Method for operating a driver information system in an autonomous vehicle and driver information system

Abstract

The invention relates to a method for operating a driver information system in an autonomous vehicle (1), in which the current speed of the autonomous vehicle (1) and the adjusted parameters of an at least partially automatic longitudinal guidance function of a driver assistance system (6) are acquired. A driver information display is generated and output, wherein the driver information display comprises a graphical lane object (30) representing a road in front of the autonomous vehicle (1). A distance scale object (136) and a distance indicator object (135) formed according to the current speed of the autonomous vehicle (1) are arranged in the lane object (30). The distance scale object (136) is formed in such a way that the position of the lane object (30) is assigned to the distance from the autonomous vehicle (1), and the distance indicator object (135) is arranged on the distance scale object (136) in such a way that the adjusted parameters are output. The driver information system in the autonomous vehicle (1) comprises a acquisition unit (2), a control unit (3) and a driver assistance system (6).

Description

Technical Field

[0001] The invention relates to a method for operating a driver information system in an autonomous vehicle and to a driver information system in an autonomous vehicle. Background Art

[0002] Modern vehicles usually offer a wide selection of various systems which assist the driver in controlling the vehicle and thus contribute to improving comfort and safety. One of the challenges associated with this is to design the interface between the human driver and the usually computer-based control device in such a way that the driver is provided with all the required and desired information as quickly and easily as possible. This way the assistance options can be optimally understood and used. Furthermore, the driver must know exactly how his vehicle behaves in certain situations at any given time, which assistance systems are currently active and whether their optimal function is ensured. Furthermore, it should always be known how the systems work and to what extent manual intervention is required.

[0003] A driver assistance system is understood below as a device of a vehicle that assists the driver in driving the vehicle. Such driver assistance systems can be designed as pure information systems that assist the driver, but they can also control and regulate devices that automatically influence the forward movement of the vehicle.

[0004] Different levels of automation of vehicle control can be achieved by using driver assistance systems. Without an activated driver assistance system, the driver directly influences the movement of the vehicle. At most, the movement or signal of an operating element manipulated by the driver, such as a pedal, a gear lever or a steering wheel, is transmitted to a corresponding device of the vehicle that influences the forward movement of the vehicle. This forward movement of the vehicle corresponds to the lowest level of automation.

[0005] In a higher degree of automation, the devices for the forward movement of the vehicle are partially intervened automatically. For example, the steering of the vehicle or the acceleration in the positive or negative direction is intervened. In a higher level of automation, the devices of the vehicle are intervened to such an extent that a certain forward movement type of the vehicle, such as straight-line driving, can be automatically implemented. In the highest level of automation, for example, the route of the navigation system can be driven basically automatically or the vehicle can be driven automatically, for example, on a highway without a preset route. However, it is usually ensured that the driver can immediately regain control of the vehicle guidance even in a higher level of automation by active steering or operating the pedal. In addition, control can also be returned to the driver in the event of a system failure or when a section of road that cannot be driven automatically is identified.

[0006] Here, too, different driver assistance systems fulfill different safety functions. In a lower level of automation, information is output to the driver only via one or more driver assistance systems, which information influences the way the driver moves the vehicle forward. In a higher level of safety functions, warnings are output that require an immediate response from the driver. However, in this level of automation, the driver assistance system does not actively and automatically intervene in the function of the device that influences the movement of the vehicle forward. In a higher level of automation, the device for the movement of the vehicle forward is intervened partially automatically. In a higher level of automation, the device that influences the movement of the vehicle forward is intervened to such an extent that a certain maneuver of the vehicle can be automatically implemented, such as complete braking or a targeted evasive maneuver to avoid a collision.

[0007] The driver of the vehicle is alerted to certain dangers by the warnings output by the driver assistance system. This increases safety when guiding (or controlling) the vehicle. When the driver assistance system actively intervenes in the forward movement of the vehicle, dangerous driving situations, such as collisions or uncontrolled movements of the vehicle, can also be avoided without the driver directly intervening in the driving behavior. However, for the safety functions of the driver assistance system, the driver always retains full control and responsibility for the driving situation. For example, the driver assistance system intervenes when there is a risk of collision or when the driver is no longer able to guide the vehicle, for example due to health reasons.

[0008] In addition to the possible direct influence on the control devices of the vehicle, driver assistance systems usually provide for the driver to be informed of the operation of the driver assistance system in a certain level of detail. This can be done, for example, by means of signals that can be perceived visually, acoustically or haptically. This ensures that the driver can estimate and, if necessary, intervene in a controlled manner in the influence of the driver assistance system on driving; in addition, the driver should usually recognize automatic interventions of the control devices in advance so as not to be surprised by them.

[0009] A driver assistance system that can partially automatically intervene in a vehicle's control device and / or alert a potential dangerous situation can particularly relate to a lateral control or longitudinal control of the vehicle. Combinations of these basic elements of vehicle control are also conceivable. The lateral control component particularly relates to the position of the vehicle perpendicular to the direction of travel, i.e., for example, the so-called lateral offset on a lane or road. Thus, for example, a lane keeping assistance system can avoid driving over a lane boundary or can guide the vehicle in the middle of a lane. In addition, the driver can be assisted in changing lanes or overtaking. Longitudinal control particularly relates to the speed of the vehicle along the direction of travel, which is determined, for example, according to legal provisions and road conditions and the safe distance to be maintained with other traffic participants. The corresponding driver assistance system can, for example, assist the driver in maintaining a preset speed and / or a distance from the vehicle traveling in front. In addition, it can be avoided that the autonomous vehicle itself overtakes on a certain side; in particular, overtaking on the right in right-hand traffic or overtaking on the left in left-hand traffic or generating corresponding warnings.

[0010] When controlling a vehicle, the distance to the vehicle ahead plays a central role. If automatic assistance is provided, the driver must always know exactly the safety distance that has been set. The driver can thus check whether the distance is appropriate in the current driving situation or whether manual intervention is necessary. Furthermore, the driver must be able to understand during the distance setting what the setting results in. Summary of the invention

[0011] The object of the present invention is to provide a method for operating a driver information system in an autonomous vehicle, in which the driver can particularly easily and quickly understand the distance to the vehicle traveling ahead.

[0012] This technical problem is solved according to the invention by a method for operating a driver information system in an autonomous vehicle and a driver information system in an autonomous vehicle. Advantageous embodiments and developments emerge from the description.

[0013] In the method according to the invention, the current speed of an autonomous vehicle (ego-Fahrzeug) and the regulated (or regulated) parameters of the at least partially automatic longitudinal guidance function of a driver assistance system are acquired. A driver information display is generated and output, wherein the driver information display includes a graphical lane object, which represents the road in front of the autonomous vehicle. In this case, a distance scale object and a distance indicator object, which are formed according to the current speed of the autonomous vehicle, are arranged in the lane object. In this case, the distance scale object is formed in such a way that the position of the lane object is assigned to the distance from the autonomous vehicle, and the distance indicator object is arranged on the distance scale object in such a way that the regulated parameters are output.

[0014] The adjusted parameters are in particular driver assistance systems which at least partially automatically assist in the longitudinal control of the autonomous vehicle. The driver assistance system may be, for example, a distance warning system, a distance speed controller or an ACC system (automated cruise control). This is in particular a control distance defined by the adjusted parameters. The driver assistance system intervenes in the acceleration and deceleration of the autonomous vehicle in particular in such a way that a predefined safety distance to other road users travelling ahead is not exceeded.

[0015] Since the adjusted parameters are output in the method according to the invention as a function of the lane object, the driver can particularly easily recognize how the adjustment affects the distance actually maintained. The display is particularly intuitive and easy to understand. This is particularly true in comparison with known methods in which isolated values ​​or scales are output in order to output the adjustment of parameters for the distance to other road users traveling ahead.

[0016] The driver information display content includes in particular an autonomous object representing an autonomous vehicle. The autonomous object is arranged in the display content in a particularly static manner so that its position relative to other objects, in particular lane objects, can be understood. In this case, the distance scale object can be designed so that it extends along the lane object in the direction of travel starting from the position of the autonomous object. Here, different positions along the distance scale object correspond to the physical distance of the autonomous vehicle along the road.

[0017] The distance indicator object can be displayed on the distance scale object, for example, as a graphical mark, arrow or line, so that a certain position of the distance scale object is marked. The distance scale object has in particular a longitudinal extension, along which the distance indicator object is arranged so that a certain distance value is displayed. Since the distance scale object is arranged on the roadway object, the distance marked thereon corresponds to the physical distance ahead of the autonomous vehicle on the roadway, in particular in the direction of travel.

[0018] In the method according to the invention, a driver information display is generated and output. This display can be designed in different ways and can include elements known per se. The generation and output of the display is carried out in particular in a manner known per se with the aid of a computing device and a display device provided for this purpose. The display output by the driver information display includes outputs related to the control of the vehicle and its driving operation. These are in particular movement data of the vehicle or the status of the device and, if necessary, information outputs and warning outputs of a driver information system.

[0019] The display content can be output by means of known display units, for example by means of a display screen, in particular a display screen on the center console of an autonomous vehicle or in an instrument cluster. Furthermore, the output can be carried out by means of a field of view display in such a way that at least a part of the driver information display content is projected into the eyes of the user in such a way that the display content appears to be superimposed on the visual perception of the physical environment. In particular, methods and devices in the field of "augmented reality" can be used here. Known field of view displays, such as head-up displays, for example, use the windshield of the vehicle or glasses for projection.

[0020] The output display content does not include, in particular, the output of video images captured by a camera of the autonomous vehicle. Instead, the output display data are generated by a computing unit, possibly based on video data from a camera, and the output graphic objects are displayed schematically or in a simplified manner relative to real objects.

[0021] In addition, the driver information display content can include operating objects or operating elements, in particular in the form of graphic operating surfaces. Such objects can, for example, represent adjustable parameters or functions that can be activated and deactivated (or deactivated). They are particularly designed to be selectable and / or manipulable, wherein user inputs are collected in a manner known per se and analyzed with respect to the corresponding objects.

[0022] The driver information display includes a graphical lane object that represents the course of a road ahead of the autonomous vehicle. The lane object is particularly designed so that it corresponds to a stereoscopic view of the course of the road and includes a radius of curvature so that the actual radius of curvature of a curve in the course of the road is output. The driver information display thus advantageously allows a particularly realistic assessment of the driving situation.

[0023] The course of the road and in particular the actual radius of curvature of the curve are, for example, acquired from environmental data. For example, map data may include information about the course of the road, and environmental data acquired by sensors of the autonomous vehicle may also be used.

[0024] The collected road course includes in particular information about whether and to what extent the road traveled by the autonomous vehicle has a lateral curvature. The collected data may also relate to other characteristics of the road, such as the inclination of the road in a direction along or transverse to the direction of travel of the autonomous vehicle. The data collected by the road course includes in particular information about the geometric characteristics of the road. Autonomous vehicles travel, for example, on streets that may have multiple lanes. Autonomous vehicles usually follow the course of one of the lanes during their travel, wherein, if necessary, they can change lanes to other lanes. The collection of the road course may include the course of the currently used lane or multiple lanes.

