not preclude support from other driver assistance systems (e.g., lane departure warning and / or cruise control).

[0033] Information about the minimum duration of the hands-off driving mode can be considered. To determine the availability of autonomous driving functionality, the time between two manual interventions by the driver can be considered. The minimum duration defines a permissible minimum distance / duration of the hands-off driving mode (hand-off phase). For example, a driver can specify that the vehicle drive autonomously for at least 15 minutes at a time. This allows the driver to schedule the time during autonomous driving for other activities.

[0034] It may be provided that information about the maximum duration of hands-off driving is taken into account. Furthermore, to determine the availability of autonomous driving functionality, the maximum duration of hands-off driving before the driver must drive the vehicle manually is taken into account.

[0035] It can be provided that information about the maximum distance of a combined journey is taken into account. A combined journey, in the sense of the present invention, can be understood as a desired number of hands-on, hands-off sections. Taking into account the combined, preferably uninterrupted journey, a maximum distance should be able to be covered. For example, the driver can specify that a specific distance should be traveled from a location W to a location B within a fixed and maximum travel time. However, location B should not be reached before a certain travel time.

[0036] It can be provided that information about the minimum travel time for a combined trip is taken into account. It can be considered that a trip and thus a corresponding distance is covered within a minimum travel time. The trip can be carried out taking into account hands-off and hands-on driving sections. Furthermore, desired time limits can be taken into account until a specified destination must be reached. It can be specified that the specified destination must be reached in 6 hours, regardless of the route taken and / or how often the trip is interrupted for charging / refueling and / or other breaks.

[0037] It may be provided that information about the driving speed is taken into account. To determine the availability of autonomous driving functionality on the route, it may be provided that a desired speed (maximum speed) is taken into account with autonomous driving functionality. Driving to a destination point should be possible at the desired speed, in particular, autonomous driving, so that the destination point is reached at a specific time.

[0038] It may be provided that information about conditional hands-free preferences is taken into account. The driver's individual preferences for activating the autonomous driving function can be taken into account when determining the availability of autonomous driving functions. For example, the driver can indicate that autonomous driving functionality is not desired within built-up areas (e.g., due to personal preference). Alternatively, the driver can indicate that the autonomous driving function is activated outside built-up areas, e.g., on highways, and the vehicle takes over control.

[0039] It may be stipulated that information about possible driving breaks be taken into account. Driving breaks can be taken into account if, for example, driving and rest times and / or legal regulations regarding driving a vehicle and / or working hours require this.

[0040] It may be provided that information about services is taken into account. For the purposes of the present invention, services include the services provided to a driver for their vehicle along a route. These may include, for example, charging / fueling, cleaning, catering, and / or rest breaks. The availability of autonomous driving functionality can be determined based on necessary or desired services. Furthermore, route planning can be triggered accordingly.

[0041] It may be provided that information about commercial (public) transport is taken into account. The availability of autonomous driving functionality can be determined by considering the vehicle. In particular, it can be considered whether the transport is commercial, for which different legal regulations may apply than for a non-commercial (private) journey.

[0042] According to one embodiment, the driving parameters may include at least one or more of the following parameters. These parameters may be determined and taken into account when determining the availability of autonomous driving functionality. Provision may be made for a single driving parameter or a combination of driving parameters to be taken into account.

[0043] It can be provided that driving parameters of real-time position detection are taken into account. For example, a GNSS (e.g., GPS) can be used to detect the vehicle's position. In particular, the detection can be carried out in real time. Real-time position detection can be used to determine whether autonomous driving functionality is currently available on the section of the route. Real-time position detection can be used to dynamically modify the route according to the specifications. Furthermore, the driver can be notified in real time of the loss of autonomous driving functionality.

[0044] It may be provided that driving parameters containing traffic information are taken into account. To determine availability, traffic information, in particular current or real-time information on traffic volumes, may be taken into account, which may limit autonomous driving and lead to deactivation of the autonomous driving function. Traffic information may include increased traffic volumes, accidents, and events that lead to a reduction in traffic flow.

