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

Abstract

In a method for operating a driver information system in an ego vehicle (1), another traffic member (23) is detected in a lane area in front of the ego vehicle (1). A target trajectory of the ego vehicle (1) is generated based on the other traffic member (23) by a driver assistance system (6) for at least partially automated lateral control of the ego vehicle (1), and a driver information display is generated and output. The driver information display includes a graphical traffic member object (120) representing the other traffic member (23). The driver information display also includes a trajectory object (122a, 122b) representing the target trajectory of the ego vehicle (1). The driver information system in the ego vehicle (1) includes: a detection unit (2) configured to detect another traffic member (23) in a lane area in front of the ego vehicle (1); and a driver assistance system (6) for at least partially automated lateral control of the ego vehicle (1), configured to generate a target trajectory of the ego vehicle (1) based on the other traffic member (23). The driver information system further comprises a control unit (3) which is configured to generate and output a driver information display. The driver information display comprises a graphical traffic member object (120) representing the other traffic member (23). The driver information display further comprises a trajectory object (122a, 122b) which represents a target trajectory of the ego vehicle (1).

Description

Technical Field

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

[0002] Modern vehicles often offer a wide selection of systems that assist the driver in controlling the vehicle and thereby contribute to improving comfort and safety. One of the challenges in this regard is to design the interface between the human driver and the usually computer-based control in such a way that all necessary and desired information is provided to the driver as quickly as possible and easily detectable. Only in this way can the assistance options be optimally understood and used. In addition, the driver must know at all times exactly how his vehicle will behave in a particular situation, which assistance systems are currently active and whether optimal functioning of these assistance systems is guaranteed. The driver should also always be aware of how these systems work and to what extent manual intervention is required.

[0003] In the following, a driver assistance system is understood to be 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 adjust devices that automatically influence the movement of the vehicle.

[0004] By using driver assistance systems, different degrees of automation of vehicle control can be achieved. When the driver assistance system is not activated, the driver directly influences the movement of the vehicle. At any time, the signals or movements of operating elements such as pedals, gear levers or steering wheels operated by the driver are transmitted to corresponding devices of the vehicle, which influence the vehicle movement. Such movement of the vehicle corresponds to the lowest degree of automation.

[0005] In the case of a higher degree of automation, the devices for the movement of the vehicle are partially intervened automatically. For example, the steering or acceleration of the vehicle is intervened positively or negatively. In the case of a higher degree of automation, the devices of the vehicle are intervened so that certain modes of movement of the vehicle, such as straight-line driving, can be implemented automatically. In the case of the highest degree of automation, for example, it is possible to drive along the route of the navigation system basically automatically, or the vehicle can also drive automatically on the highway even without a pre-given route. However, it is usually ensured here that the driver can immediately regain control of the driving of the vehicle even in the case of a high degree of automation by actively steering or operating the pedals. In addition, if a system error occurs or a road section that cannot be passed automatically is identified, the control can be returned to the driver.

[0006] Here, different driver assistance systems also fulfill different safety functions. In the case of a low degree of automation, only information that influences the way and method in which the driver moves the vehicle is output to the driver via one or more driver assistance systems. In higher-level safety functions, warnings are output that require the driver to react immediately. However, in the case of this degree of automation, these driver assistance systems do not actively and automatically intervene in the functions of the devices that influence the movement of the vehicle. In an even higher degree of automation, the devices for the movement of the vehicle are partially intervened automatically. In the case of an even higher degree of automation, the devices of the vehicle that influence the movement of the vehicle are intervened so that certain maneuvers of the vehicle can be automatically implemented, such as emergency braking or targeted evasive maneuvers to avoid collisions.

[0007] The driver of the vehicle is alerted to certain dangers by the warnings output by the driver assistance system. This improves safety when driving the vehicle. In the case of active intervention of the driver assistance system in the movement of the vehicle, dangerous driving situations, such as collisions or uncontrolled movement of the vehicle, can be avoided even if the driver does not directly intervene in the driving process. However, in terms of the safety functions of the driver assistance system, the driver always retains full control and responsibility for the driving situation. The driver assistance system intervenes, for example, in the case of a risk of collision or when the driver is no longer able to drive the vehicle, for example for health reasons.

[0008] In addition to any direct influence on the control of the vehicle, driver assistance systems usually provide for informing the driver of the activities of the driver assistance system in a certain level of detail. This can be achieved, for example, by means of signals that can be perceived visually, acoustically or haptically. This ensures that the driver can assess the influence of the driver assistance system on driving and, if necessary, intervene in the form of control: the driver should also generally recognize automated interventions in the control early in order not to be surprised by these interventions.

[0009] Driver assistance systems that can partially automatically intervene in the control of the vehicle and / or prompt potential dangerous situations by warnings can particularly relate to the 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, that is, for example, the so-called lateral deviation on the lane or lane. In this way, for example, lane keeping assistance can avoid crossing the lane boundary, or the vehicle can be guided in the middle of the lane. In addition, the driver can be assisted when changing lanes or during 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 observed from other traffic members. The corresponding driver assistance system can, for example, assist the driver in maintaining a predetermined speed and / or the distance from the vehicle traveling in front. It can also be avoided that: one's own vehicle overtakes on a certain side; in particular, avoid overtaking on the right side in right-hand traffic or overtaking on the left side in left-hand traffic, or generate corresponding alarms.

[0010] It is particularly important for the driver of a vehicle to be aware of the possible route to be taken. An important factor in this context is the behavior of the vehicle driving ahead. Summary of the invention

[0011] The object of the present invention is to provide a method for operating a driver information system in a host vehicle, in which the driver can particularly easily understand which control measures are to be carried out for the host vehicle in the near future.

[0012] According to the invention, this object is achieved by a method for operating a driver information system in a host vehicle and a driver information system in a host vehicle. Advantageous embodiments and developments emerge from the following description.

[0013] In the method according to the invention, other traffic members are detected in a lane area in front of an ego vehicle. A target trajectory of the ego vehicle is generated based on the other traffic members by a driver assistance system for at least partially automated lateral control of the ego vehicle. A driver information display is generated and output, wherein the driver information display includes a graphical traffic member object representing the other traffic member. The driver information display also includes a trajectory object, which represents the target trajectory of the ego vehicle.

[0014] In this method, the driver can advantageously recognize particularly easily how the ego vehicle will continue to move.

[0015] 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. In particular, the display is generated and output 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 that are important for controlling the vehicle and its driving operation. These are in particular movement data or states of devices of the vehicle and possibly information and warning outputs of a driver information system.

[0016] The display can be output by means of a known display unit, for example by means of a display, in particular on the center console of the own vehicle or in a display in the instrument cluster. The output can also be carried out by means of a field of view display, so that at least part of the driver information display is projected into the eyes of the user, so that the display appears superimposed on the visual perception of the physical surroundings. In particular, methods and devices from 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.