[0025] The graphical lane object is particularly formed in such a way that it allows the user or driver of the autonomous vehicle to spatially associate the graphical elements of the driver information display content with the road actually in front of the autonomous vehicle. Here, the lane object can relate to the lane currently used by the autonomous vehicle. In addition, the lane object can relate to such a lane on which the autonomous vehicle is expected to pass a curve, especially when a lane change should be made before entering the curve. The lane object can also include multiple lanes, especially the lane currently passed by the autonomous vehicle and at least one spatially adjacent lane, especially an adjacent lane for the same driving direction. However, the view (or display) can also include its own lane object and at least one adjacent lane object.

[0026] The graphical lane object represents the actual road course in particular in such a way that the user can correspond the virtual position within the driver information display content to the physical position on the road in front of the autonomous vehicle. The display of the autonomous object representing the autonomous vehicle can be carried out in such a way that the driver's orientation within the driver information display content and relative to the displayed lane object is improved. In this case, the display of the lane object is reduced or schematically designed relative to reality in terms of the details it contains. In particular, the view of the physical road observed from the driver's perspective of the autonomous vehicle can be mathematically imaged onto the graphical lane object by transformation.

[0027] The driver information display does not include, in particular, a view of the image data captured by the camera. Instead, a representation of the displayed object is generated by the computing unit.

[0028] The graphical lane object here particularly comprises a stereoscopic view of a curved road, wherein the curvature of the graphical lane object substantially corresponds to the radius of curvature acquired for the physical road course. The actual road course is thus particularly realistically represented by the graphical lane object. In this case, the lane object is formed particularly from a viewing angle that corresponds to viewing from a virtual position slightly above the autonomous vehicle.

[0029] In one embodiment of the method according to the invention, the distance scale object is designed such that the assigned distance to the autonomous vehicle is proportional to the detected speed of the autonomous vehicle, thereby advantageously ensuring that the distance is adapted to the current driving situation.

[0030] The adjusted parameters define in particular the distance between the autonomous vehicle and other road users travelling ahead in such a way that the faster the autonomous vehicle moves, the greater this distance is selected. The distance is defined in particular in such a way that it corresponds to the road section that the autonomous vehicle travels over within a certain time interval. This corresponds, for example, to a common simple rule for maintaining a safe distance, for example, according to the so-called "two-second rule". Depending on the current driving situation, different time intervals may be suitable, in particular a larger safety distance may be suitable in poor light conditions or poor weather conditions.

[0031] Due to this ratio of the adjusted distance to the speed of the autonomous vehicle, the distance scale object output in the driver information display also changes with the speed. The distance scale object can, for example, be extended when the speed increases and shortened when the speed decreases. As an alternative or in addition, the scale graduation included in the distance scale object can be formed according to the speed of the autonomous vehicle and can be changed dynamically if necessary.

[0032] In another embodiment, the parameters of the longitudinal guidance function can be adjusted in a certain number of steps, wherein, for example, between three and ten steps can be provided, which in particular correspond to equidistant distance steps. However, each step in particular corresponds to a certain time interval, via which the distance to be maintained can be determined depending on the current speed of the autonomous vehicle. This advantageously allows the driver to adjust the distance particularly quickly.

[0033] The distance scale object is then designed in particular so that levels on the distance scale object can be recorded. For example, the distance scale object thus has a plurality of sections, which can be designed to be distinguished from one another, such as for parameter-adjustable levels. For example, the sections can be arranged one after another in the longitudinal direction and can be spaced apart from one another or separated by graphic elements.

[0034] In another design, the parameter can be adjusted steplessly. The distance scale element can be designed in a hierarchical manner as described above, and the position of the distance indicator object is arranged relative to the distance scale element in such a way that the value that can be adjusted steplessly can be read. For example, the distance scale element can include a plurality of sections, and the distance indicator element can be arranged at a certain position between or near different sections in such a way that intermediate levels can also be acquired. In addition, the distance scale element itself can be designed essentially steplessly in the following case, that is, it has, for example, a color scale, in which the adjusted parameter value is output by means of color, or the distance scale element can, for example, have a continuously changing width, according to which the adjusted (or adjusted) parameter value can be read. In addition, for example, for a distance scale element comprising a section with a stepless color scale superimposed, different display forms can be combined.

[0035] If the speed of the autonomous vehicle changes, the distance scale element is also adjusted in particular. When the parameter is adjusted in stages, the segments representing these stages can, for example, increase when the speed increases, so that the distance assigned to the parameter is displayed as the speed increases. Conversely, when the speed decreases, a decreasing segment can be displayed. A color scale that may be present can be changed to the same extent, as can other features of the distance scale object for outputting the adjusted distance.

[0036] In a further development, a user input is detected and the adjusted parameter is changed as a function of the user input. In this case, the driver information display advantageously assists the driver in adjusting the parameter.

[0037] The user input can be detected in a manner known per se, for example by means of a push switch, a wheel or a sliding element, in particular on a steering wheel of the autonomous vehicle.

[0038] After the change in the parameter is detected, the arrangement of the distance indicator object relative to the distance scale object is changed in such a way that the changed value is output. For example, a jump of the distance indicator object along the extension direction of the distance scale object can be output.

[0039] The driver assistance system can be activated or deactivated manually, for example. In addition, the driver assistance system can be automatically deactivated when the driver actuates the brake pedal.

[0040] In one embodiment, the graphical lane object is formed in such a way that it corresponds to a stereoscopic view of the road course and includes the radius of curvature in such a way that the actual radius of curvature is output. The driver can thus advantageously understand the driving situation particularly easily. The graphical lane object is thus displayed particularly realistically or with particularly important features of the actual road.

[0041] The environmental data are collected, for example, by means of sensors of the autonomous vehicle, for example by means of a camera, a LIDAR sensor or a radar sensor. Information about the actual environmental conditions in a specific driving situation is thus advantageously available. In particular, data provided by driver assistance systems known per se, for example by lane change or overtaking assistance systems, can be used. The driver information display thus advantageously allows a particularly realistic assessment of the driving situation.

[0042] The sensors of the autonomous vehicle each have a detection range. For example, a radar sensor can detect data at a certain solid angle and not exceeding a certain distance from the autonomous vehicle. In this case, the sensor can be pointed in the direction of travel, opposite to the direction of travel or to the side and detect data in a correspondingly arranged detection range.

[0043] In one embodiment, the position of the autonomous vehicle is determined and the surroundings data are acquired with the aid of map data and as a function of the determined position. This advantageously allows the surroundings data and other information contained in the map data to be used for the content of the driver information display.

[0044] The map data may include information about the radius of curvature of a curve in the course of the road, in particular. In addition, it may be possible to identify, for example, whether a certain lane, for example in a single-lane road or on a highway, is open to oncoming traffic.

[0045] The position of the autonomous vehicle is recorded in a manner known per se, for example by means of a navigation satellite system, such as GPS. Map data can also be provided in a manner known per se, for example from a memory unit of the navigation system of the autonomous vehicle or from an external unit at least temporarily connected to it with data technology.

[0046] The data connection between the autonomous vehicle and the external unit, in particular the external server, can be realized in particular wirelessly, for example via a local area network or a larger network, such as the Internet. In addition, the connection can be established via a telecommunications network, such as a telephone network, or a wireless local area network (WLAN). In addition, the data connection can be realized by connecting a data cable. The connection can also be established by other units, which can themselves establish a connection to the external server. For example, there can be a data connection between the autonomous vehicle and a networked mobile phone, for example via a data cable or a radio connection, for example via Bluetooth. In particular, the connection to the external server can be established via the Internet.

[0047] Methods in the field of communication between vehicles and other devices (Car2X) can be used. For example, communication with infrastructure devices (Car2Infrastructure) or other vehicles (Car2Car) can be realized.

[0048] The surrounding data detected by means of sensors can be merged with map data in particular in order to supplement the information or to check its plausibility. In this way, in particular, a data basis that is as broad as possible is obtained and the acquired data can thus be supplemented particularly easily. Thus, for example, it can be determined from the map data whether oncoming traffic is expected on the roadway and in a next step it can be determined from the sensor data whether oncoming traffic is actually detected on the roadway.

[0049] In another embodiment, environmental data in the environment of the autonomous vehicle are collected and other traffic participants are identified based on the collected environmental data. The driver information display includes graphical traffic participant objects that represent other traffic participants. In this case, view-related features of other traffic participants are determined and traffic participant objects assigned to other traffic participants are formed based on the view-related features. This advantageously allows the driver to easily associate traffic participant objects with vehicles actually present on the road.

[0050] According to the invention, view-related (display-related) features of a road user are features that relate to the view of the road user and the road user object representing the road user itself and do not relate, for example, to the arrangement of the road user within the driver information display. View-related features are, in particular, features that characteristically influence the visual perception of other road users from the outside.

[0051] The view-dependent features can relate, for example, to the color, shape and / or size of other traffic participants. In addition, the view-dependent features can relate to the state of the lighting of other traffic participants, such as the state of taillights or turn indicators. The view-dependent features do not relate in particular to the distance or position of other traffic participants relative to the autonomous vehicle. Rather, these features characterize the appearance of other traffic participants and thus traffic participant objects are generated in such a way that they reproduce the other traffic participants as realistically as possible.

[0052] The other traffic participants are in particular vehicles traveling in front. The vehicle traveling in front can be assigned a traffic participant class. In addition, the traffic participant class can be general or specific, wherein the general class can include multiple specific classes. The higher the specificity of the assigned traffic participant class, the higher the degree of detail output in the view of the driver information display content.

[0053] In one embodiment, a data connection is established between the autonomous vehicle and the other traffic participants and the view-related features are acquired using the data connection. The data connection can be established, for example, using a Car2Car connection known per se. The methods or protocols used here can be designed differently, and different frequency ranges can also be used for data transmission.

[0054] For example, information about the models of other road users can be transmitted via such a connection. In this way, for example, the road user object can be formed by searching for a suitable view in a database of different models and, for example, assigning a certain view to the acquired model.

[0055] The view-related features can, for example, relate to planned driving maneuvers of other road users, while the driver information display content includes driving maneuver objects assigned to road user objects. The driver can thus advantageously recognize particularly easily which driving maneuvers are planned by other road users. The planned driving maneuvers relate in particular to changes in direction and / or speed of other road users.

[0056] The planned driving maneuvers of other road users can be detected, for example, based on light signals, for example, when the driving direction indicators of other road users are detected to be activated. In this case, it can be determined that the other road users plan to change lanes or turn.

[0057] Furthermore, planned driving maneuvers can be detected by means of a data connection, for example when other road users on the road inform that a certain driving maneuver is planned.