[0045] It may be provided that driving parameters including traffic disruptions are taken into account. Traffic disruptions may include local traffic disruptions resulting, for example, from construction sites that are in a condition known to impair an autonomously operating vehicle. For example, there may be police or workers at the local traffic disruption manually directing traffic. Furthermore, traffic signs may be missing at the traffic disruption, which restricts the correct functioning of the autonomous driving functionality. The availability of the autonomous driving functionality is not determined on these sections of the specified route. This information can be provided and / or considered accordingly.

[0046] It may be planned to consider driving parameters based on the availability of charging infrastructure or refueling infrastructure. The availability of charging infrastructure or refueling infrastructure may result in the autonomous driving function being deactivated. This can be taken into account for route planning.

[0047] It may be provided that driving parameters including traffic law restrictions are taken into account. It may be provided that the availability of autonomous driving functionality is determined depending on applicable national regulations and laws. In particular, it may be specified on which sections of a route autonomous driving is possible. Furthermore, it may be specified in which sections autonomous driving is restricted or generally not permitted. For example, autonomous driving may be prohibited in sections critical to traffic safety (e.g., roads near schools and kindergartens, play streets, traffic-calmed streets). These sections are taken into account when determining the availability of autonomous driving functionality.

[0048] It may be provided that driving parameters including road conditions, especially local road conditions, are taken into account. Certain road conditions can lead to driving situations in autonomous driving functions that require driver intervention. Taking local road conditions into account provides a more detailed picture of the availability of autonomous driving functions.

[0049] It can be provided that driving parameters including weather conditions are taken into account. The weather conditions can be obtained from local weather service providers or from the data stock provided by a vehicle network. A vehicle network contains a number of vehicles that communicate with each other and provide relevant data for use. This means that a vehicle that has covered a certain route and / or section can make the collected driving parameters, e.g. weather conditions, available to the other vehicles. The provision of data in the vehicle network is not limited to weather conditions. Rather, other data, e.g. traffic information, information about infrastructure (charging / fueling infrastructure), can be provided. The availability of autonomous driving functions can be limited depending on the weather conditions, as autonomous driving may not be possible.driving safety cannot be fully guaranteed.

[0050] It can be provided that driving parameters including the real-time availability of hands-off driving are taken into account. Hands-off driving can, for example, be provided by leading vehicles in a vehicle convoy. Thus, the availability of autonomous driving functionality can be determined based on empirical data.

[0051] It can be provided that driving parameters including the availability of infrastructure connections and / or infrastructure communication are taken into account. For the purposes of the present invention, infrastructure can be understood as, for example, traffic lights and / or traffic control systems. These can provide traffic data to the vehicles via infrastructure communication. This traffic data can be used in real time by the driver assistance device to determine the availability of autonomous driving functionality. If the infrastructure connections and / or infrastructure communication are not available but required, the autonomous driving functionality can be restricted or deactivated.

[0052] It can be provided that driving parameters including a planned hands-on ride are taken into account. A planned hands-on ride can be understood as the availability of information for the specified route and / or sections of the route, thereby confirming the hands-on ride. Thus, no autonomous driving functionality is provided for the route and / or a section of the route. The information can, for example, be provided by a vehicle driving ahead.

[0053] It may be provided that driving parameters including the availability of services are taken into account. In particular, the availability of services along the specified route can be considered. These services may include, for example, charging / refueling services, restaurants, rest areas, overnight accommodation, and specific infrastructure (e.g., a store for purchasing a specified product / service).

[0054] According to one embodiment, the driving parameters may further include the state of the driver. In particular, the driver's state may be monitored. The driver may be monitored using appropriate sensors in the vehicle. The sensors may include cameras, for example. For example, the driver's position on the seat, the driver's eyes, and / or the driver's behavior may be monitored. In particular, the driver's physiological state and behavior during the journey may be monitored. The driver's state may include sudden discomfort and / or inability of the driver due to illness or deep sleep. Furthermore, sudden intervention by the driver and assumption of control of the vehicle may influence the autonomous driving function.

[0055] According to one embodiment, the vehicle parameters may include at least one or more of the parameters listed below. These vehicle parameters may be determined and taken into account when determining the availability of autonomous driving functionality. Provision may be made for a single vehicle parameter or a combination of vehicle parameters to be taken into account.