[0017] The outputted display does not include, in particular, the output of video images captured by a camera of the ego vehicle. Instead, the outputted display data are generated by a computing unit, possibly based on video data from a camera, and the outputted graphical objects are presented schematically or in a simplified manner relative to real objects, even if these are highly specific.

[0018] The driver information display may also include operating objects or operating elements, in particular operating objects or operating elements such as a graphical user interface. Such objects may, for example, represent adjustable parameters or activatable and deactivatable functions. These parameters or functions are in particular designed in a selectable and / or manipulable manner, wherein user inputs are detected in a manner known per se and analyzed with reference to the corresponding objects.

[0019] The target trajectory is generated in a manner known per se, for example by means of a lane keeping assistant. Alternatively or in addition, other types of assistance systems may be provided, such as a navigation system or a system for autonomous control of the ego vehicle. The driver assistance system also generates signals for controlling the ego vehicle in a direction transverse to the direction of travel, such as the steering direction of the ego vehicle.

[0020] The trajectory object is particularly formed in such a way that a target trajectory of the ego vehicle is presented thereby. The trajectory represents a spatial path for moving the ego vehicle on the lane. The trajectory object has features that characterize the target trajectory, such as a straight line or a curved section. The size ratios of the trajectory object are formed in such a way that the driver can grasp the physical trajectory on the lane in which the ego vehicle is located. In particular, the driver can identify positions on the lane in which the target trajectory deviates from a straight line and provides a curved section based on the driver information display.

[0021] In particular, the target trajectory actually planned for the ego vehicle can be grasped based on the trajectory object. That is to say, the trajectory object not only outputs driving prompts, such as prompts for changes in direction, lane changes or speed changes, but also the actual path to be traveled by the ego vehicle. This is achieved in particular based on the lane object, which represents the lane on which the ego vehicle moves. In this case, the trajectory object is arranged on the lane object so that the position of the physical lane on which the ego vehicle moves can be assigned to the characteristics of the trajectory object. For example, based on this representation, it can be identified: at which part of the trajectory object has a bend and this corresponds to which position and bend of the target trajectory on the physical lane.

[0022] In one embodiment of the method according to the invention, the driver information display includes a graphical lane object that represents the course of a lane in front of the ego vehicle. The lane object is designed in such a way that it corresponds to a perspective view of the course of the lane and includes a radius of curvature, so that the actual radius of curvature of a curve in the course of the lane is output. The driver information display thus advantageously allows a particularly realistic assessment of the driving situation.

[0023] The lane course and in particular the actual radius of curvature of the curve are detected, for example, based on environmental data. For example, map data may include information about the lane course, and environmental data detected by sensors of the ego vehicle may also be used.

[0024] The detected lane direction includes in particular information about whether the roadway on which the ego vehicle is traveling has a lateral curvature and the degree of the lateral curvature. The detected data may also relate to other characteristics of the lane, such as the inclination of the lane in a longitudinal or transverse direction to the direction of travel of the ego vehicle. In particular, the data detected about the lane direction includes information about the geometric features of the lane. The ego vehicle is traveling, for example, on a road that may have multiple lanes. Typically, the ego vehicle follows the direction of one of the lanes while traveling, wherein a lane change to another lane may be possible if necessary. The detection of the lane direction may include the direction of the lane currently in use or multiple lanes.

[0025] The graphical lane object is particularly designed such that it allows a user or driver of the ego vehicle to place a graphical element of the driver information display in a spatial relationship to a lane actually located in front of the ego vehicle. In this case, the lane object can be the lane currently being used by the ego vehicle. The lane object can also be the lane on which the ego vehicle is expected to navigate a curve, in particular if a lane change is to be performed before entering the curve. Furthermore, the lane object can include a plurality of lanes, in particular the lane currently being traveled by the ego vehicle and at least one spatially adjacent lane, in particular an adjacent lane in the same direction of travel. However, the representation can also include the own lane object and at least one adjacent lane object.

[0026] The graphic lane object represents the actual lane course in particular so that the user can assign a virtual position within the driver information display to a physical position on the lane in front of the ego vehicle. The representation of the ego object representing the ego vehicle can be implemented so that an improved orientation of the driver within the driver information display and relative to the presented lane object is achieved. In this case, the representation of the lane object is reduced or schematically constructed in terms of its detail content relative to reality. In particular, the view of the physical lane from the perspective of the driver of the ego vehicle can be mathematically mapped onto the graphic lane object by transformation.

[0027] In particular, the driver information display does not include a representation of the image data captured by the camera. Instead, the representation of the presented objects is generated by the computing unit.

[0028] In this case, the graphical lane object comprises in particular a perspective view of a curved lane, wherein the curvature of the graphical lane object substantially corresponds to the radius of curvature detected for the physical lane course. In this way, the actual lane course is represented in a particularly realistic manner by the graphical lane object. In this case, the lane object is formed in particular from a perspective that corresponds to a view from a virtual position directly above the ego vehicle.

[0029] In one embodiment, the graphic lane object is formed such that it corresponds to a perspective view of the lane course and includes a radius of curvature, so that the actual radius of curvature is output. This advantageously allows the driver to understand the driving situation particularly easily. In particular, the graphic lane object is thereby presented particularly realistically or with particularly important features of the actual lane.

[0030] Environmental data, in particular environmental data for detecting the lane course, are detected, for example, by means of sensors of the ego vehicle, for example by means of a camera, a LIDAR sensor or a radar sensor. This advantageously provides information about the actual surrounding conditions in a specific driving situation. In particular, data can be used that are provided by driver assistance systems known per se, such as a lane change assistant or an overtaking assistant. This advantageously allows a particularly realistic assessment of the driving situation.

[0031] The sensors of the ego vehicle each have a detection range. For example, a radar sensor can detect data within a certain spatial angle and up to a certain distance from the ego vehicle. In this case, these sensors can be pointed in the direction of travel, against the direction of travel or to the side and detect data within a correspondingly arranged detection range.

[0032] In one embodiment, the position of the host vehicle is determined and the surrounding data are detected with the aid of map data and as a function of the determined position. This advantageously allows the use of the surrounding data and other information contained in the map data for the driver information display.

[0033] The map data may include information about the radius of curvature of a curve in the course of the lane. For example, it may also be possible to identify whether a lane is open to oncoming traffic, such as in a one-way street or on a highway.

[0034] The position of the host vehicle is detected in a manner known per se, for example by means of a navigation satellite system such as GPS. The map data are also provided in a manner known per se, for example by a storage unit of the navigation system of the host vehicle or by an external unit to which there is at least a temporary data connection.

[0035] The data connection between the ego vehicle and an external unit, in particular an external server, can be realized in particular wirelessly, for example via a local area network or a larger network, such as the Internet. The connection can also be established via a telecommunications network, such as a telephone network or via a wireless local area network (WLAN). The data connection can also be realized by a connection of a data cable. The connection can also be established via other units, which can even establish a connection to an external server. For example, there can be a data connection between the ego vehicle and a mobile phone connected to the Internet, such as via a data cable or a radio connection, such as via Bluetooth. In particular, a connection to an external server can be established via the Internet.