[0058] The driving maneuver object can be designed in different ways. In particular, the driving maneuver object can include a graphical object in such a way that it indicates a certain direction, which represents the planned change of direction of the other traffic participants. This can be, for example, an arrow that indicates the direction from the current position of the traffic participant object to the adjacent lane. The driving maneuver object can also be designed in such a way that the planned trajectory of the other traffic participants is output, for example, from the current position to the target position, in particular relative to the autonomous vehicle. In addition, the planned speed change of the other traffic participants can be displayed, for example, by an arrow pointing opposite to the direction of travel or by a warning object.

[0059] In an extended embodiment, environmental data are collected in the environment of the autonomous vehicle and boundary markings on the road are determined based on the collected environmental data. A boundary marking level is determined for the determined boundary markings, wherein the driver information display includes graphical boundary objects, which are formed based on the determined boundary marking levels. The driver information display thus advantageously allows a particularly simple orientation for the driver, so that he can directly associate display elements with perceived traffic situation elements (or assign them to traffic situation elements).

[0060] For example, road markings are captured, assigned to the boundary marking level and correspondingly output as boundary objects in the driver information display content. Boundary objects are arranged in particular on road objects and display the essential features of the captured road markings. Thus, for example, solid and dashed lines, double lines and other road markings can be displayed. The displayed boundary objects also follow the actual road course, for example in the area of ​​curves.

[0061] In one embodiment, the operating state of the driver assistance system of the autonomous vehicle is detected and the automation level is determined based on the detected operating state of the driver assistance system. The driver information display content includes a surrounding view of the autonomous vehicle, which is formed based on the determined automation level. The driver information display content can thus be advantageously particularly well adapted to the current driving situation.

[0062] In a higher automation level, the driving of the autonomous vehicle is assisted to a greater extent by at least partially automated functions of the driver assistance system than in a lower automation level. For example, in a first automation level, it may be provided that only longitudinal control or lateral control of the autonomous vehicle is assisted, whereas in a second, higher automation level, assistance may be provided in both directions.

[0063] In particular, the lane objects are displayed differently depending on the automation level in which the environment is displayed. The actual radius of curvature of a curve can be output in particular in an expanded view, that is, in a higher automation level. In contrast, in a reduced (or simplified) view, it can be provided that the lane objects are displayed only as straight sections, wherein, for example, the positions of other objects relative to the autonomous vehicle are transformed onto the lane objects in the reduced view.

[0064] The driver information display with autonomous objects is generated in particular in such a way that the autonomous objects are displayed from behind in a stereoscopic view. In addition, a road section in front of the autonomous vehicle in the direction of travel can be displayed here with the help of a road object. The virtual viewing direction in the driver information display is oriented in such a way that the road section on which the autonomous vehicle is traveling can be seen. A lane object can, for example, relate to a lane currently used by the autonomous vehicle and alternatively or additionally display the direction of other lanes. A lane object can, for example, be designed as a view of a straight road section in front of the autonomous vehicle.

[0065] For example, the road is displayed more or less detailed depending on the degree of automation. In particular, in the first environment view assigned to a lower automation level, lane objects are displayed shorter than in a higher automation level. On the other hand, if a higher automation level is determined, a larger portion of the road course is displayed.

[0066] In addition, in a higher automation level, the environment view can be dynamically designed so that more features of the road course currently in front of the autonomous vehicle are displayed than in a lower automation level. The display is particularly dynamic so that the display is always adapted to the current traffic situation in the environment of the autonomous vehicle. The displayed road course features can include, for example, bends, the arrangement or markings of adjacent lanes. These features can be included in the lane object depending on which automation level is determined. For example, the lane object of the reduced view can only include the lane displayed in a straight extension, while the expanded view includes bends and, if necessary, the bend direction.

[0067] For example, road objects for longer road sections can be displayed in higher automation levels. In addition, adjacent lanes can be displayed, wherein the degree of display depends on the automation level. For example, if a lower automation level is determined, adjacent lanes are not displayed or are only partially displayed, while in higher automation the adjacent lanes are displayed over their full width.

[0068] In one embodiment, the radius of curvature of a curve located in front of the autonomous vehicle is determined and movement data of the autonomous vehicle is collected. A criticality is determined based on the collected movement data and the detected radius of curvature, and a graphical lane object is formed with prominent features that are formed based on the determined criticality. The driver can thus advantageously quickly and easily understand whether and in what way he needs to intervene in the control of the autonomous vehicle in order to ensure safe driving.

[0069] In one embodiment, the movement data of the autonomous vehicle include its current speed or a predicted speed when entering a curve. This allows the output to be adapted particularly accurately to the actual requirements.

[0070] The current speed of the autonomous vehicle can be detected in a manner known per se by means of sensors of the autonomous vehicle. In addition, it is possible to determine, for example, by means of a driver assistance system, what speed the autonomous vehicle will have when it reaches a certain position and in particular enters a curve. If, for example, the autonomous vehicle has braked at the current point in time, it is determined at what speed the autonomous vehicle is expected to reach the start of the curve. Braking can be performed, for example, by active use of a brake device, or the autonomous vehicle may have been decelerated by the driver releasing the accelerator pedal or coasting the autonomous vehicle.

[0071] Furthermore, other movement data may be acquired, for example acceleration in the longitudinal direction and / or in the transverse direction relative to the direction of travel.

[0072] In one embodiment, further vehicle parameters are detected and the degree of criticality is also determined as a function of the further vehicle parameters. Since data about the movement data of the autonomous vehicle are also taken into account, the degree of criticality can advantageously be assessed particularly accurately.

[0073] In addition to the movement data of the autonomous vehicle, in particular the speed, other data may also be collected that influence safe driving through bends and in particular the adhesion (or force transmission connection) between the tires of the autonomous vehicle and the road surface. These other data include, for example, data about the type, properties, condition and service life of the tires of the vehicle or the chassis settings.

[0074] The criticality determined in the embodiment of the method in particular quantitatively indicates the urgency of the required manual intervention of the driver in order to ensure safe driving. For example, it may be necessary to manually adjust the speed of the autonomous vehicle and / or manually apply a certain steering torque. In particular, a physical model is used in this case in order to determine whether centrifugal forces occur at a certain speed and a certain radius of curvature of the curve that could lead to leaving the roadway or the planned trajectory. In this case, additional parameters are particularly taken into account, which, for example, influence the force transmission between the road and the vehicle.

[0075] Furthermore, it is conceivable that the standards and regulations for driver assistance systems stipulate a limit value for the maximum steering torque that can be automatically applied within the scope of lateral control. That is, if the radius of the curve and the speed of the autonomous vehicle require this, the driver must manually apply an additional steering torque in order to achieve a steering torque above the threshold value overall. The degree of criticality therefore depends in particular on the steering torque that must be applied in order to safely navigate the curve at the current speed of the autonomous vehicle. The steering torque can be calculated according to a physical model based on the radius of curvature and the speed of the curve and, if necessary, other parameters.

[0076] Furthermore, the criticality can depend on the type of measures that need to be taken. For example, if the vehicle must be decelerated in order to be able to navigate a curve with a constant degree of assistance provided by the driver assistance system, a first value for the criticality can be determined. If a steering intervention is required, a second value for the criticality can be determined. Furthermore, if both deceleration and manual steering intervention are necessary in order to navigate the curve safely, a third value for the criticality can be determined.

[0077] The highlighting features of the graphical lane objects are designed in a manner known per se and can include, for example, highlighting by means of color, brightness, contrast, transparency, saturation or shape, thereby directing the user's attention to a specific object. The colors used for highlighting, which are usually also used for outputting warnings, can be, for example, red, yellow and green. In contrast, certain color displays may play a smaller highlighting role, such as gray, dark colors or colors with less saturation. In addition, highlighting can be achieved by means of a lane object display that is variable over time, in particular by periodic changes in the display, such as by flashing or pulsing, or by sudden appearance or disappearance. The change in the display over time can also involve the shape of the displayed graphic object or a change in the size of the one-time or periodic display. The highlighting features can also be designed as other graphic objects, such as a border or edge of a lane object.

[0078] The presentation of the highlighting feature depends on the determined criticality. For example, for a low criticality, the highlighting feature can be designed so that it has a weaker highlighting effect, for example, by displaying the lane object without edges or a colored shape, the surrounding graphic objects being designed similarly, for example, in terms of brightness, color and contrast. For a higher criticality, edges or additionally highlighted objects can be shown, or for highlighting, the lane object can be displayed in a manner deviating from the surrounding graphic objects, for example by displaying with sufficient contrast in brightness and / or color or by using signal colors such as yellow or red.

[0079] In another embodiment, the road surface properties are detected and the criticality is determined based on the detected road surface properties. The criticality can thus be reliably determined not only based on geometrical features of the road, but also based on other important features of the road surface.

[0080] The road surface properties are in particular parameters that are important for the transmission of forces between the vehicle and the road surface. For example, moisture, snow, ice, oil or other dirt on the road can lead to poor adhesion between the tire and the road surface and the need to drive through bends at a lower speed. In addition, the type of road coating can be important information in this regard.

[0081] The road surface properties are acquired in a manner known per se. For example, sensors of the autonomous vehicle can be used, such as cameras, rain sensors or sensors for measuring the adhesion between the tire and the road surface or wheel slip occurring on the surface. As an alternative or in addition, data input by a user or external devices can be acquired, such as weather data for the position of the autonomous vehicle or the position of a curve. For this purpose, in particular data can be received about vehicle-to-infrastructure, vehicle-to-X or vehicle-to-vehicle communications, wherein the traffic infrastructure, external units and / or other vehicles acquire data about the road surface properties and provide them to the autonomous vehicle.

[0082] In another embodiment of the method, the graphical lane object also has display parameters which are formed as a function of road surface properties or weather data, thereby advantageously being able to easily understand situations that may adversely affect driving on a curve and require specific measures to be taken.

[0083] Weather data can be collected in different ways, for example by means of sensors of the autonomous vehicle, such as a rain sensor or a camera, or by receiving data from an external unit, such as an external server. In particular, the current position of the autonomous vehicle or the position of a curve can be collected and used to provide weather data.

[0084] The display parameters may relate to texture or background imaging in the area of ​​the lane object. As an alternative or in addition, the edge area of ​​the lane object, such as the displayed road marking, can be displayed in a certain manner, for example in a certain color. For example, it can be detected that the road is wet or it is currently raining or has just rained. A graphical display of the lane object can then be generated, showing a wet road. Similarly, a graphical display of a snow-covered or ice-covered road can be generated. The display may also have a certain color or pattern, such as a shadow. In addition, specific optical features can be displayed based on the virtual objects in the display content, such as the reflection of an object on the surface of the displayed lane object.