[0056] It may be planned to take into account vehicle parameters relating to vehicle functionality. In particular, the level of autonomous driving functionality (particularly as defined by SAE Standard J3016, SAE - Society of Automotive Engineers) the vehicle can provide is taken into account. For example, in a highly automated vehicle, the driver is still required, but other activities can be done temporarily while driving, such as reading a newspaper. However, if the vehicle issues a message, the driver must be able to immediately resume driving. The vehicle takes over driving independently for a limited period of time, overtaking, braking, or accelerating. However, a Level 3 vehicle requires clear traffic situations for this, such as no oncoming traffic or clear lane markings. At Level 4, the vehicle's technology takes over all driving tasks independently.A vehicle is capable of traveling distances without driver intervention. The driver only takes control when requested by the system. The final level (Level 5) corresponds to "true" autonomous driving. The vehicle is completely guided by the system from start to destination. At this stage, the driver is more like a passenger. The vehicle's capabilities resulting from the autonomous driving function and their limitations according to the level can be considered as initial and continuous input for route planning and the navigation and steering system.

[0057] It may be planned that vehicle parameters including map availability are taken into account. The maps for route planning and the navigation system can be provided via and retrieved from a database. The database can be checked for up-to-dateness. The availability of autonomous driving functionality can be based on the availability and up-to-dateness of the maps or databases.

[0058] It may be possible to consider vehicle parameters containing driving data from other road users. The driving data from other road users, e.g., a convoy of vehicles, can contribute to a detailed overview of various aspects of the route and make the determination of the availability of autonomous driving functionality more precise.

[0059] It may be provided that vehicle parameters including real-time road conditions are taken into account. Real-time road conditions include current conditions that are taken into account for determining the availability of autonomous driving functionality and can be provided to the driver accordingly and / or cause a modification of the route.

[0060] It may be provided that vehicle parameters containing the capabilities of traffic control devices are taken into account. The traffic control devices may include, for example, traffic lights, traffic guidance systems, guidance systems in guardrails, and / or communication systems for communication between vehicles. The effective usability and applicability of traffic guidance systems and traffic lights that support V2X technology and are in a general and / or approved operating state will be considered.

[0061] It may be provided that vehicle parameters including traffic control device availability are taken into account. Individual availability can support or enable the autonomous driving function, thus taking the availability into account when determining the availability of autonomous driving functionality.

[0062] It may be planned to consider vehicle parameters including traffic control system reliability. The reliability of network / infrastructure coverage can be a measure of the availability of autonomous driving functionality. For example, if relevant information can be retrieved via a cellular network, V2X communication, and similar means, autonomous driving functionality can be "safely" ensured.

[0063] Vehicle parameters including topographical changes of roads and / or intersections can be considered. Topographical changes can be documented in high-resolution topology maps. These can be regularly provided to the driver assistance system via appropriate systems (route planning, navigation). Current topology maps can provide more detail and support the determination of the availability of autonomous driving functionality.

[0064] According to one embodiment, the input data, driving parameters, and / or vehicle parameters can be weighted relative to one another and used to determine the availability of autonomous driving functionality. A weighting can be specified for the input data, driving parameters, and / or vehicle parameters. This weighting is included in the determination of the availability of autonomous driving functionality. In particular, weighting can be understood as the evaluation of individual influencing variables (input data, driving parameters, vehicle parameters) with regard to their importance or reliability. The weighting results in previously specified, more important or more reliable information / parameters having a greater influence on the result of determining the availability of autonomous driving functionality. For example, information from the input data can be assigned a greater weighting than the driving parameters and / or the vehicle parameters.The weighting can be determined by the driver and / or another person, such as the developer of the autonomous driving function. The weighting can be adapted.

[0065] According to one embodiment, the determined availability of the autonomous driving functionality on the specified route and / or on subsections of the specified route can be provided, in particular visualized, provided, or signaled, to a driver of the vehicle via a user interface so that the driver can select or activate the driving function or at least receive information about it. The user interface can be designed as an input and / or output unit. The determined availability can be provided to the driver as a note and / or warning on the input and / or output unit. Alternatively, the determined availability can be provided to the driver in a navigation map on the input and / or output unit.