[0036] Methods from 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.

[0037] The surrounding data detected by means of sensors can be merged with map data in particular in order to supplement the information or check the plausibility of this information. In particular, in this way a database that is as comprehensive as possible is obtained and the detected data can thus be supplemented particularly easily. Thus, for example, it can be determined on the basis of map data whether oncoming traffic should be taken into account on a lane, and in a next step it can be determined on the basis of sensor data whether oncoming traffic is actually detected on this lane.

[0038] In another embodiment, the driver information display includes an ego object representing the ego vehicle. Here, a trajectory object extends from the ego object to the traffic member object. This can advantageously make the trajectory particularly clear according to the vehicle traveling ahead.

[0039] In particular, following driving is performed here. This can be done, for example, when no lane markings can be determined that can be used for lateral control of the ego vehicle. In this case, the position of the traffic member driving ahead on the lane is detected and a safe traversable trajectory is assumed for the ego vehicle.

[0040] When detecting the other traffic member, in particular the position of the traffic member relative to the ego vehicle, for example the lateral offset relative to the ego vehicle, is detected. The other traffic member is in particular a vehicle traveling ahead. Based on the detected data, the ego vehicle can now be controlled laterally so that the trajectory of the ego vehicle follows the trajectory of the other traffic member. For this control, a target trajectory of the ego vehicle is generated and the movement of the ego vehicle is controlled along this target trajectory.

[0041] In one embodiment, a planned lane change of the ego vehicle is detected and a target trajectory of the ego vehicle is determined for the lane change. In particular, the target trajectory is determined here as a function of whether and in what manner the lane change can be performed safely. As a result, the driver can advantageously and particularly easily grasp a safe trajectory for the lane change.

[0042] The planned lane change is detected, for example, by the driver's actuation of the turn signal indicator or by the output of the driver assistance system. The driver assistance system then analyzes the traffic situation in the environment of the ego vehicle and determines the safety of the lane change. If a safe lane change can be performed, a corresponding target trajectory is generated and output. The target trajectory is the path along which the ego vehicle should move in order to reach the adjacent lane.

[0043] The trajectory object is generated in particular in such a way that it outputs the actual trajectory of the ego vehicle in the driver information display. That is, not only an arrow or other graphic element indicating the approximate direction of movement from the current lane to the adjacent lane is output, but also the actual trajectory to be traveled on the lane is output in the driver information display.

[0044] In particular, it can be determined on the basis of the map data whether a lane change can be performed safely. This advantageously allows the use of information contained in these map data about the possibility of a lane change or overtaking in the lane being traveled.

[0045] For example, it can be detected whether a lane change is permitted at a certain location, for example in a no-passing zone. The map data can also include information about whether a lane change can generally be considered safe at a certain location. In particular, in this way, a database that is as comprehensive as possible is obtained and the detected data can thus be supplemented particularly easily. In particular, the map data can already include information about the radius of curvature of a curve in the lane course.

[0046] If there is no risk of collision with other traffic members or other objects, the lane change is safe; if necessary, legal restrictions such as prohibitions on overtaking or lane changes can be taken into account. Objects and other traffic members in the surroundings of the ego vehicle are detected with the aid of these sensors. Important in particular are the traffic members in the adjacent lane for which the lane change is to be evaluated.

[0047] It is detected whether other traffic members are currently in the area of ​​the adjacent lane in which the ego vehicle would travel in the event of a lane change. It is also detected whether other traffic members will be in such an area at a future point in time when the ego vehicle would travel in this area in the event of a lane change. This may be other traffic members that are currently traveling beside the ego vehicle, approaching from behind at a higher speed, or traveling in front of the ego vehicle in the direction of travel at a lower speed. In addition, accelerations of other traffic members may also be detected and taken into account.

[0048] Alternatively or additionally, the safety of the lane change can be determined in other ways. In this case, other environmental data can also be detected and various features can be determined based on these environmental data.

[0049] In an extended solution, the driver information display includes a graphic adjacent lane object, which represents other adjacent lanes and has a graphic representation feature, which is formed according to whether a lane change can be performed safely. The graphic representation feature of the adjacent lane object can, for example, involve brightness, color, transparency, contrast or pattern. In this way, the driver can advantageously recognize whether a safe lane change can be performed particularly simply, especially through the representation of the two-dimensional graphic object.

[0050] Alternatively or additionally, a graphical representation of a specific object and in particular a highlighting of a specific object can be used in the graphical representation. For example, a dynamic representation can also be used, for example in which parameters of the representation are periodically changed, such as by changing the brightness during flashing or pulsing or by periodic color changes.

[0051] In one embodiment, the representation-related features of the other traffic member are detected and the traffic member object assigned to the other traffic member is formed based on the representation-related features. As a result, the driver can advantageously recognize particularly easily how the objects of the driver information display relate to physical objects in the driver's environment.

[0052] Here, the traffic member object provides a particularly realistic image of the other traffic member without having to directly output image data or video data of a camera for this purpose. Instead, the traffic member object is schematically formed, wherein various features and details of a visually perceptible appearance can be output.

[0053] Representation-relevant features of a traffic member are, in particular, features which relate to the representation of the traffic member and the traffic member object representing it itself and not to, for example, the arrangement of the traffic member object within the driver information display. Representation-relevant features are, in particular, features which characterize the visual perception of the other traffic member from the outside. Thus, when these features are reproduced by the traffic member object in the driver information display, they facilitate the recognition of the traffic member physically present in the environment.

[0054] In one embodiment, the feature relevant to the representation is the color, shape and / or size of the other traffic member. Thus, the correspondingly represented traffic member object advantageously allows the driver to recognize the other traffic member in the driver's environment particularly easily.

[0055] The features relevant to the representation can also relate to the state of the lighting system of the other traffic member, such as the state of the taillights or the turn signal lights. The features relevant to the representation do not relate in particular to the distance or position of the other traffic member relative to the ego vehicle. Rather, these features shape the appearance of the other traffic member, and the traffic member object is thus generated in such a way that the traffic member object reproduces the other traffic member as realistically as possible.

[0056] For example, the features relevant to the representation can be detected by means of sensors of the host vehicle, in particular by means of a camera. This makes it possible to advantageously use sensors that are usually already present in modern vehicles in order to detect features that are particularly important with regard to the external perception of the other road user. For example, the color of the other road user can be detected particularly easily by means of a camera.

[0057] Other sensors of the ego vehicle may be, for example, lidar sensors or radar sensors. This advantageously provides information about the actual surrounding conditions in a particular driving situation. In particular, data can be used that are provided by known driver assistance systems, such as lane change assistance or overtaking assistance. This advantageously allows a particularly realistic assessment of the driving situation.