[0085] The driver information system in the autonomous vehicle according to the invention comprises a collection unit, which is configured to collect the current speed of the autonomous vehicle and the adjusted parameters of the at least partially automatic longitudinal guidance function of the driver assistance system. The driver information system also comprises a control unit, which is configured to generate and output a driver information display content, wherein the driver information display content comprises a lane object in the form of a graph, which represents the road in front of the autonomous vehicle. In this case, a distance scale object and a distance indication object formed according to the current speed of the autonomous vehicle are arranged in the lane object. In this case, the distance scale object is formed in such a way that the position of the lane object is assigned to the distance from the autonomous vehicle (or corresponds to the distance from the autonomous vehicle); and the distance indication object is arranged on the distance scale object in such a way that the adjusted parameters are output.

[0086] In one embodiment of the driver information system according to the invention, the display unit comprises a field of view display for outputting driver information display contents. The driver can thereby advantageously understand the display contents particularly easily. In addition, the display contents can be arranged particularly well with respect to the physical environment of the autonomous vehicle.

[0087] In particular, a head-up display or a display device known per se in the field of so-called "augmented reality" can be used. For example, glasses are known which project a graphic display into the eyes of a user in such a way that the graphic display appears to be superimposed on the natural perception of the eye. In this way, additional information can be output in a particularly easy-to-understand manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] The present invention will now be described with reference to the accompanying drawings according to embodiments. In the accompanying drawings:

[0089] Figure 1 A vehicle is shown having an exemplary embodiment of a driver information system according to the invention,

[0090] Figure 2 showing a traffic situation with vehicles on the road,

[0091] Figure 3 An embodiment of driver information display content generated according to the method when driving on a curve is shown.

[0092] Figures 4A to 4C shows a further exemplary embodiment of the driver information display content generated according to the method taking into account weather data,

[0093] Figures 5A to 5D shows further exemplary embodiments of driver information displays generated according to the method taking into account different types of road markings,

[0094] Figures 6A to 6C shows a further exemplary embodiment of a driver information display generated according to the method for a planned lane change,

[0095] Figures 7A to 7C shows further exemplary embodiments of driver information display contents generated according to the method taking into account potentially dangerous oncoming traffic,

[0096] Fig. 8A to C show different views of autonomous objects in the driver information display content that can be generated and output in the method,

[0097] Fig. 9 An embodiment of driver information display content with a trailer object generated according to the method is shown,

[0098] Figures 10A to 10B An embodiment of driver information display content for different automation levels is shown.

[0099] Figures 11A to 11C shows an exemplary embodiment of a driver information display with unclassified and classified other road users,

[0100] Figures 12A to 12B An embodiment of driver information display content during follow-up driving of an autonomous vehicle is shown and

[0101] Figures 13A to 13D An example of driver information display content when the prescribed distance is adjusted is shown. DETAILED DESCRIPTION

[0102] Reference Figure 1 A vehicle having an exemplary embodiment of a driver information system according to the present invention is described.

[0103] The autonomous vehicle 1 comprises a detection unit 2 coupled to a control unit 3. The autonomous vehicle 1 also comprises a display unit 4 and a driver assistance system 6, which are also coupled to the control unit 3. The control unit 3 comprises an evaluation unit 5 in the present embodiment and is wirelessly coupled to an external unit 10, in the present embodiment an external server 10, in terms of data technology. The autonomous vehicle 1 also comprises a lighting device 7 and a hooking device 8, which are also coupled to the control unit 3.

[0104] In the present exemplary embodiment, the acquisition unit 2 is designed in a manner known per se and comprises a camera which acquires image data in a acquisition area which extends forward in the direction of travel at a defined angle from the autonomous vehicle 1. The acquisition unit 2 also comprises front, lateral and rear radar sensors which acquire data in further acquisition areas around the autonomous vehicle 1.

[0105] The display unit 4 is likewise designed in a manner known per se and is integrated as a display in the instrument cluster of the autonomous vehicle 1 in the present embodiment. In other embodiments, the display unit 4 comprises a head-up display, which is arranged such that the display content is projected into the field of view of the driver of the autonomous vehicle 1 in such a way that the display content is superimposed on the driver's natural perception. In other embodiments, further devices for outputting the display content are also provided, such as they are known, for example, from the field of augmented reality. As an alternative or in addition, the display unit 4 can comprise a central display in the region of the center console of the autonomous vehicle 1 or a further display in the autonomous vehicle 1. Furthermore, the display unit 4 can comprise a plurality of displays.

[0106] The driver assistance system 6 includes a plurality of driver assistance modules, by which the driver of the autonomous vehicle 1 is assisted in different ways when controlling the autonomous vehicle 1. These are not described in detail in the present embodiment. For example, a system for assisting longitudinal control, in particular an auxiliary device for maintaining a preset distance from a vehicle traveling in front and for maintaining a preset speed, and a system for assisting lateral control, in particular an auxiliary device for maintaining the lane being traveled, for example according to road markings or by following behind a vehicle traveling in front, is provided. Output content can be generated by the driver assistance system 6 and output, for example, by means of the display unit 4, in order to show the driver, in particular, warning prompts or recommended driving maneuvers. In addition, different driver assistance modules can actively intervene in the control device of the autonomous vehicle 1.

[0107] The lighting device 7 includes various devices for producing lighting that can be detected from outside the autonomous vehicle 1. In the present exemplary embodiment, it includes headlights for generating daytime running lights, low beams, high beams and parking lights. It also includes turn indicators as well as side lights and other signal lights. It also includes taillights, brake lights, reflectors, rear fog lights and reversing lights, which are arranged in particular at the rear of the autonomous vehicle 1 so that they are visible to traffic coming from behind.

[0108] The hooking device 8 is designed in a manner known per se and comprises elements suitable for coupling to a hooked device. This can be, in particular, a trailer. For this purpose, electrical connections can also be provided, via which, for example, lighting of the trailer can be controlled. The hooking device also comprises sensors in the present embodiment, which detect the quality of the placement and, if necessary, the pulling force of the trailer, in order, for example, to determine the presence of a trailer and, if necessary, its type.

[0109] Reference Figure 2 An embodiment of the method is described. Figure 1 Starting from the described autonomous vehicle having an exemplary embodiment of a driver information system according to the present invention, the driver information system is explained in greater detail by describing the method.

[0110] In this embodiment, it corresponds to Figure 1 The autonomous vehicle 21 of the autonomous vehicle 1 shown is traveling in a driving direction indicated by an arrow 22 on a road 20 having two lanes 20a, 20b. Traffic signs 25 are arranged in the region of the road 20. A vehicle 23 is traveling ahead on the same lane 20b as the autonomous vehicle 21, while an oncoming vehicle 24 is traveling in the adjacent lane 20a. The road 20 has a road course with curves, wherein the Figure 2 In the exemplary embodiment shown, the autonomous vehicle 1 is moving towards a right curve, which is followed by a left curve.

[0111] The autonomous vehicle 21 detects the course of the road ahead of it in the driving direction by means of the detection unit 2. For this purpose, in the present embodiment, image data are detected by means of a camera included in the detection unit 2 and analyzed in a next step in order to determine the course of the road. For this purpose, in particular, the geometry of the road 20 or the lane 20b on which the autonomous vehicle 1 is currently traveling is determined. In other embodiments, as an alternative or in addition, other sensors of the autonomous vehicle 1 are provided for the detection.

[0112] Based on the data acquired by acquisition unit 2 , road markings which separate the two lanes 20 a , 20 b from one another are also acquired.

[0113] In addition, other Figure 2 20a, 20b, and "solid line" for the edge markings of the road 20. In other exemplary embodiments, the road markings of the level of limit markings "double solid line", "parallel dashed and solid line" or similar structures can also be determined. Curbstones or the transition from the road 20 to the side slope arranged next to it can also be detected as limit markings and classified accordingly.

[0114] In addition, in the present exemplary embodiment, the current position of autonomous vehicle 1 is detected and map data including information about the road course are provided based on the position. The map data and the detected sensor data are fused and the road course actually ahead of autonomous vehicle 1 in the driving direction is determined therefrom.

[0115] In addition, the autonomous vehicle 21 collects weather data by means of the collection unit 2. For this purpose, a rain sensor and a camera are used in the present embodiment. In other embodiments, as an alternative or in addition, the relevant weather data are retrieved from the external unit 10 according to the determined position of the autonomous vehicle 21. In addition, data about the weather at the position of the autonomous vehicle 21 provided by the infrastructure or, for example, by a radio station can be collected.

[0116] The collected weather data include information about rain and snow at the current time and in the immediate past. From this, it is inferred whether the road section in front of autonomous vehicle 21 is wet or has a light layer of snow. In addition, the weather data relates to the risk of slippery ice. For this purpose, in particular, the current air or road surface temperature is taken into account; if the temperature is below freezing or another threshold value, the road is considered to be covered with ice. Other types of precipitation, such as hail or sleet, are also taken into account.

[0117] In addition, the acquisition unit acquires movement data of the autonomous vehicle 21, in particular the current speed and acceleration of the autonomous vehicle. In other embodiments, the speed and acceleration of the autonomous vehicle at a later time point are also predicted, in particular for the predicted time point when the autonomous vehicle 21 enters a curve. In other embodiments, other data about the autonomous vehicle 21 are also acquired, in particular data about the characteristics of its tires and the settings of its chassis, which affect the behavior of the autonomous vehicle when driving on a curve.

[0118] The analysis unit 5 determines the radius of curvature of the curve in front of the autonomous vehicle 21 based on the detected road course. In other embodiments, the radius of curvature of other curves can also be determined in order to achieve a more proactive driving style. The information about the speed of the autonomous vehicle 21 and the radius of curvature of the curve in front of the autonomous vehicle 21 is then used to determine the value of the criticality.

[0119] In order to determine the criticality, the steering torque required for driving through the curve at the current or predicted speed is determined for the autonomous vehicle 21 by the driver assistance system 6 in particular. The determined steering torque is compared with a threshold value, which is defined in the driver assistance system 6 for the maximum steering torque for automatic assistance when maintaining the lane 20b. If this threshold value is exceeded, the driver assistance system 6 cannot automatically assist with a sufficiently large steering torque in order to enable the autonomous vehicle 21 to drive through the curve safely. That is, the driver of the autonomous vehicle 21 must intervene in the control of the autonomous vehicle 21 by applying an additional steering torque and / or reduce the speed by slowing down the autonomous vehicle 21.

[0120] In other embodiments, as an alternative or in addition, it is determined whether the autonomous vehicle 1 can physically safely drive through the curve at the detected or predicted speed. If it is determined that this is impossible or is associated with risk, this is defined as a higher criticality. In this case, in particular, the physical possible force transmission between the tires of the autonomous vehicle 1 and the road surface is taken into account. In a higher criticality, for example, it is necessary for the autonomous vehicle 1 to brake or to select a larger curve radius.