[0066] According to one embodiment, the availability of the autonomous driving functions on the specified route and / or on sub-sections can be determined periodically. The periodic determination of the availability of the autonomous driving functions results in the availability being checked at a specified interval and updated if necessary. Furthermore, the determination can be repeated periodically at a specified and / or adjustable interval. This makes it possible to react to the dynamic aspects described above even while driving. Furthermore, the determination can be repeated at an event-based interval. In particular, the event-based interval can be repeated if there is a change in the vehicle status, a change in the traffic status, and / or a change in the driver status.In a more general sense, it can be any type of activity or process that is started and / or influenced by certain events.

[0067] According to a second aspect, the invention relates to a method for determining the availability of autonomous driving functionality for operation of an autonomously operating vehicle on a predetermined route and / or sections of the predetermined route. The method for determining the availability of autonomous driving functionality comprises the following method steps. In a first step, input data is received. The input data can contain at least one road graph for a predetermined route. In a further step, driving parameters and / or vehicle parameters of the autonomously operating vehicle are determined. In a further step, a

[0068] Determining the availability of autonomous driving functionality on the specified route and / or on subsections of the specified route based on the received input data and the determined driving parameters and / or vehicle parameters. For use cases or application situations that may arise during the method and are not explicitly described here, it may be provided that, according to the method, an error message and / or a request for user feedback is output and / or a default setting and / or a predetermined initial state is set.

[0069] According to an embodiment according to the second aspect, the determined availability of autonomous driving functionality can be provided to the vehicle driver in a further step. In particular, the availability of autonomous driving functionality can be provided in a visualized form.

[0070] According to an embodiment according to the second aspect, the determined availability of autonomous driving functionality can be compared with a predetermined availability threshold in a further step. The road graph can be provided in a modified form based on the result of the comparison.

[0071] The invention also includes further developments of the method according to the invention that have features already described in connection with the further developments of the driver assistance device according to the invention. For this reason, the corresponding further developments of the method according to the invention are not described again here.

[0072] For use cases or application situations that may arise during the method and which are not explicitly described here, it may be provided that, in accordance with the method, an error message and / or a request to enter user feedback is issued and / or a default setting and / or a predetermined initial state is set.

[0073] According to a further aspect, the invention relates to a computer program. The above-described embodiments of the method according to the second aspect of the invention can also be embodied as a computer program, wherein a control unit (e.g., a computer, microcontroller, DSP, FPGA, and / or PLC) is prompted to carry out the above-described method when the computer program is executed on a control unit or on a processor of the control unit. The computer program can be provided as a signal via download or stored in a memory unit of the control unit with computer-readable program code contained therein in order to prompt a driver assistance device to execute instructions according to the above-described method. The computer program can also be stored on a machine-readable storage medium.An alternative solution to the problem therefore provides a storage medium, in particular a computer-readable storage medium, which is intended for storing the method described above (as program code) and is readable by a computer or a processor of the computer. The program code, when executed by a processor circuit of a computer or a computer network, causes an embodiment of the method according to the invention to be carried out. The storage medium can, for example, be provided at least partially as a non-volatile data memory (e.g. as a flash memory and / or as an SSD - solid state drive) and / or at least partially as a volatile data memory (e.g. as a RAM - random access memory). The storage medium can be arranged in the processor circuit in its data memory. However, the storage medium can also be operated, for example, as a so-called app store server on the Internet.The computer or computer network may provide a processor circuit with at least one microprocessor. The program code may be provided as binary code or assembly code and / or as source code of a programming language (e.g., C) and / or as a program script (e.g., Python).

[0074] According to a further aspect, the invention relates to a motor vehicle. The motor vehicle is in data communication with the driver assistance device according to the invention. The driver assistance device can be implemented partially or completely in a cloud, and the data is exchanged via data communication. In an alternative embodiment, the motor vehicle has the driver assistance device according to the invention.

[0075] The above embodiments and further developments can, where appropriate, be combined with one another in order to combine their advantages. Further possible embodiments, further developments, and implementations of the invention also include combinations of features of the invention described previously or below with regard to the exemplary embodiments that are not explicitly mentioned. In particular, a person skilled in the art will also add individual aspects as improvements or additions to the respective basic form of the present invention. In particular, features of the method claims can be implemented and / or executed by corresponding components of the driver assistance device, whereupon these supplement or expand its functionality. Thus, a person skilled in the art will also use aspects of the method claims for the driver assistance device. Furthermore, aspects of the driver assistance device can be implemented and realized in the method according to the invention.The invention also encompasses combinations of the features of the described embodiments. The invention therefore also encompasses implementations that each comprise a combination of the features of several of the described embodiments, unless the embodiments are described as mutually exclusive.