[0058] The sensors of the ego vehicle each have a detection range. For example, a camera can detect data within a certain spatial angle and up to a certain distance from the ego vehicle. In this case, these sensors can be pointed in the direction of travel, against the direction of travel or to the side and detect data within a correspondingly arranged detection range.

[0059] In one embodiment, a data connection is established between the own vehicle and the other traffic, and the representation-related features are detected using this data connection. This makes it possible to use direct communication paths between the vehicles in an advantageously particularly efficient manner.

[0060] The data technology connection between the ego vehicle and the other traffic member can be realized in particular wirelessly, for example, via a local area network or a larger network, such as the Internet. The connection can also be established via a telecommunications network, such as a telephone network or via a wireless local area network (WLAN). The data connection can also be realized by a connection of a data cable. The connection can also be established via other units, which can even establish a connection to an external server. For example, there can be a data technology connection between the ego vehicle and a mobile phone connected to the Internet, such as via a data cable or a radio connection, such as via Bluetooth. In particular, a connection to an external server can be established via the Internet.

[0061] Methods from 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. The methods or protocols used here can be designed differently, and different frequency ranges can also be used for data transmission.

[0062] For example, information about the model name of the other traffic member can be transmitted via such a data connection. In this way, a traffic member object can be formed, for example, by searching a database of different models for a suitable representation and assigning the detected model, for example, a determined representation.

[0063] The feature relevant to the representation can also be a planned driving maneuver of the other traffic member, wherein the driver information display includes a driving maneuver object assigned to the traffic member object. As a result, the driver can advantageously see particularly easily which driving maneuvers of the other traffic member are to be taken into account. The planned driving maneuver relates in particular to a change in direction and / or speed of the other traffic member.

[0064] For example, when detecting that the driving direction indicator of these other traffic members is activated, the planned driving maneuver of these other traffic members can for example be detected according to the light signal. In this case, it can be determined that these other traffic members are planning lane change or turning process.

[0065] Furthermore, a planned driving maneuver can be detected by means of the data technology connection, for example when the other member of the traffic communicates in this way that a certain driving maneuver is being planned.

[0066] The driving maneuver object can be constructed in different ways. The driving maneuver object can especially include a graphic object so that the graphic object indicates a specific direction, which characteristic direction represents the planned change of direction of the other traffic member. This can be, for example, an arrow, which indicates the direction from the current position of the traffic member object to the adjacent lane. The driving maneuver object can also be formed so that the planned trajectory of the other traffic member is output, such as from the current position to the target position, especially relative to the ego vehicle. The planned speed change of the other traffic member can also be displayed, such as according to an arrow against the direction of travel or by a warning object to display the planned speed change of the other traffic member.

[0067] In one embodiment, the operating state of a driver assistance system of the host vehicle is detected, and the automation level is determined as a function of the detected operating state of the driver assistance system. The driver information display includes a representation of the environment of the host vehicle, which is formed as a function of the determined automation level. As a result, the driver information display can be advantageously particularly well adapted to the current driving situation.

[0068] In the case of a higher automation level, the driving of the host vehicle is assisted to a greater extent by at least partially automated functions of the driver assistance system than in the case of a lower automation level. For example, in the case of a first automation level, it can be provided that only the longitudinal control of the host vehicle or the lateral control of the host vehicle is assisted, while in the case of a second, higher automation level, assistance can be provided in both directions.

[0069] In particular, the lane object is formed differently depending on the automation level at which the environment is presented. In particular, the actual radius of curvature of a curve can be output in the case of an enlarged representation, that is, in the case of a higher automation level. In contrast, in the case of a reduced representation, it can be provided that the lane object is presented only as a straight-ahead segment, wherein, for example, the position of other objects relative to the ego vehicle is transformed onto the lane object in the reduced representation.

[0070] In particular, the driver information display with the ego object is generated so that the ego object is presented in a perspective view from behind. Here, the lane segment located in front of the ego vehicle in the driving direction can also be presented with the help of the lane object. That is, the virtual line of sight in the driver information display is oriented so that the lane segment in which the ego vehicle is to travel is visible. The lane object can, for example, be related to the lane currently used by the ego vehicle and can alternatively or additionally represent the direction of other lanes. The lane object can be configured, for example, as a representation of a straight lane segment in front of the ego vehicle.

[0071] For example, depending on the degree of automation, the lane is presented in more or less detail. In particular, the lane object is presented shorter in the case of the first environment representation assigned to a lower automation level than in the case of a higher automation level. On the other hand, if a higher automation level has been determined, a larger part of the lane course is presented.

[0072] In addition, the environment representation can be dynamically constructed in the case of a higher automation level, so that more features of the lane course currently located in front of the ego vehicle are presented compared to the case of a lower automation level. In particular, the presentation is performed dynamically so that the presentation is always adapted to the current traffic situation in the environment of the ego vehicle. The presented features of the lane course can include, for example, bends, the arrangement or markings of adjacent lanes. Depending on which automation level is determined, these features can be included by the lane object. For example, the lane object of the reduced representation can only include the lane presented in a straight direction, while the bend and, if necessary, the lane course are included in the enlarged representation.

[0073] For example, in the case of a higher automation level, lane objects can be presented for longer lane sections. It is also possible to present adjacent lanes, the degree of presentation depending on the automation level. For example, when a lower automation level is determined, adjacent lanes are not displayed or are only partially displayed, while in the case of a higher automation level, adjacent lanes are displayed over their entire width.

[0074] In particular, traffic member objects are presented only when an automation level is determined for the enlarged representation. That is, at lower automation levels, other traffic members are presented only when they are used as control objects for the driver assistance system. In contrast, at higher automation levels, traffic member objects are always presented, in particular in order to show that the vehicle has a complete environment model including objects in the environment of the ego vehicle.

[0075] In another embodiment, environmental data are detected and delimiting markings are determined on a lane segment that is located in front of the ego vehicle in the direction of travel. For the determined delimiting markings, a delimiting marking class is determined, wherein the driver information display includes a graphical delimiting object that is formed according to the determined delimiting marking class. The driver information display thus advantageously allows a particularly simple orientation for the driver, so that the driver can directly assign display elements to elements of the perceived traffic situation.

[0076] For example, lane markings are detected, assigned to delimiting feature classes and correspondingly output as delimiting objects in the driver information display. Delimiting objects are arranged in particular on lane objects and are important features of the detected lane markings. Thus, for example, solid and dashed lines, double lines and other lane markings can be presented. The presented delimiting objects also follow, in particular, the actual lane course, for example, in the area of ​​a curve.

[0077] In one embodiment, the course of a lane including the radius of curvature of a curve in front of the ego vehicle in the driving direction is detected. Movement data of the ego vehicle is detected, and the degree of criticality is determined based on the detected movement data and the detected radius of curvature. The graphical lane object has prominent features that are formed according to the determined criticality level. In this way, the driver can advantageously quickly and easily understand whether he must intervene in the control of the ego vehicle and in what manner in order to ensure safe driving.