[0121] In the present embodiment, different driver assistance modules of the driver assistance system 6 can be activated, wherein different degrees of automation can also be achieved. The driver can, for example, select a lower level of automation, in which the longitudinal and lateral control of the autonomous vehicle 1 is essentially carried out manually. The driver can switch on a module that outputs warnings or recommendations for control; this corresponds to a lower level of automation. In addition, the driver can activate a module that takes over the individual tasks of longitudinal and lateral control; this corresponds to a higher level of automation. In addition, the driver can activate a driver assistance module that automatically assists both longitudinal control and lateral control; this corresponds to an even higher level of automation. The threshold value for the steering torque that can be applied by the driver assistance module for lateral control can depend on the specific module or driver assistance system 6.

[0122] During driving, the control unit 3 generates driver information display content, which is output via the display unit 4. Figure 3 An embodiment of such display content is exemplarily shown in FIG.

[0123] The driver information display includes an autonomous object 31, which is designed as a stereoscopic view of the autonomous vehicle 21 from behind from a slightly elevated virtual position so that the area in front of the autonomous vehicle 21 can also be displayed. The display also includes a lane object 30, which is arranged so that the autonomous object 31 is shown on the lane object. The lane object 30 represents the lane 20b on the road 20 in which the autonomous vehicle 21 is currently traveling.

[0124] In other exemplary embodiments, further graphical objects are shown for further and in particular adjacent lanes, which are designed, for example, similarly to the shown lane object 30 .

[0125] In the present exemplary embodiment, lane object 30 is defined by a dashed left road marking 30a and a solid right road marking 30b. The displayed marking type corresponds to the marking actually present on lane 20a according to the previously determined limit marking level. In other exemplary embodiments, the road markings can be formed according to other criteria, for example to symbolically indicate whether a lane change is permitted and possible in the direction of the road marking.

[0126] Lane object 30 represents the detected course of the physical lane 20b in which autonomous vehicle 21 is currently located. The curve ahead of autonomous vehicle 21 is represented by curve region 32 of lane object 30. The geometry of the curve region is formed in such a way that it reproduces the actual radius of curvature of the curve in a stereoscopic image.

[0127] The lane object 30 is formed with a curve region 32 according to the criticality determined for the curve. In the present embodiment, the road markings 32a, 32b that laterally delimit the lane shown in the curve region 32 are designed so as to prompt the driver of necessary manual intervention. This is achieved by displaying a certain color, for example red, when the value of the determined criticality exceeds a threshold value. In the present embodiment, the road markings 32a, 32b are no longer formed in the curve region 32 so that they reproduce the actual markings on the lane 20b, but they are displayed as solid lines to prompt the driver of their meaning in the curve.

[0128] In other embodiments, the lane object 30 has a highlight feature that is different from the color of the road markings 32a, 32b in the curve region 32, for example, the color of the surface of the displayed lane 32, and is therefore highlighted over a large area. In other embodiments, other views can be generated depending on the value of the criticality, for example, a view with other colors determined according to the criticality and the scale. In addition, a dynamic view, for example, with flashing objects, can be generated.

[0129] In the present embodiment, the driver information display content also includes views of traffic signs 33a, 33b, which signal speed limits and prohibitions on overtaking in the area of ​​the curve. These traffic signs 33a, 33b can also be shown in the area of ​​the lane object 30 so that they appear on the surface of the lane object, or they can be displayed at the edge of the lane object 30 like actual traffic signs 25. In the present embodiment, the traffic signs 33a, 33b correspond to the traffic signs 25 actually arranged at the edge of the road 20, but in other embodiments, for example, when a certain maximum speed for safely driving through the curve is determined or when the area of ​​the curve is evaluated as unsafe for overtaking, traffic signs can also be formed according to the driving recommendations of the driver assistance system 6.

[0130] In addition, in other embodiments, an acoustically and / or haptically perceptible warning message may be output according to the degree of urgency. In addition, other optical warning messages may be additionally displayed, for example, by means of a warning symbol.

[0131] In another embodiment, the driver assistance system 6 is configured to determine whether a speed has been reached when entering a curve that allows safe driving through the curve. If the driver does not take appropriate measures despite the curve section 32 being highlighted in the driver information display, safety measures can be automatically taken to put the autonomous vehicle 1, 21 into a safe state. For example, braking can be performed, which puts the autonomous vehicle 1, 21 at a safe speed.

[0132] In the present exemplary embodiment, it is also provided that the graphic view of the autonomous vehicle 31 is arranged at a fixed position in the driver information display. The view therefore corresponds to a perspective from a fixed point relative to the autonomous vehicle 21, in particular from the position of the driver or a position arranged above the autonomous vehicle 21. The view is generated in such a way that during driving, the movement is displayed in such a way that other objects representing the environment of the autonomous vehicle 21 move relative to the displayed autonomous object 31. For example, it is displayed that the road markings 30A, 30B move relative to the autonomous object 31 and the arrangement of the lane object 30 relative to the autonomous object 31 also changes. During driving through a curve, the lane object 30 changes, for example, so that the curvature of the lane object is displayed in a changed manner and the lane object 30, for example, at the exit of the curve area, runs completely straight again or runs with a changed, detected radius of curvature.

[0133] In another embodiment, other road users are detected and output as road user objects in the driver information display. The road user objects are displayed relative to the autonomous object 31 in such a way that the physical position and speed of the associated road user can be seen from the display. In this case, the road user objects are also displayed rotated according to the road course, so that when they travel on a curved area of ​​the road relative to the autonomous vehicle 21, the road user objects are visible, for example, obliquely and laterally.

[0134] In another embodiment, the display unit 4 comprises a head-up display and at least a lane object 30 of the driver information display content is displayed in this way. The lane object can be displayed in particular in such a way that it appears to be superimposed on the lane 20b actually perceived from the driver's position. The curve area 32 is then highlighted in such a way that the driver can assess and recognize the criticality of the area in front of him and the need to manually reduce the speed or additionally apply a steering torque in order to safely drive through the curve.

[0135] The following reference Figure 4A , 4B 4C illustrates another embodiment of the driver information display content, in which the driver information display content is formed and outputted taking into account weather data. The display content is similar to that described above with reference to Figure 3 The present invention is not intended to explain the present invention. Therefore, only the additional features are explained. Similar objects are denoted by the same reference numerals.

[0136] In the present embodiment, the driver information display content also includes graphic elements 40a, 40b for adjacent lanes. These graphic elements are positioned laterally next to the lane object 30 on which the autonomous object 31 is arranged and extend the road laterally in a perspective display. In the present embodiment, only the road markings 30a, 30b at the edge of the lane object 30 for the lane 20b of the vehicle itself are shown. The displayed marking type also corresponds to the markings actually present on the road 20 according to the previously determined limit marking level.

[0137] exist Figure 4A In the case shown, it is detected that the road surface is dry. Roadway objects 30 , 40 a , 40 b are displayed without a structured design, for example uniformly in black or gray.

[0138] exist Figure 4BIn the illustrated case, it is detected that the surface of the road is wet. Graphic objects for displaying the own lane 30 and the adjacent lane 30a on the left and the adjacent lane 30b on the right are displayed with a pattern, which is displayed as raindrops in the example. In other embodiments, other structured designs can be displayed, and dynamic views can also be considered, such as structures moving in the area of ​​graphic objects 30, 40a, 40b. In another embodiment, other objects are also displayed, such as other traffic participants, reflected images of the traffic participants on a wet road displayed as rain. In addition, waves moving on the road can be displayed in the area of ​​traffic participant objects.

[0139] exist Figure 4C In the case shown, it is detected that the road is at least partially covered with snow. Figure 4B In the case shown in , the objects for the roadway 30, 30a, 30b are also displayed in a structured manner, wherein the pattern of the surface covered by snow is shown. Other structural designs and dynamic views are also conceivable here.

[0140] In other exemplary embodiments, graphical objects 30 , 40 a , 40 b for the roadway are displayed in such a way that other features of the roadway surface are represented, which may be dirt, oil or markings on the road, for example.

[0141] Reference Figures 5A to 5D Further display contents are described, which are generated and outputted in the method taking into account different types of road markings. Figure 1 The driver information system described is assumed and objects are denoted as far as possible by the reference numerals already used above.

[0142] exist Figure 5A In the case shown, no road markings are identified on the road 20. Only autonomous objects 31 representing the autonomous vehicle 21 and lane objects 30 are shown, which are uniformly displayed in gray in the present embodiment. In other embodiments, other views are possible, but the display content is implemented in such a way that objects similar to road markings are not displayed. The driver can see from this display content that the autonomous vehicle 21 is traveling without being oriented to the identified road markings, so that, for example, the driver assistance system can only be used for lateral control to a limited extent or not at all.

[0143] exist Figure 5BIn the case shown, it is recognized that the lane 20b in which the autonomous vehicle 21 is located is delimited on the left and right by road markings. The road markings are assigned to the limiting marking level "dotted road marking" or "solid road marking". In addition, adjacent lanes are recognized. In addition to the autonomous object 31 and the lane object 30 representing the currently used lane 20b, the driver information display also includes graphic objects for the adjacent left lane 40a and the adjacent right lane 40b as well as road markings 30a, 30b, which are formed according to the detected limiting marking level and reproduce the main features corresponding to the actual road markings, namely the design of dashed or solid lines.

[0144] exist Figure 5C In the case shown, the Figure 5B In contrast to the situation shown, the own lane 20b of the autonomous vehicle 21 is not defined by a lane marking on the right. Instead, a transition from the road to the slope is detected. This is displayed in the driver information display. Figure 5B The situation shown is output differently in that graphical object 40 b for the right-hand adjacent roadway displays a slope region which adjoins roadway object 30 with autonomous object 31 .

[0145] exist Figure 5D The situation shown in Figure 5B The situation shown differs in that the current lane 20 b of the autonomous vehicle 21 is delimited on the right by a curb. This is indicated in the driver information display by displaying a graphical delimiting object 30 b representing a curb next to the lane object 30 on the right.

[0146] In other exemplary embodiments, the road markings may also include guardrails, vegetation or edge plantings or other boundary markings and structures according to different boundary marking classes.

[0147] Reference Figures 6A to 6C Further display contents are explained, which can be generated and output for a planned lane change in the method. Figure 1 The driver information system described is assumed and objects are denoted as far as possible by the reference numerals already used above.

[0148] Figures 6A to 6CEach of the autonomous objects 31 is included, which represents the autonomous vehicle 21. The autonomous object is displayed statically and is always arranged at the same position in the driver information display content. The movement of the autonomous vehicle 21 is displayed in such a way that the displayed environment moves relative to the autonomous object 31 as if it were from the coordinate system of the autonomous vehicle 21. In particular, the structure of the road, including curved areas and road markings 30a, 30b, moves relative to the static autonomous object 31 corresponding to the actual own movement of the autonomous vehicle 21 on the road 20.

[0149] The display is formed perspectively from a position slightly behind and above the virtual autonomous object 31. The display comprises a lane object 30, which represents the lane 20b currently being used by the autonomous vehicle 21, and adjacent lane objects 40a, 40b for the adjacent lane 20a.