[0076] Exemplary embodiments of the invention are described below. Shown are: Fig. 1 a schematic representation of a driver assistance device according to an embodiment of the invention; Fig. 2 shows a flowchart of a method according to an embodiment of the invention; Fig. 3 is a schematic representation of a vehicle according to an embodiment of the invention; and Fig. 4 a schematic representation of the determination of the availability of autonomous driving functionality according to an embodiment of the invention.

[0077] The accompanying drawings are intended to provide a further understanding of the embodiments of the invention. They illustrate embodiments and, in conjunction with the description, serve to explain principles and concepts of the invention. The embodiments explained below are preferred embodiments of the invention. In the embodiments, the described components of the embodiments each represent individual, independently considered features of the invention, which also further develop the invention independently of one another. Therefore, the disclosure is intended to include combinations of the features of the embodiments other than those illustrated. Furthermore, the described embodiments can also be supplemented by further features of the invention already described.

[0078] In the figures of the drawings, identical, functionally identical, and acting elements, features, and components are provided with the same reference numerals, unless otherwise stated. The elements of the drawings are not necessarily shown to scale relative to one another.

[0079] Fig. 1 shows a schematic representation of a driver assistance device. In Fig. 1, reference numeral 20 denotes the driver assistance device. The driver assistance device 20 can be used for a vehicle 10 (cf. Fig. 3) the availability of autonomous driving functionality for operating the vehicle 10 on a predetermined route and / or sections of the predetermined route is determined. Preferably for the operation of an autonomously operating vehicle. The driver assistance device 20 can be at least partially implemented as a control device or as a control unit in the vehicle 10. Alternatively, the driver assistance device 20 can be implemented on an existing control unit of the vehicle 10. Preferably, the driver assistance device 20 can be implemented outsourced to the cloud. The data is exchanged via data communication between the driver assistance device 20 in the cloud and the vehicle 10.

[0080] The driver assistance device 20 has a memory unit 22. The method for determining the availability of autonomous driving functionality for operating an autonomously operating vehicle 10 on a predetermined route and / or sections of the predetermined route can be stored in the memory unit as program code. The driver assistance device 20 further has a processor unit 21. The processor unit 21 is designed to carry out the method according to the invention and the method steps. The processor unit 21 is in data communication with the memory unit 22 and a communication interface 23. The communication interface 23 can include corresponding communication protocols and hardware implementation for communication. Furthermore, the communication interface 23 is designed to enable data communication with the vehicle 10 and the means 11 (cf. Fig. 3) of the vehicle and the user interface 12 (cf. Fig. 3). Furthermore, the communication interface 23 can be configured for communication between the vehicle 10 and the cloud.

[0081] The processor unit 21 of the driver assistance device 20 is designed to process input data 42 (cf. Fig. 4) via the communication interface 23. The input data 42 includes, for example, at least one road graph. Alternatively or additionally, the input data 42 can include driver-specific information. The driver-specific data can be taken into account when determining the availability of autonomous driving functionality. In particular, a combination of input data 42 can be taken into account. The processor unit 32 of the driver assistance device 20 is further configured to generate driving parameters 47 (cf. Fig. 4) and vehicle parameters. The determination can be carried out using means 11 (cf. Fig. 3). The processor unit 32 of the driver assistance device 20 is designed to determine the availability of autonomous driving functionality. The availability is determined for a predetermined route and / or for subsections of the predetermined route. The determination is made based on the received input data 42 and the determined driving parameters 47 and / or vehicle parameters. According to one embodiment, any number and combination of input data 42, driving parameters and / or vehicle parameters can be taken into account to determine the availability of autonomous driving functionality. The selection and combination can be carried out by a vehicle driver 30 (cf. Fig. 4) and / or a developer of the autonomous driving function. The selection can be adapted.

[0082] In one embodiment, the input data 42, driving parameters 47, and / or vehicle parameters can be weighted relative to each other to determine the availability of autonomous driving functionality. The weighting can be determined according to the needs of the vehicle driver 30 and / or the developer.