[0078] In one embodiment, the movement data of the host vehicle include its current speed or a predicted speed when entering a curve. As a result, the output can be advantageously adapted particularly accurately to the actual requirements.

[0079] The current speed of the ego vehicle can be detected in a manner known per se by means of sensors of the ego vehicle. For example, with the aid of a driver assistance system, it can also be determined what speed the ego vehicle will have when it reaches a certain position and in particular when entering a curve. If, for example, the ego vehicle has been braked at the current time, it is determined at what speed the ego vehicle is expected to reach the start of the curve. Braking can be carried out, for example, by actively applying the brakes, or the ego vehicle can have been decelerated by the driver releasing the accelerator or letting the ego vehicle coast.

[0080] Other movement data may also be detected, such as acceleration in a direction longitudinal and / or transverse to the direction of travel.

[0081] In one embodiment, other vehicle parameters are detected and the degree of criticality is also determined as a function of these other vehicle parameters. By also taking into account data other than the movement data of the host vehicle, the degree of criticality can advantageously be evaluated particularly accurately.

[0082] In addition to the movement data of the ego vehicle, that is to say in particular the speed, other data may also be detected which influence the safe negotiating of a curve and in particular the force interaction between the tires of the ego vehicle and the road surface. This includes, for example, data on the type, characteristics, condition and age of the vehicle's tires or on the chassis settings.

[0083] In the embodiment of the method, the criticality determined in particular quantitatively indicates the urgency with which manual intervention by the driver is required in order to ensure safe driving. For example, it may be necessary to manually adapt the speed of the host vehicle and / or manually apply a certain steering torque. In this case, in particular, a physical model is used in order to determine whether centrifugal forces occur at a certain speed and a determined radius of curvature of the curve, which would lead to leaving the lane or the planned trajectory. In this case, in particular, additional parameters are taken into account, which, for example, influence the force transmission between the lane and the vehicle.

[0084] It can also be considered that the standards and regulations for driver assistance systems in the field of lateral control stipulate a limit value for the steering torque to be applied automatically at maximum. That is, if the radius of the curve and the speed of the ego 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 criticality thus depends in particular on the steering torque that must be applied in order to safely navigate the curve at the current speed of the ego vehicle. The steering torque can be calculated based on the curvature radius and speed of the curve and, if necessary, other parameters according to a physical model.

[0085] The criticality can also depend on the type of measure to be introduced. For example, if a deceleration of the vehicle must be introduced in order to be able to navigate the curve with an unchanged degree of assistance by the driver assistance system, a first criticality value can be determined. If a steering intervention is required, a second criticality value can be determined. Furthermore, if not only a manual deceleration but also a manual steering intervention is necessary in order to navigate the curve safely, a third criticality value can be determined.

[0086] The highlighting features of the graphic lane object are constructed in a manner known per se and may, for example, include a highlighting representation 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 also usually used for outputting alarms, may be, for example, red, yellow and green. In contrast, certain color representations may cause less highlighting, such as in the case of gray, dark or less saturated coloring. It is also possible to highlight by means of a time-variable representation of the lane object, in particular by periodic changes in the representation, such as by flashing or pulsing or by sudden appearance or disappearance. The change in the representation over time may also involve the shape of the presented graphic object or a one-time or periodic size change. The highlighting feature may also be constructed as other graphic objects, such as a frame or border of a lane object.

[0087] The presentation of the highlight feature depends on the determined criticality. For example, in the case of a low criticality, the highlight feature can be designed so that it causes a weak highlighting, such as the presentation of the lane object without a frame, or a colored shape that is designed similarly to the surrounding graphic objects, for example, in terms of brightness, color and contrast. In the case of a higher criticality, a frame or an additionally highlighted object can be displayed, or the lane object can be presented differently from the surrounding graphic objects for the purpose of highlighting, for example by a contrasting presentation in terms of brightness and / or color or by using a signal color such as yellow or red.

[0088] In another embodiment, the lane surface characteristics are also detected, and the criticality is also determined based on the detected lane surface characteristics. Thus, the criticality can be determined not only based on the geometric characteristics of the lane, but also based on other relevant characteristics of the lane surface more reliably.

[0089] The road surface properties are in particular parameters that are relevant for the force transmission between the vehicle and the road surface. For example, moisture, snow, ice, oil or other dirt on the road can lead to a poorer force fit between the tire and the road surface and the need to negotiate a bend at a lower speed. In addition, the type of road surface may be relevant information in this respect.

[0090] The lane surface properties are detected in a manner known per se. For example, sensors of the ego vehicle can be used, such as a camera, a rain sensor or a sensor device for measuring the force interaction between the tire and the lane surface or the wheel slip occurring on the surface. Alternatively or in addition, user inputs or data from an external device can be detected, such as weather data about the position of the ego vehicle or the position of a curve. For this purpose, data can be received in particular via Car2Infrastructure communication, Car2X communication or Car2Car communication, in which the traffic infrastructure, external units and / or other vehicles detect data about the lane surface properties and provide these data to the ego vehicle.

[0091] According to the invention, a driver information system in an ego vehicle comprises a detection unit, which is configured to detect other traffic members in the lane area in front of the ego vehicle. The driver information system also comprises a driver assistance system for at least partially automated lateral control of the ego vehicle, which is configured to generate a target trajectory of the ego vehicle as a function of the other traffic members, and a control unit, which is configured to generate and output a driver information display. The driver information display comprises a graphical traffic member object representing the other traffic member. Furthermore, the driver information display comprises a trajectory object, which represents the target trajectory of the ego vehicle.

[0092] The driver information system according to the invention is designed in particular to implement the method according to the invention described above. Therefore, the driver information system has the same advantages as the method according to the invention.

[0093] In one embodiment of the driver information system according to the invention, the display unit comprises a field of view display for outputting a driver information display. This display can thus advantageously be detected particularly easily by the driver. The display can also be arranged particularly well with respect to the physical surroundings of the own vehicle.

[0094] In particular, head-up displays or display devices known per se from the field of so-called "augmented reality" can be used. For example, glasses are known which project a graphic representation into the eyes of a user so that it appears superimposed on the natural perception of the eye. In this way, additional information can be output in a particularly easily detectable manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0095] Now, the present invention will be explained based on embodiments with reference to the accompanying drawings.