[0150] Furthermore, in each case, a preceding vehicle 23 is detected, which is represented by a road user object 61 arranged in the view before the autonomous object 31. The view is generated in this case such that the distance shown between the autonomous object 31 and the object of the preceding vehicle 61 represents the actual distance of the vehicle. The driver can therefore understand the actual distance based on the display content and in particular perceive changes.

[0151] Other traffic participants are displayed by virtual traffic participant objects 61 in such a way that the main view-related features of their real appearance are reproduced in the display content. In the present embodiment, the vehicle type and color of other traffic participants 23 are collected for this purpose. The collection is carried out with the aid of a camera of the autonomous vehicle 1. In other embodiments, as an alternative or supplement, a data technology connection with other traffic participants 23 is established, in particular with the aid of vehicle-to-vehicle communication. The graphical traffic participant object 61 assigned to the vehicle 23 traveling ahead is formed in such a way that the view correctly reproduces the vehicle type and color. In other embodiments, as an alternative or supplement, other features of the vehicle 23 traveling ahead can be reproduced when displaying the corresponding graphical traffic participant object 63.

[0152] Figures 6A to 6C Also included is a horizontal line arranged on lane object 30 in front of autonomous object 31 , which shows the minimum distance resulting from the adjustment of autonomous vehicle 21 to vehicle 23 travelling ahead.

[0153] exist Fig. 6AIn the case shown, the detected current lane 20b is delimited on the right by a solid line and on the left by a dashed line. The detected road markings are assigned to the corresponding limit marking classes and the limit markings are reproduced by the view of the corresponding road markings 30a, 30b.

[0154] In addition, other road users are detected on the left adjacent lane, which are approximately at the level of the autonomous vehicle 21. The display content includes corresponding graphical road user objects 62 on the left adjacent lane object 40a, which reproduce the actual layout of the vehicles. In this driving situation, it is determined that the autonomous vehicle 21 cannot safely change to the left adjacent lane. Therefore, the left adjacent lane object 40a is not highlighted, but is uniformly colored gray.

[0155] exist Figure 6B In the case shown, other traffic participants on the adjacent lane are also detected, but this time on the adjacent lane on the right. Therefore, the driver information display content includes the traffic participant object 63 in the area of ​​the adjacent lane object 40b on the right. It is determined that a lane change to the adjacent lane on the left can be performed safely. Therefore, the adjacent lane object 40a on the left is highlighted. In these and other embodiments, different highlights are used, for example by means of shadows, colors, brightness or by dynamic effects, such as flashing.

[0156] exist Figure 6C In the case shown, by referring to the above Figure 6B Based on the situation described, it is also detected that the driver of the autonomous vehicle 21 has activated the left turn signal (or flashing signal light). The driver thus signals that he wants to change lanes to the left. The autonomous object 31 is output in a view with a bright flashing light. Since the lane change to the left can be performed safely in the displayed driving situation, an arrow 65 is shown as a signal object 65 as a supplement to the highlighting of the adjacent lane object 40a on the left. This situation can be green in particular. In other embodiments, the color can depend on whether the lane change can be performed safely; if the lane change cannot be performed safely, the arrow 65 can be colored red, for example. In addition, the signal object 65 can also be designed differently, for example in the form of a moving light or with other symbols.

[0157] exist Figure 6C In the case shown, it is also detected that the adjacent lane on the left is bounded to the left by a solid line. In addition, the current lane 20b of the autonomous vehicle 21 is bounded to the right by a solid line. These road markings are correspondingly Figure 6C This is shown by delimiting objects 30a, 30b, 66.

[0158] In other exemplary embodiments, it is detected that another road user 23 is planning to perform a specific driving maneuver. For this purpose, the light signals of the turn signal indicator are evaluated or information is received via a vehicle-to-vehicle connection. In the road user object 61, a driving maneuver object is shown, which signals that the vehicle 23 traveling ahead is planning to change lanes, for example.

[0159] Reference Figures 7A to 7C Further display contents are described, which can be generated and output in the method taking into account potentially dangerous oncoming traffic. Figure 1 The driver information system described is assumed and objects are denoted as far as possible by the reference numerals already used above.

[0160] exist Fig. 7A In the illustrated situation, no oncoming traffic is detected in the lane of the autonomous vehicle 21 and in the adjacent lane. In this case, the view includes the lane object 30 and the adjacent adjacent lane objects 40a, 40b on the right and left. In addition, the autonomous object 31 and the vehicle 23 traveling in front are displayed by the traffic participant object 61.

[0161] exist Figure 7B and 7C In the case shown, oncoming traffic is detected on the lane 20a which is arranged on the left side in the direction of travel next to the current lane of the autonomous vehicle 21. Fig. 7A The views shown differ in that graphical oncoming traffic warning objects 71 , 72 are arranged on the adjacent lane object 40 a and are displayed, in particular, like one of the road markings applied to the road surface.

[0162] In the present embodiment, the oncoming traffic warning objects 71, 72 move together with the autonomous object 31. In other embodiments, the oncoming traffic warning objects 71, 72 may be static in the coordinate system of the displayed road surface, so that the autonomous object 31 appears to move past the oncoming traffic warning objects 71, 72. In this case, the oncoming traffic warning objects 71, 72 may be implemented multiple times, for example, always reappearing at periodic intervals, as long as oncoming traffic is expected on the adjacent lane 20a.

[0163] In other embodiments, as an alternative or in addition, when it is determined that oncoming traffic is expected on the lane, an oncoming traffic participant object is displayed in the area of ​​the lane object. The oncoming traffic participant object can be designed so that it displays the actual oncoming traffic participant. In addition, the traffic participant object can also be shown even if no other traffic participants are detected, in order to warn the driver of the possible oncoming traffic. The view of the oncoming traffic participant object can be different depending on whether it represents the actual detected traffic participant or is only shown for warning.

[0164] Reference Figures 8A to 8C Different views of autonomous objects in the driver information display content are described, which can be generated and output in the method. Figure 1 The driver information system described is assumed and objects are denoted as far as possible by the reference numerals already used above.

[0165] In the present exemplary embodiment, the state of the lighting device 7 of the autonomous vehicle 1 is detected and the view of the autonomous object 31 in the driver information display is formed in such a way that the view reproduces the state of different elements of the lighting device 7. For example, the taillights and headlights can be shown lit or not lit according to the detected state.

[0166] Autonomous object 31 includes a view of autonomous vehicle 1 from a perspective behind in the direction of travel, so that the rear of the vehicle can be seen. In the figures, only a detail is shown in each case, which in particular shows the main elements of the lighting device 7 of the autonomous vehicle that are visible from this perspective.

[0167] exist Fig. 8A In the case shown, the direction indicator 80 is displayed prominently on both sides, in particular with increased brightness and yellow. This is the case, for example, when the warning lights are activated. In the present exemplary embodiment, the representation is dynamically formed such that a cyclically repeated switching on and off of the direction indicator 80 is output, in particular as actually performed by the lighting device 7 of the autonomous vehicle 1.

[0168] In other exemplary embodiments, the activation of an individual direction indicator 80 is displayed, for example, in a flashing light.

[0169] exist Figure 8B In the case shown, the light of the brake light 81 is highlighted, in particular, by increased brightness and red. Figure 8C In the case shown, the taillights 82 are highlighted here by increased brightness and white color.

[0170] In other embodiments, other lights can be displayed similarly, such as rear fog lights or marker lights. In addition, different combinations of lights can be highlighted. In another embodiment, the actual lighting is also recorded, wherein, for example, malfunctions are also detected. The view can then be adapted to the actual detected lighting.

[0171] In other embodiments, the operating state of the forward-pointing headlights of the autonomous vehicle, such as low beam, high beam, parking light, front fog light, daytime running light or high-range light, is recorded. In this case, in particular, the brightness, color, lighting range and / or intensity distribution are recorded. Based on the recorded operating states, an autonomous object is formed similarly to the views explained above.

[0172] Furthermore, the view can include other graphic objects in the environment of the autonomous object 31 and in particular form them as a function of the detected operating state of the lighting device. For example, a roadway object 30 with a certain texture and / or brightness distribution is displayed, wherein the light distribution generated by the lighting device 7 is displayed on the road 20, in particular in the area in front of the autonomous vehicle 21. Other road users can also be displayed depending on whether and in what manner they are illuminated by the lighting device 7. The view is generated in such a way that the illumination range and the width of the light distribution can be understood from the view, wherein the illumination range and / or intensity are in particular dependent on the angle relative to the driving direction of the autonomous vehicle 21.

[0173] The actual illumination of the physical object can be detected by sensors of the detection unit 2 and / or a physical model can be used to determine the illumination of the object by the lighting device 7. In particular, the influence of the lighting device on the appearance of the environment is reproduced as realistically as possible.

[0174] Reference Fig. 9 An embodiment of the driver information display content with the trailer object generated according to the method is described. Figure 1 The driver information system described is assumed and objects are denoted as far as possible by the reference numerals already used above.

[0175] In the present embodiment, the operating state of the hitch device 8 of the autonomous vehicle 1 is detected. If it is detected that a device is hitched to the hitch device, an autonomous object 31 is formed in combination with a trailer object 90 in the form of a diagram.

[0176] The display is realized in this case by showing autonomous object 31 with a graphical view of the trailer vehicle from behind in a perspective manner such that a road section of road object 30 that is located in front of autonomous object 31 in the view is visible.

[0177] The trailer view can be differentiated according to the type of trailer object, for example by its size, shape and color. In particular, a schematically simplified image of the real trailer object is reproduced by the trailer view in the form of a diagram.

[0178] In the present embodiment, the driver information display content also includes a traffic participant object 61 representing the vehicle 23 traveling ahead, a lane object 30 representing the current lane 20b of the autonomous vehicle 1, and adjacent lane objects 40a, 40b for the adjacent lane 20a. In addition, road markings are reproduced with the aid of the boundary marking objects 30a, 30b.

[0179] Reference Fig. 10A and 10B Exemplary embodiments of driver information display content for different automation levels are described. Starting from the exemplary embodiments described above.

[0180] In addition to the surroundings view, the driver information display also includes other information elements known per se. The information elements include, for example, elements for outputting the current speed, the current gear, the music tracks consumed or played, and driving instructions of the navigation system.

[0181] exist Fig. 10A In the case of , it is detected that the driver assistance system 6 is operating in a lower automation level. Therefore, a reduced view of the surroundings is output. In the present exemplary embodiment, the longitudinal control of the autonomous vehicle 1 is active, wherein the driving speed is controlled in such a way that a certain minimum distance to the road user driving in front is maintained and overtaking on the right is avoided. In other exemplary embodiments, the driver assistance module is active in such a way that it assists not the longitudinal control but the lateral control of the autonomous vehicle 1. In this case, a reduced view of the surroundings is output in an automation level that assists the control in the longitudinal direction or in the lateral direction.