[0083] According to one embodiment, the determined availability of autonomous driving functionality may be provided to the vehicle driver 30. In particular, the availability of autonomous driving functionality may be displayed on the user interface 12 of the vehicle 10 (see Fig. 3) be made available to the driver 30.

[0084] In a further embodiment, the determined availability of autonomous driving functions on the specified route and / or on subsections of the specified route can be compared with a predetermined threshold for availability, and the road graph for the route can be provided in a modified form based on the result of the comparison. Thus, a route adapted to the availability of autonomous driving functions can be provided and driven.

[0085] Fig. Figure 2 shows a flowchart of a method according to an embodiment of the invention. In the illustrated embodiment, method V comprises several method steps. In a first method step S1, input data 42 (cf. Fig. 4). The input data 42 includes at least one road graph for a given route. The input data 42 are transmitted via a user interface 12 (see Fig. 1) received.

[0086] In a further process step S2, driving parameters 47 (cf. Fig. 4) and / or vehicle parameters of the autonomously operating vehicle 10 are determined.

[0087] In a further method step S3, the availability of autonomous driving functionality on the specified route and / or on subsections of the specified route is determined. The availability is determined based on the received input data 42 and the determined driving parameters 47 and / or vehicle parameters.

[0088] Those skilled in the art will appreciate that the order of the method steps, particularly as described in the illustrated embodiment, can also be changed and / or swapped where appropriate. This is particularly possible for method steps S1 and S2, since these can be processed in parallel by the driver assistance device 20 and the control unit, respectively.

[0089] Fig. 3 shows a schematic representation of a vehicle according to an embodiment of the invention. In the Fig. 3 shows a vehicle 10. The vehicle 10 has an autonomous driving function. The vehicle 10 can be designed as an electrically powered vehicle and alternatively as a fossil fuel-powered vehicle. The vehicle 10 can be designed as a car, truck, bus, or as another vehicle with autonomous driving function. The vehicle 10 can include a user interface 12. The user interface 12 can be designed as a separate input unit and output unit. Alternatively, the user interface 12 can be designed as a combined input and output unit. Data can be input via the user interface 12, for example, by the vehicle driver 30 (cf. Fig. 4) provided to the driver assistance system 20 or the vehicle 10. Furthermore, data can be provided to the vehicle driver 30 via the user interface 12. The user interface 12 can be designed as a touch display. Alternatively, a combination of input means (e.g., keyboard, switches, buttons, stick, mouse) and output means (e.g., LCD screen, monitor, display) can be provided.

[0090] The vehicle 10 further comprises means 11 for determining or detecting driving parameters 47 and vehicle parameters. The means 11 may comprise corresponding and known sensors and communication means for determining and detecting the driving parameters 47 and vehicle parameters.

[0091] In one embodiment, the vehicle 10 can partially or fully comprise the driver assistance device 20. The driver assistance device 20 can be implemented as a separate control device or a separate control unit in the vehicle 10. In an alternative embodiment, the driver assistance device 20 can be executed as software on a processor unit of an existing control device. In a preferred embodiment, the driver assistance device 20 is implemented at least partially in the cloud. Communication between the vehicle 10 and the driver assistance device 20 can take place via the communication interface 23 and an interface for data communication of the vehicle 10.

[0092] Furthermore, it can be provided that the approaching and / or the route traveled is evaluated by means of the driver assistance device 20 and the availability of autonomous driving functionality on this route is derived from this. This evaluation can be made available via a communication interface 23 to a higher-level unit, e.g., a backend system (cloud), in which the corresponding data is stored and managed. The backend system can be used to store and manage data from vehicles in a fleet. The database can be expanded by providing the evaluation. The data can be made available to other autonomously driving vehicles, provided they have the appropriate communication and processing means. Alternatively, the data can be transmitted to vehicles controlled by a driver, provided they have the relevant sensor systems.