[0096] Figure 1 A vehicle having an embodiment of a driver information system according to the present invention is shown;

[0097] Figure 2 A traffic situation with vehicles on the lane is shown;

[0098] Figure 3 An embodiment of a driver information display generated according to the method when driving on a curve is shown;

[0099] Figures 4A to 4C Other embodiments of driver information displays generated according to the method taking into account weather data are shown;

[0100] Figures 5A to 5D Further embodiments of driver information displays generated according to the method taking into account different types of lane markings are shown;

[0101] Figures 6A to 6C Other embodiments of driver information displays generated according to the method for a planned lane change are shown;

[0102] Figures 7A to 7C Other embodiments of driver information displays generated according to the method taking into account potentially threatening oncoming traffic are shown;

[0103] Fig. 8Ato C show different representations of the ego object in the driver information display that can be generated and output in the method;

[0104] Fig. 9 An embodiment of a driver information display with a trailer object generated according to the method is shown;

[0105] Fig. 10A and 10B An embodiment of a driver information display for different automation levels is shown;

[0106] Figures 11A to 11D An embodiment of a driver information display with unclassified and classified other traffic members is shown;

[0107] Fig. 12A and 12B An embodiment of driver information display during following travel of an ego vehicle is shown; and

[0108] Figures 13A to 13D An embodiment of a driver information display when setting an adjustment distance is shown. DETAILED DESCRIPTION

[0109] refer to Figure 1 A vehicle having an exemplary embodiment of a driver information system according to the present invention will be described.

[0110] The ego vehicle 1 comprises a detection unit 2, which is coupled to a control unit 3. The ego vehicle further comprises a display unit 4 and a driver assistance system 6, which are likewise coupled to the control unit 3. In this exemplary embodiment, the control unit 3 comprises an evaluation unit 5 and is wirelessly coupled to an external unit 10, in this exemplary embodiment an external server 10, in a data-technical manner. The ego vehicle 1 further comprises a lighting device 7 and a towing device 8, which are likewise coupled to the control unit 3.

[0111] In this exemplary embodiment, the detection unit 2 is designed in a manner known per se and comprises a camera which detects image data within a detection area which extends forward at an angle in the direction of travel from the ego vehicle 1. The detection unit also comprises front, side and rear radar sensors which detect data within further detection areas around the ego vehicle 1.

[0112] The display unit 4 is likewise designed in a manner known per se and is integrated as a display into the instrument cluster of the ego vehicle 1 in this embodiment. In other embodiments, the display unit 4 comprises a head-up display, which is set up so that the display is projected into the field of view of the driver of the ego vehicle 1 so that the display is superimposed on the driver's natural perception. In other embodiments, further devices for outputting the display are also provided, which are known, for example, from the field of augmented reality. Alternatively or additionally, the display unit 4 can include a central display in the area of ​​the center console of the ego vehicle 1 or other displays in the ego vehicle 1. The display unit 4 can also include a plurality of displays.

[0113] The driver assistance system 6 includes a plurality of driver assistance modules, by means of which the driver of the ego vehicle 1 is assisted in different ways in controlling the ego vehicle 1. In this embodiment, these driver assistance modules are not described in further detail. For example, a system for assisting longitudinal control, in particular for assisting in maintaining a predetermined distance from a vehicle traveling ahead and for maintaining a predetermined speed, and a system for assisting lateral control, in particular for assisting in maintaining the lane being traveled, for example, in accordance with lane markings or by following behind a vehicle traveling ahead. Outputs can be generated by the driver assistance system 6 and outputted, for example, by means of a display unit 4, in particular in order to display warning prompts or recommended driving maneuvers to the driver. In addition, different driver assistance modules can actively intervene in the control device of the ego vehicle 1.

[0114] The lighting device 7 includes various devices for lighting that can be detected outside the self-vehicle 1. In these embodiments, it includes headlights for generating daytime running lights, low beam lights, high beam lights and parking lights. It also includes driving direction indicators and side marker lights and other signal lights. It also includes taillights, brake lights, reflectors, rear fog lights and reversing lights, which are particularly arranged at the rear of the self-vehicle 1 so that they are visible to traffic from behind.

[0115] The towing device 8 is designed in a manner known per se and comprises elements suitable for coupling to the towed equipment. This can be, in particular, a trailer. For this purpose, an electrical connection is also provided, via which, for example, a lighting system of the trailer can be actuated. In this embodiment, the towing device also comprises sensors which detect the weight carried and, if necessary, the pulling force of the trailer, for example, in order to determine whether a trailer is present and, if necessary, the type of trailer.

[0116] refer to Figure 2 Here, the above reference Figure 1The starting point is the described own vehicle with an exemplary embodiment of a driver information system according to the present invention, which is specified in further detail by the description of the method.

[0117] In this embodiment, Figure 1 The ego vehicle 21 corresponding to the ego vehicle 1 shown in FIG. 1 is traveling in a lane 20 having two lanes 20a and 20b in the direction of travel indicated by arrow 22. Traffic signs 25 are arranged in the area of ​​the lane 20. The vehicle 23 traveling ahead is located in the same lane 20b as the ego vehicle 21, while the oncoming vehicle 24 is located in the adjacent lane 20a. The lane 20 has a lane course with a curve, wherein the Figure 2 In the exemplary embodiment shown in FIG, the ego vehicle 1 moves toward a right turn, which is followed by a left turn.

[0118] The ego vehicle 21 detects the course of the lane located in front of the ego vehicle in the driving direction by means of the detection unit 2. In this embodiment, for this purpose, image data are detected by means of a camera included in the detection unit 2 and analyzed in a next step to determine the course of the lane. For this purpose, in particular, the geometry of the lane 20 or the lane 20b currently being driven by the ego vehicle 1 is determined. In other embodiments, alternatively or additionally, other sensors of the ego vehicle 1 are provided for detection.

[0119] Based on the data detected by the detection unit 2, the lane markings that separate the two lanes 20a, 20b from each other are also detected. Other lane markings at the edge of the lane 20 are also detected. Figure 2 Lane markings not shown in the figure. For the lane markings, the delimiting marking class is determined, in the present case "dashed line" and "solid line" for different areas of the center line between the lanes 20a, 20b and "solid line" for the edge markings of the lane 20. In other embodiments, the delimiting marking class can also be determined as a lane marking of "double solid line", "parallel dashed and solid line" or a similar configuration. A curb or a transition from the lane 20 to the adjacent shoulder can also be detected as a delimiting marking and classified accordingly as a delimiting marking.

[0120] In addition, in this embodiment, the current position of the ego vehicle 1 is detected and map data are provided based on this position, which map data include information about the lane course. The map data and the detected sensor data are fused and the lane course actually located in front of the ego vehicle 1 in the driving direction is determined based on this.

[0121] The ego vehicle 21 also detects weather data by means of the detection unit 2. In this embodiment, a rain sensor and a camera are used for this purpose. In other embodiments, the relevant weather data are alternatively or additionally called up from the external unit 10 depending on the determined position of the ego vehicle 21. Data about the weather at the position of the ego vehicle 21 provided by the infrastructure or, for example, via a radio transmitter can also be detected.