[0182] Fig. 10A The driver information display content of 101a includes an environment view with an autonomous object 101a for the autonomous vehicle 1, a traffic participant object 102 for the vehicle traveling in front, and other traffic participant objects 103 for other vehicles on the adjacent lane 20a on the left. The current lane 20b in which the autonomous vehicle 1 is located is defined on the left and right by road markings 106a, 106b. A distance object 105 is displayed at a certain distance before the autonomous object 101a, which represents the adjusted safety distance to the traffic participant traveling in front.

[0183] Autonomous object 101a is shown here in such a way that it is not completely recognizable (or visible). The displayed perspective is from a virtual point above and behind autonomous vehicle 1, so that part of autonomous vehicle 1 and part of the current road are shown. The roadway is only shown schematically and not in full width.

[0184] In the driver information display, a traffic participant object 102 for the vehicle traveling ahead is shown as a control object for speed and distance control. In addition, other traffic participant objects 103 for the vehicle on the adjacent lane on the left are shown as control objects for preventing overtaking on the right. In this case, other traffic participants are not output as long as they are not directly relevant for the automatic control of the driving.

[0185] The road section displayed before autonomous object 101 a is output as a straight course.

[0186] exist Fig. 10B In the case shown, the driver information display content is the same as that described above. Fig. 10A The situation differs in the display of the environment. It is detected that the driver assistance system 6 is operated at a higher level of automation, in which both the longitudinal control and the lateral control of the autonomous vehicle 1 are actively intervened automatically. Therefore, an expanded view is shown.

[0187] The surroundings view includes a larger area of ​​the surroundings, in particular the adjacent lanes on the left and right are displayed in full width. In addition, other traffic participant objects 104 representing other traffic participants are displayed, but these other traffic participant objects are not used as control objects for the driver information system 6. That is, the driver information display also includes such traffic participants, which are not directly used by the driver assistance system 6 for automatic driving assistance. The road markings 107a, 107b displayed in the driver information display are shown here in dashed or solid lines.

[0188] The road course shown in front of the autonomous object 101b shows a curved road, wherein the curvature corresponds to the actual road course determined by means of sensors of the autonomous vehicle 1 and based on map data. The output is performed dynamically in an expanded view, i.e., the movement of the road relative to the statically displayed autonomous object 101b is displayed, wherein the curvature can also change according to the actual situation.

[0189] In one embodiment, after collecting user input for switching between different automation levels, the Fig. 10A The reduced view of Fig. 10BIn this case, the system switches from a lower automation level to a higher automation level. The switch between the automation levels is achieved in particular by operating a button on the steering wheel or a brake pedal.

[0190] In the animated transition, the perspective of the view is shifted so that the autonomous object 101a appears to move forward, thereby making a larger portion of the view of the autonomous vehicle 1 visible. Fig. 10B When the extended view is changed, the autonomous object 101b is completely displayed in the view of the rear side. At the same time, other objects in the environment are also displayed as the viewing angle moves, that is, the radius or maximum distance of the displayed other objects increases, and the number of other objects also increases.

[0191] Reference Figures 11A to 11D An exemplary embodiment of a driver information display with unclassified and classified other road users is described. Here, too, the other exemplary embodiments described above are taken as a starting point.

[0192] exist Fig.11A and Fig. 11B In the case of , the extended surroundings view includes a rear view of an autonomous object 111 representing the autonomous vehicle 1, a traffic participant object 112 for the vehicle traveling in front, and other traffic participant objects 114 for another vehicle located in front of the autonomous vehicle 1 on the right. The other traffic participants are detected and assigned to a specific traffic participant class, wherein in this case they are identified as cars. They are displayed in such a way that the driver can see from the driver information display that they are cars.

[0193] In other exemplary embodiments, other features of other road users are detected, such as their color, vehicle type, or lighting status. The display of road user objects 112 , 114 is performed based on the detected features, thus achieving a more detailed and realistic view of the road users.

[0194] In addition, the view includes general traffic participant objects 113a, 113b, which represent other traffic participants located next to the left side of the autonomous vehicle 1. This other traffic participant has not yet been accurately identified and can only be assigned to a general traffic participant class. In the present embodiment, it refers to a traffic participant who is overtaking, wherein only the position of the traffic participant relative to the autonomous vehicle 1 can be detected by the radar sensors in the rear area and the lateral area of ​​the autonomous vehicle 1; however, no data from the camera of the autonomous vehicle 1 that would allow a more accurate classification and assignment of a specific traffic participant class has yet to be detected.

[0195] exist Fig.11AIn the case shown, a typical road user object 113a is displayed as a cube with rounded edges or as a similar three-dimensional shape. Fig. 11B In the illustrated case, the general road user object 113 b is displayed as a shaded surface. The general road user objects 113 a , 113 b are each displayed in such a way that the position of the corresponding road user relative to the autonomous vehicle 1 can be understood.

[0196] In another embodiment, the general traffic participant objects 113a, 113b have a longitudinal extension in the driving direction. Since the length of other traffic participants approaching the autonomous vehicle 1 from behind is usually not detected by the sensors of the autonomous vehicle 1, the length extension of the general traffic participant objects is displayed increasing while the general traffic participant objects 113a, 113b are driving past the autonomous vehicle 1. That is, in the view, the length of the general traffic participant objects 113a, 113b increases during the overtaking process until it is detected that the end of the other traffic participant has been reached.

[0197] If you are overtaking, Fig.11A and 11B If the road user to which the general road user objects 113a, 113b are assigned in the image has passed by the autonomous vehicle 1 so far that the road user has entered the acquisition area of ​​the camera that is acquiring images in the front area in front of the autonomous vehicle 1, the road user is assigned to a specific road user class. This means, for example, that it is recognized that the road user is a car of a certain type and color.

[0198] exist Fig. 11C In the case shown, this classification is performed for other road users on the adjacent left lane and a specific road user object 113 c is displayed in its place, which has the characteristics of the actual appearance of the other road users. The view of the other road users is displayed according to the assigned road user class.

[0199] In from Fig.11A Or one of the views 11B to Fig. 11C During a view transition, the change from a general traffic participant object 113a, 113b to a specific traffic participant object 113c is graphically displayed in a manner known per se, for example by means of brightness adjustment, cross-fading, deformation, piecemeal or complete replacement of displayed elements or by "growing" from a general traffic participant object 113a, 113b to a specific traffic participant object 113c.

[0200] Reference Fig.11DThe method in which the above-explained display contents are generated is explained in more detail with reference to a concrete traffic situation.

[0201] Autonomous vehicle 116 moves along the roadway in a driving direction 115 indicated by arrow 115. Furthermore, another road user 117 on an adjacent roadway is also moving in driving direction 115 and is approaching autonomous vehicle 116 from behind.

[0202] Autonomous vehicle 115 includes sensors that each have a detection range 118 , 119 , namely a rear detection range 118 extending in a region behind the rear of autonomous vehicle 115 and a front detection range 119 extending in a region in front of the front of autonomous vehicle 115 .

[0203] exist Fig.11D In the driving situation shown, another road user 117 is driving past autonomous vehicle 116 , ie the other road user is moving at a higher speed and is driving out of rear detection area 118 and into front detection area 119 .

[0204] In the present exemplary embodiment, data are acquired in the rear acquisition region 118 by a radar sensor. These data allow the detection of other road users 117 and the acquisition of their position and their distance relative to the autonomous vehicle 116 as well as their relative speed. In the present exemplary embodiment, image data are also acquired in the front acquisition region 119 by a camera. These image data also allow the detection of other road users 117 and the acquisition of their position and their distance relative to the autonomous vehicle 116; their relative speed can also be determined.

[0205] Furthermore, the vehicle type of the other road user can be determined based on the image data captured in front capture area 119. After other road users 117 are captured in front capture area 119, in particular the color, vehicle class, and manufacturer and model of the vehicle are determined.

[0206] In this embodiment, when other road users 117 are collected in the rear collection area 118, a general road user class is determined. The general road user class includes all vehicles in this example. After other road users 117 enter the front collection area 119, a specific road user class is determined, which includes, for example, all sedans or all compact cars of a certain brand.

[0207] In the present exemplary embodiment, a detection range 118 is generated as long as other road users 117 are detected only by radar sensors having a rear detection range 118. Fig.11A and 11B If another road user 117 enters the acquisition area 119 in front of the camera, the output is Fig. 11C Here, a “morphing” method known per se is used in order to display an animated change of general road user objects 113a, 113b to a specific road user object 113c.

[0208] Reference Fig. 12A and 12B An exemplary embodiment of the driver information display content during the following driving of an autonomous vehicle is described. Here, too, the other exemplary embodiments described above are taken as a starting point.

[0209] If another traffic participant 23 traveling ahead is detected on a road section ahead of the autonomous vehicle 1 in the direction of travel, the display content shown is generated. The lane being traveled is displayed as a lane object 30 in the display content. The display content also includes an autonomous object 121 representing the autonomous vehicle 1 and a traffic participant object 120 representing the vehicle 23 traveling ahead. Here, the distance shown between the autonomous object 121 and the traffic participant object 120 is formed according to the actual distance acquired between the autonomous vehicle 1 and the vehicle 23 traveling ahead, that is, the quantified value of the distance can be seen from the display content. The arrangement of the geographical objects 120, 121 with respect to each other and to the graphical view of the lane corresponds to the relationship of the entity.

[0210] The driver assistance system 6 is active with a driver assistance module which partially automatically intervenes in the lateral control of the autonomous vehicle 1 . In this case, the steering is intervened in particular by applying a steering torque in order to keep the autonomous vehicle 1 on the roadway.

[0211] In the present exemplary embodiment, no road markings are detected at the edge of the lane currently being traveled. Since orientation is not possible according to the road markings, a following maneuver is performed, in which the desired trajectory of the autonomous vehicle 1 is controlled, in particular with regard to the lateral offset of the autonomous vehicle 1 on the lane being traveled. The lateral offset here refers to the position in a direction transverse to the direction of travel. In other words, the desired trajectory of the autonomous vehicle 1 is formed in such a way that it follows the detected trajectory of the vehicle 23 traveling in front.

[0212] The desired trajectory of autonomous vehicle 1 is output using trajectory objects 122a, 122b, which in the present exemplary embodiment extend from autonomous object 121 to traffic participant object 120. Fig. 12A In the illustrated case, the trajectory object 122a is displayed as a wide line with prominent edges. Fig. 12B In the illustrated case, the trajectory object 122b is displayed as a narrow line. Other display forms are also conceivable.

[0213] In other embodiments, the intention to change lanes by the autonomous vehicle 1 is detected. For example, it is detected that the driver has activated the turn signal or that an automatic lane change is to be initiated. In this case, the driver assistance module can check whether the lane change can be performed safely based on the environmental data. In particular, the positions of other traffic participants are analyzed and, if there is no risk of collision, the lane change is identified as being safe to perform. The target trajectory is then generated in such a way that it guides the autonomous vehicle to the adjacent lane. The trajectory objects 122a, 122b can then be compared with the target trajectory objects 122a, 122b in the example shown in FIG. Fig. 12A and 12B The situation shown in FIG. 1 is similarly guided from the virtual front of autonomous object 121 to the adjacent roadway.