[0093] It can be provided that information about the time and / or route section at which a driver will be required to take over the driving task is provided by the vehicle (driver assistance device implemented in the vehicle) or backend (e.g. cloud where driver assistance device is implemented) to an interface external to the autonomous driving functionality (driving task). The driver task can also be taken over by a remote driver. A remote driver can be a person, a company, or even a pool of possible potential providers for taking over the remote driving task. A driver entitled to an autonomous driving function (e.g. customer) should be aware at the start of the journey whether there are any gaps on a selected route that would allow autonomous driving, with the option of having this gap closed, if necessary, by an external remote driving service, possibly through a bookable option.This creates corresponding potential for ride-hailing providers that can offer this service. To ensure the availability of the appropriate ride-hailing providers at the right time, it is necessary to know when rides are needed on a route. The customer or driver benefits from the fact that, for example, dynamically booked rides are provided at the beginning of the trip or during the trip, thus extending the vehicle's fully autonomous usability period.

[0094] The availability of autonomous driving functionality may also include partial restrictions of autonomous driving functionality. For example, it may be possible to limit the speed of a given route and / or sections of the given route to 70 km / h instead of the original 100 km / h.

[0095] Fig. Figure 4 shows a schematic representation of the determination of the availability of autonomous driving functionality according to an embodiment of the invention. Fig. In Figure 4, reference numeral 30 denotes the vehicle driver. The vehicle driver 30 is the person who, when autonomous driving functions are not available, has control over the vehicle 10 and drives it. The vehicle driver 30 has a variety of vehicle driver preferences 31, which can be configured via a user interface 12 (see Figure 4). Fig.3) are provided as input data 42 to the driver assistance device 20 according to the invention. This input data 42 can be taken into account when determining 40 the availability of autonomous driving functionality. Furthermore, the vehicle driver state 32 is taken into account. The vehicle driver state 32 can be monitored, determined, and evaluated via a vehicle driver monitoring system 43. The vehicle driver state 32 can be taken into account when determining 40 the availability of autonomous driving functionality. In addition, the assumption 41 of the driving function by the vehicle driver 30 due to critical and / or unscheduled driving events can be taken into account when determining 40 the availability of autonomous driving functionality.

[0096] Furthermore, vehicle parameters are taken into account for determining 40 the availability of autonomous driving functionality. The vehicle parameters can include the feasibility of route guidance 44, consideration of traffic / road users, the functionality of the vehicle 10, map availability 48, and / or real-time position 49. The feasibility of route guidance 33 can result from real-time data on the road conditions of the specified route. Furthermore, it can be taken into account on which sections of the route a hands-off drive was successfully performed. This data can be provided via autonomously operating vehicles of a vehicle network 50.

[0097] Furthermore, traffic and road users 45 can be taken into account using the traffic control device (e.g., traffic lights, traffic guidance system, and / or communication system). The information about traffic and road users 45, as well as the information about route guidance 44, can be provided via a communication network 45 for assessing the driving parameters 47. The driving parameters 47 are taken into account for determining 40 the availability of autonomous driving functionality.

[0098] The real-time position 49 can be determined using GPS. Map availability 48 is provided via a database.

[0099] The determined 40 availability of autonomous driving functionality can be provided to the vehicle driver 30 via a user interface 12 (not shown) and / or used in a route planning 60 for providing a modified road graph.

[0100] Overall, the examples demonstrate how a calculation method for vehicle navigation systems can be provided that enables the coherent availability of self-driving or assistance systems along a suggested / predetermined route. REFERENCE SYMBOL 10 vehicles 11 remedies 12 User interface 20 Driver assistance device 21 Processor unit 22 storage unit 23 Communication interface 30 drivers 31 Driver Preferences 32 Driver condition 40 Determination / Calculation 41 Takeover 42 input data 43 Driver monitoring 44 Feasibility of route guidance 45 Consideration of traffic / road users 46 Communication network 47 driving parameters 48 navigation data 49 Position data 50 vehicle combination 60 Route planning V Procedure S1-S3 process steps 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] US 10331141 B1

[0007] US 20160347327 A1

[0007]