[0122] The detected weather data include information about rain and snow not only at the current time point but also in the recent past. From this, it is inferred whether the lane section in front of the ego vehicle 21 is wet or has snow on the road. The weather data also relates to the risk of icing on the road surface. For this purpose, in particular the current temperature of the air or the road surface is taken into account; if this temperature is below freezing or another threshold value, it is assumed that the road is icy. Other types of precipitation, such as hail or sleet, are also taken into account.

[0123] The detection unit also detects movement data of the ego vehicle 21, in particular the current speed and acceleration of the ego vehicle. In other embodiments, the speed and acceleration of the ego vehicle at a later time point, in particular at the predicted time point when the ego vehicle 21 enters the curve, are also predicted. In other embodiments, other data about the ego vehicle 21, in particular data about the characteristics of the tires of the ego vehicle and the chassis settings of the ego vehicle, are also detected, and the other data affect the behavior of the ego vehicle when driving on a curve.

[0124] The analysis unit 5 determines the radius of curvature of the curve in front of the ego vehicle 21 based on the detected lane course. In other embodiments, the radius of curvature of other curves can also be determined, in particular to enable a more proactive driving style. The information about the speed of the ego vehicle 21 and the radius of curvature of the curve in front of the ego vehicle 21 is then used to determine the criticality value.

[0125] In order to determine the criticality, the steering torque of the ego vehicle 21 required for negotiating the curve at the current or predicted speed is determined, in particular by the driver assistance system 6. 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 automated assistance in maintaining lane 20b. If the threshold value is exceeded, the driver assistance system 6 cannot automatically perform a supportive intervention with a sufficiently large steering torque in order to enable the ego vehicle 21 to safely negotiate the curve. This means that the driver of the ego vehicle 21 must intervene in the control of the ego vehicle 21 by applying an additional steering torque and / or reduce the speed by decelerating the ego vehicle 21.

[0126] In other embodiments, alternatively or additionally, it is determined whether the ego vehicle 1 can physically safely navigate the curve at the detected or predicted speed. If it is determined that this is impossible or risky, this is considered to be more critical. In this case, in particular, possible physical force transmission between the tires of the ego vehicle 1 and the road surface is taken into account. In the case of a higher criticality, it is necessary, for example, to brake the ego vehicle 1 or to select a larger turning radius.

[0127] In this embodiment, different driver assistance modules of the driver assistance system 6 can be activated, wherein different degrees of automation are also achieved. The driver can, for example, select a low level of automation, wherein the longitudinal and lateral control of the ego vehicle 1 is essentially carried out manually. The driver can add a module that outputs a warning or a suggestion for this control; this corresponds to a low level of automation. In addition, the driver can activate modules that assume the individual tasks of longitudinal and lateral control; this corresponds to a higher level of automation. In addition, the driver can activate the following driver assistance modules, which automatically assist not only the longitudinal control but also the lateral control; this corresponds to an even higher level of automation. The threshold value of the steering torque that can be applied by the driver assistance module for lateral control can depend on the specific module or the driver assistance system 6.

[0128] During driving, the control unit 3 generates a driver information display which is output via the display unit 4. An example of such a display is shown in FIG. Figure 3 As shown in FIG.

[0129] The driver information display includes an ego object 31, which is configured as a perspective view of the ego vehicle 21 from behind, starting from a slightly elevated virtual position, so that the area in front of the ego vehicle 21 can also be presented. The display also includes a lane object 30, which is arranged so that the ego object 31 is displayed on the lane object. The lane object 30 represents the lane 20b on the lane 20 that is currently actually driven by the ego vehicle 21.

[0130] In other exemplary embodiments, further graphical objects are displayed for other and in particular adjacent lanes, which are designed, for example, similarly to displayed lane object 30 .

[0131] In this exemplary embodiment, lane object 30 is delimited by a dashed lane marking 30a on the left and a solid lane marking 30b on the right. The type of marking presented corresponds to the markings actually present on lane 20a according to the previously determined delimiting marking class. In other exemplary embodiments, these lane markings can be formed according to other criteria, for example, in order to symbolically indicate whether a lane change in the direction of the lane marking is permitted and possible.

[0132] The lane object 30 represents the detected course of the physical lane 20b in which the ego vehicle 21 is currently located. The curve in front of the ego vehicle 21 is represented by the curve region 32 of the lane object 30. The curve region is formed in terms of its geometry so that it reproduces the actual radius of curvature of the curve in a perspective view.

[0133] The lane object 30 is formed together with the curve area 32 according to the criticality determined for the curve. In this embodiment, the lane markings 32a, 32b that delimit the lane presented in the curve area 32 on the side are configured so that the driver is prompted to need manual intervention. Here, this is achieved by representing it in a specific color, such as red when the value of the specific criticality exceeds a threshold value. In this embodiment, the lane markings 32a, 32b in the curve area 32 are no longer formed so that these lane markings reproduce the actual markings on the lane 20b, but these lane markings are presented as solid lines to prompt the driver of the importance of these lane markings in the curve.

[0134] In other embodiments, the lane object 30 has a highlighting feature that is different from the color of the lane markings 32a, 32b in the curve area 32, such as the color of the surface of the lane 32 presented, so that the highlighting is performed over a large area. In other embodiments, other representations can be generated based on the criticality value, such as other representations with other colors determined according to the criticality value and the scale. Dynamic representations can also be generated, such as dynamic representations with flashing objects.

[0135] In this embodiment, the driver information display also includes the representation of traffic signs 33a, 33b, which indicate speed limits and prohibition of overtaking in the bend area. These traffic signs 33a, 33b can also be displayed in the area of ​​the lane object 30, so that these traffic signs appear on the surface of the lane object, or these traffic signs can be displayed at the edge of the lane object 30 like actual traffic signs 25. In this embodiment, the traffic signs 33a, 33b correspond to the traffic signs 25 actually arranged at the edge of the lane 20, but in other embodiments, for example, when a certain maximum speed is determined for safe driving through the bend or when the bend area is evaluated as unsafe for overtaking, traffic signs can also be formed according to the driving advice of the driver assistance system 6.

[0136] In other embodiments, depending on the criticality, an alarm message that can be detected acoustically and / or tactilely can also be output. Other visual alarm messages can also be displayed in addition, such as by means of alarm symbols.

[0137] In another embodiment, the driver assistance system 6 is configured to determine whether a speed is reached when entering a curve that allows safe driving through the curve. If the driver does not initiate suitable measures despite the fact that the curve section 32 is highlighted in the driver information display, safety measures can be automatically initiated in order to bring the ego vehicle 1, 21 into a safe state. Thus, for example, braking can be performed, which brings the ego vehicle 1, 21 to a safe speed.