[0214] Reference Figures 13A to 13D An embodiment of the driver information display content when adjusting the specified distance is described. Here, it is also based on the other embodiments described above.

[0215] exist Fig.13A and 13B In the case shown, a lane object 30 is displayed, which represents the road on which the autonomous vehicle 1 moves. This lane object is defined in the display by a right-hand road marking 30b and a left-hand road marking 30a at the edge of the current lane of the autonomous vehicle 1. The display also includes an autonomous object 31 representing the autonomous vehicle 1. In addition, other road users 132, 133, 134 are displayed, in particular the vehicle 132 traveling in front and other road users 133, 134 on the adjacent lanes.

[0216] At a certain distance in front of autonomous object 131 in the driving direction, a distance object 135 designed as a line is displayed transversely to the driving direction, essentially over the width of the current lane of autonomous object 131. This distance object shows, as a function of the distance between autonomous object 131 and distance object 135, a safe distance between autonomous vehicle 1 and other road users traveling ahead, for which driver assistance system 6 of autonomous vehicle 1 at least partially automatically intervenes in vehicle control in order to maintain the safe distance.

[0217] produce Fig.13A and 13B The difference between the driving situation of the view is that Fig.13A In the case of autonomous vehicles 1 is more Fig. 13B In other words, Fig. 13BThe safety distance that needs to be maintained from other traffic participants ahead is greater than Fig.13A Accordingly, traffic participant object 132 for the other traffic participant driving ahead is displayed at a greater distance than autonomous object 131 , and distance object 135 is also displayed at a greater distance than autonomous object 131 .

[0218] In the present embodiment, the safety distance that needs to be maintained by the driver assistance system 6 is adjusted by a parameter corresponding to a certain time interval. The length of the safety distance is determined according to this time interval and the current speed of the autonomous vehicle 1. For this purpose, the formula s=v*t is used in particular, where s represents the length of the safety distance, v represents the current speed of the autonomous vehicle 1 and t represents the time interval preset by the parameter.

[0219] exist Fig. 13C and 13D In the case of the control element being operated in the autonomous vehicle 1, it is detected that the control element is operated. The control element is included in the acquisition unit 2 or is coupled to the acquisition unit 2. In the present embodiment, the control element is a key switch, and other input devices, such as a small wheel or a sliding regulator, can also be provided as an alternative or in addition. The adjusted parameters of the driver assistance system 6 are changed by this operation.

[0220] This change results in a change in the position of distance object 135 relative to autonomous object 131. Since the present exemplary embodiment provides for a stepped adjustment of the parameter, distance object 135 jumps forward or backward by one step during an operation, ie, becomes at a greater or smaller distance relative to autonomous object 131 in the view.

[0221] also, Fig. 13C and 13D The view in the lane object includes a distance adjustment object 136, from which the driver can understand the potentially adjustable parameter value. In the present exemplary embodiment, a line or a substantially rectangular surface in a different color from the distance object 135 is displayed on the lane object, which forms a distance scale object 136. The distance object 135 serves as a distance indicator object 135, which shows the actual adjusted parameter value according to the distance scale object 136. The driver can thereby recognize whether the adjusted parameter value corresponds, for example, to an adjustable minimum value or maximum value or at which position between the minimum value and the maximum value the adjusted value is.

[0222] Fig. 13C and 13D The views in are further distinguished by the speed of autonomous vehicle 1. Fig.13D The speed is greater than that in Fig. 13C As already mentioned above, Fig.13A and13B As explained, the safety distance corresponds to different lengths for different parameter values ​​depending on the speed. This proportionality affects the display of the distance control object 135 to a similar extent as the influence on the arrangement of the distance object 135. In the present exemplary embodiment, the view of the distance control object 136 is extended along the driving direction at higher speeds.

[0223] In other exemplary embodiments, the value of the parameter can be adjusted continuously or in a greater number of steps. Distance adjustment object 136 can be formed in other ways, for example by a color scale (or color gradient) or other scale with a graphical representation feature that changes along the longitudinal extension in the direction of travel.

[0224] The exemplary embodiments described above illustrate the method or optional features according to the present invention. The features described in the individual exemplary embodiments can be combined as desired, in order to implement the present invention, in particular in a broad method or system.

[0225] List of Reference Numerals

[0226] 1. Autonomous vehicles

[0227] 2. Acquisition unit; sensor

[0228] 3 Control unit

[0229] 4 Display unit

[0230] 5 Analysis Unit

[0231] 6 Driver Assistance Systems

[0232] 7 lighting fixtures

[0233] 8 Hooking device

[0234] 10 external unit; external server

[0235] 20 Road

[0236] 20a Lane

[0237] 20b Lane

[0238] 20c Road markings

[0239] 21 Autonomous Vehicles

[0240] 22 Arrow

[0241] 23 Vehicles traveling ahead

[0242] 24 Oncoming traffic

[0243] 25 Traffic Signs

[0244] 30 Lane Objects

[0245] 30a, 30b Road markings (view)

[0246] 31 Autonomous Vehicles (View)

[0247] 32 Bend Area (View)

[0248] 32a, 32b Road markings in the curve area (view)

[0249] 33a, 33b Traffic Signs (View)

[0250] 40a, 40b adjacent lanes (view)

[0251] 61 Traffic participant object, vehicle traveling ahead (view)

[0252] 62, 63 Traffic participant objects, vehicles on adjacent lanes (view)

[0253] 65Signal objects, arrows

[0254] 71, 72 Oncoming traffic warning objects

[0255] 80 Driving direction indicator

[0256] 81 Brake Light

[0257] 82 Taillight

[0258] 90 trailer object (view)

[0259] 101a, 101b Autonomous objects

[0260] 102 Traffic participant object; vehicle driving ahead

[0261] 103, 104 Traffic Participant Objects

[0262] 105 Distance Object

[0263] 106a, 106b, 107a, 107b Road markings (view)

[0264] 111 Autonomous Objects

[0265] 112 Traffic participant object; vehicle traveling ahead

[0266] 113a, 113b General traffic participant objects

[0267] 113c Specific traffic participant objects

[0268] 114 Traffic Participant Object

[0269] 115 Arrow; direction of travel

[0270] 116 Autonomous Vehicles

[0271] 117 Other traffic participants

[0272] 118 Rear collection area

[0273] 119 Front Collection Area

[0274] 120 Traffic participant object; vehicle driving ahead

[0275] 121 Autonomous Objects

[0276] 122a, 122b

[0277] 131 Autonomous Objects

[0278] 132 Traffic participant object; vehicle driving ahead

[0279] 133, 134 Traffic Participant Objects

[0280] 135 distance object; distance indicator object

[0281] 136 distance adjustment object; distance ruler object

Claims

1. A method for operating a driver information system in an autonomous vehicle (1); in the method, Acquiring the current speed of the autonomous vehicle (1) and the set parameters of the at least partially automated longitudinal guidance function of the driver assistance system (6), by which the time interval is predefined; and Generate and output driver information display content; wherein, The driver information display content includes a graphical lane object (30) representing a road in front of the autonomous vehicle (1); wherein A distance scale object (136) and a distance indicator object (135) are arranged in a lane object (30), wherein: The distance scale object is formed according to the current speed of the autonomous vehicle (1) and extends along the lane object in the direction of travel, and The distance indicator object shows the safety distance between the autonomous vehicle and other traffic participants traveling ahead, the safety distance being determined according to the current speed of the autonomous vehicle (1) and the time interval; wherein, The distance scale object (136) is designed such that the position of the lane object (30) is associated with the distance to the autonomous vehicle (1); and The distance indicator object (135) is arranged on the distance scale object (136) so that the distance indicator object marks a certain position of the distance scale object and outputs the adjusted parameter accordingly, i.e. the distance indicator object shows the adjusted parameter with the aid of the distance scale object, The output display content does not include output of video images captured by a camera of the autonomous vehicle.

2. The method according to claim 1, It is characterized in that The distance scale object (136) is designed such that an associated distance to the autonomous vehicle (1) is proportional to a detected speed of the autonomous vehicle (1).

3. The method according to claim 1 or 2, It is characterized in that The parameters of the longitudinal guidance function can be adjusted in a certain number of steps.

4. The method according to claim 1, It is characterized in that User input is collected and the adjusted parameter is changed according to the user input.

5. The method according to claim 1, It is characterized in that The graphical roadway object (30) is designed such that it corresponds to a stereoscopic representation of a road course and includes a radius of curvature, so that an actual radius of curvature is output.

6. The method according to claim 1, It is characterized in that collecting environmental data in the environment of the autonomous vehicle (1); Identify other traffic participants based on collected environmental data; The driver information display content includes a graphical traffic participant object (132), wherein the traffic participant object represents other traffic participants; wherein: determining view-related characteristics of other road users; and A road participant object (132) assigned to another road participant is formed based on the view-related features.

7. The method according to claim 1, It is characterized in that collecting environmental data in the environment of the autonomous vehicle (1); Determine limit markings on the road based on the collected environmental data; and Determine the clearance mark level for the determined clearance mark; wherein, The driver information display includes graphical boundary objects (30a, 30b) which are formed according to the determined boundary marking level.

8. The method according to claim 1, It is characterized in that Collecting the operating status of a driver assistance system (6) of an autonomous vehicle (1); determining an automation level based on the detected operating state of the driver assistance system (6); and The driver information display includes a view of the surroundings of the autonomous vehicle (1), which is formed according to the determined automation level.

9. A driver information system in an autonomous vehicle (1), comprising a detection unit (2) which is configured to detect the current speed of the autonomous vehicle (1) and set parameters of an at least partially automatic longitudinal guidance function of a driver assistance system (6), by which time intervals are predefined; A control unit (3), the control unit being configured to generate and output driver information display content; wherein, The driver information display content includes a graphical lane object, the lane object representing a road ahead of the autonomous vehicle; wherein, A distance scale object (136) and a distance indicator object (135) are arranged in the lane object, wherein: The distance scale object is formed according to the current speed of the autonomous vehicle (1) and extends along the lane object in the direction of travel, and The distance indicator object shows the safety distance between the autonomous vehicle and other traffic participants traveling ahead, the safety distance being determined according to the current speed of the autonomous vehicle (1) and the time interval; wherein, The distance scale object (136) is designed such that the position of the lane object (30) is associated with the distance to the autonomous vehicle (1); and The distance indicator object (135) is arranged on the distance scale object (136) so that the distance indicator object marks a certain position of the distance scale object and outputs the adjusted parameter accordingly, i.e. the distance indicator object shows the adjusted parameter with the aid of the distance scale object, The output display content does not include output of video images captured by a camera of the autonomous vehicle.

10. The driver information system according to claim 9, It is characterized in that The display unit (4) includes a field of view display for outputting driver information display content.

Images