Claims

[1] Driver assistance device (20) for a vehicle (10), in particular a vehicle operating autonomously at least temporarily, for determining the availability of an autonomous driving functionality for operation of the vehicle (10) on a predetermined route and / or sections of the predetermined route, comprising: - a communication interface (23); and - a processor unit (21) which is in data communication with the communication interface (23), arranged to: - receiving, by means of the communication interface (23), input data (42) containing at least one road graph for the predetermined route; - determining driving parameters (47) and / or vehicle parameters of the vehicle (10), and - Determining the availability of the autonomous driving functionality on the predetermined route and / or on the subsections of the predetermined route, before reaching the same, based on the received input data (42) and the determined driving parameters (47) and / or vehicle parameters. [2] Driver assistance device (20) according to claim 1, characterized by in that the processor unit (21) is configured to compare the determined availability of the autonomous driving functions on the predetermined route and / or on the subsections of the predetermined route with a predetermined threshold value for the availability and to provide the road graph in a modified form based on the result of the comparison. [3] Driver assistance device (20) according to claim 2, characterized byin that the processor unit (21) is configured to offer, in order to meet the threshold criterion, an additional purchase and / or a rental of vehicle functions which reduce the probability of interruption of the autonomous driving operation. [4] Driver assistance device (20) according to one of the preceding claims, characterized by that the input data (42) comprise at least one or more of the following information: - qualification and / or condition of the driver (30); - Starting point of a journey; - Destination of a journey; - Departure time of a trip; - Arrival time of a trip; - Number of phases of a hands-off ride; - Minimum duration of hands-off driving; - Maximum duration of hands-off driving; - Maximum distance of a combined trip; - Minimum travel time of a combined journey; - Maximum travel time of a combined journey; - driving speed; - Conditional hands-free preferences; - driving breaks; - Services; and / or - commercial transport. [5] Driver assistance device (20) according to one of the preceding claims, characterized by that the driving parameters (47) comprise at least one or more of the following parameters: - Real-time position detection; - traffic information; - traffic disruptions; - Availability of charging / fueling infrastructure; - Traffic restrictions; - road conditions; - weather conditions; - Real-time availability of hands-off ride - Availability of infrastructure connections and / or infrastructure communication - Planned hands-on ride; and / or - Availability of services. [6] Driver assistance device (20) according to one of the preceding claims, characterized by that the driving parameters (47) include the state of the driver (30), in particular by monitoring the driver (30). [7] Driver assistance device (20) according to one of the preceding claims, characterized by that the vehicle parameters include at least one or more of the following parameters: - Vehicle functionality; - Card availability; - Road user driving data; - Real-time road conditions; - Traffic control device capabilities; - Traffic control device availability; - Traffic control device reliability; and / or - Topographical changes of roads and / or intersections. [8] Driver assistance device (20) according to one of the preceding claims, characterized bythat the processor unit (21) is configured to use the input data (42), driving parameters (47) and / or vehicle parameters weighted against each other to determine the availability of the autonomous driving functionality. [9] Driver assistance device (20) according to one of the preceding claims, characterized by that the processor unit (21) is configured to signal, in particular visually, the specific availability of the autonomous driving functionality on the predetermined route and / or on the subsections of the predetermined route to a driver (30) of the vehicle (10) via the user interface (12). [10] Driver assistance device (20) according to one of the preceding claims, characterized bythat the determination of the availability of the autonomous driving functions on the specified route and / or on the sub-sections is repeated periodically at a specified and / or adjustable interval and / or event-based interval. [11] Driver assistance device (20) according to one of the preceding claims, characterized by that the processor unit (21) is configured to provide the input data (42) to the vehicle via a user interface (12). [12] Method (V) for determining the availability of an autonomous driving functionality on a predetermined route and / or on sections of the predetermined route for operation of an autonomously operating vehicle (10), comprising the following method steps: • Receiving (S1) input data (42) including at least one road graph for the specified route; • Determining (S2) driving parameters (47) and / or vehicle parameters of the vehicle (10), and • Determining (S3) the availability of the autonomous driving functionality on the specified route and / or on subsections of the specified route based on the received input data (42) and the determined driving parameters (47) and / or vehicle parameters. [13] Method (V) according to one of the preceding method claims, characterized by that the determined availability of the autonomous driving functionality is compared in a further step with a predetermined threshold for the availability and the road graph is provided in a modified form based on the result of the comparison. [14] A computer program, wherein the computer program contains program code sections for causing a driver assistance device (20) according to any one of claims 1 to 11 to execute a method for determining the availability of autonomous driving functionality during operation of an autonomously operating vehicle (10) on a predetermined route when the computer program is executed in the driver assistance device (20). [15] Motor vehicle (30) with a driver assistance device (20) according to one of claims 1 to 11.

Images