[0138] In this exemplary embodiment, it is also provided that the graphic representation of the ego vehicle 31 is arranged at a fixed position in the driver information display. The representation thus corresponds to the perspective of a fixed point relative to the ego vehicle 21, in particular the perspective of the position of the driver or a position above the ego vehicle 21. The representation is generated in such a way that during driving, the movement is represented in such a way that other objects representing the surroundings of the ego vehicle 21 move relative to the represented ego object 31. For example, it is represented that the lane markings 30A, 30B move relative to the ego object 31 and the arrangement of the lane object 30 relative to the ego object 31 also changes. For example, the lane object 30 changes during driving through a curve, so that the curvature of the lane object is represented variably and the lane object 30, for example, at the exit of the curve area runs again completely straight or with a changed, detected radius of curvature.

[0139] In another embodiment, other traffic members are detected and output as traffic member objects in the driver information display. The traffic member objects are displayed relative to the ego object 31, so that the physical position and speed of the assigned traffic member can be known from the display. Here, the traffic member objects are also presented in a rotational manner according to the lane direction, so that, for example, when these traffic member objects are traveling on a curved area of ​​the lane relative to the orientation of the ego vehicle 21, these traffic member objects are visible from the oblique side.

[0140] In another embodiment, the display unit 4 comprises a head-up display and at least the lane object 30 of the driver information display is displayed in this manner. The lane object can be displayed in particular in such a way that it appears superimposed with the lane 20b actually perceived from the position of the driver. Then, the curve area 32 is highlighted so that the driver can assess the criticality in the area in front of the driver and can recognize that a manual reduction in speed or additional application of a steering torque is required to safely navigate the curve.

[0141] Then, refer to Figure 4A , 4B 4C to illustrate another embodiment of a driver information display formed and output in the method taking into account weather data. The display is similar to the above reference Figure 3The illustrated embodiment is described. Therefore, only additional features are described. Objects of the same type are denoted by the same reference numerals.

[0142] In this embodiment, the driver information display also includes graphic elements 40a, 40b for adjacent lanes. These graphic elements are positioned on the side of the lane object 30 on which the ego object 31 is arranged and extend the lane to the side in a perspective presentation. In this embodiment, lane markings 30a, 30b at the edge of the lane object 30 are displayed only for the vehicle's own lane 20b. The type of marking presented here also corresponds to the markings actually present on the lane 20 according to the previously determined delimiting marking category.

[0143] exist Figure 4A In the case shown in , a dry road surface was detected. The moving objects 30 , 40 a , 40 b are presented without structuring, for example uniformly in black or gray.

[0144] exist Figure 4B In the case shown in FIG. 4 , it is detected that the lane surface is wet. The graphic objects for presenting the own lane 30 and the adjacent lane 30a on the left and the adjacent lane 30b on the right are presented using the pattern of raindrops in this example. In other embodiments, other structured structures can be presented, and it is also conceivable that dynamic representations are presented, such as mobile structures in the area of ​​the graphic objects 30, 40a, 40b. In another embodiment, other objects are also presented, such as other traffic members whose mirror images are presented on the lane that is presented as wet like rain. In addition, water foam can be presented in the area of ​​the traffic member object moving on the lane.

[0145] exist Figure 4C In the case shown in FIG. , it is detected that the lane is at least partially covered with snow. Figure 4B , here too, the objects for the lanes 30, 30a, 30b are presented in a structured manner, wherein a pattern of a snowy surface is shown. Other structured and dynamic representations are also conceivable here.

[0146] In other exemplary embodiments, the graphical objects for the lanes 30 , 40 a , 40 b are presented in such a way that other features of the surface of these lanes are represented, which may be dirt, oil or markings on the lanes, for example.

[0147] refer to Figures 5A to 5D , further displays are described which can be generated and output in the method taking into account different types of lane markings. Figure 1 The driver information system described is taken as a starting point and objects are denoted, wherever possible, by the reference numerals already used above.

[0148] exist Figure 5A In the case shown in FIG. 2 , no lane markings are visible on lane 20. Only ego object 31 representing ego vehicle 21 and lane objects 30 are presented, which are uniformly shown in gray in this embodiment. In other embodiments, other representations are possible, but the display is implemented so that objects similar to lane markings are not displayed. The driver can see from this display that ego vehicle 21 is traveling without orientation at the identified lane markings, so that, for example, driver assistance systems for lateral control can only be used to a limited extent or cannot be used at all.

[0149] exist Figure 5B In the case shown in , it can be seen that the lane 20b in which the ego vehicle 21 is located is delimited on the left and right by lane markings. These lane markings are assigned to the delimiting marking classes "dashed lane marking" or "solid lane marking". The adjacent lanes are also seen. In addition to the ego object 31 and the lane object 30 representing the currently used lane 20b, the driver information display also includes graphic objects for the left adjacent lane 40a and the right adjacent lane 40b as well as the lane markings 30a, 30b, which are formed according to the detected delimiting marking classes and reproduce the important features, that is, the construction of dashed or solid lines, corresponding to the actual lane markings.

[0150] exist Figure 5C The case shown in the figure is different from that in Figure 5B In the case shown in FIG. 2 , the own lane 20b of the ego vehicle 21 is not delimited by the lane marking on the right. Instead, a transition from the lane to the shoulder area is detected. This is shown in the driver information display. Figure 5B The situation shown in is output differently in that graphical object 40 b for the right adjacent lane represents a road shoulder region which is adjacent to lane object 30 with ego object 31 .

[0151] exist Figure 5D The situation shown in Figure 5B The difference to the case of ego vehicle 21 is that the current lane 20 b of the ego vehicle 21 is delimited on the right by a curb. This is displayed in the driver information display by presenting a graphical delimiting object 30 b representing a curb to the right of lane object 30 .

[0152] In other embodiments, lane markings may also include guardrails, vegetation, or roadside structures or other demarcation markers and structures in different demarcation marking categories.

[0153] refer to Figures 6A to 6C, further displays are described which can be generated and output in the method for the planned lane change. Figure 1 The driver information system described is taken as a starting point and objects are denoted, wherever possible, by the reference numerals already used above.

[0154] Figures 6A to 6C Each of the ego objects 31 is included, which represents the ego vehicle 21. The ego object is shown statically and is always arranged at the same position within the driver information display. The movement of the ego vehicle 21 is represented in that the represented surroundings move relative to the ego vehicle 31, as this appears from the coordinate system of the ego vehicle 21. In particular, the structure of the lane moves relative to the static ego object 31, including the curves and the lane markings 30a, 30b, corresponding to the actual own movement of the ego vehicle 21 on the lane 20.

[0155] The display is formed in a perspective manner from a position slightly above and behind the virtual ego object 31. The display comprises a lane object 30 representing the currently used lane 20b of the ego vehicle 21 and adjacent lane objects 40a, 40b for the adjacent lane 20a.

[0156] Furthermore, in each case, a vehicle 23 driving ahead is detected, which is now represented by a traffic member object 61, which is arranged in the representation in front of the ego object 31. In this case, the representation is generated such that the displayed distance between the ego object 31 and the object of the vehicle driving ahead 61 represents the actual distance of the vehicle. In other words, the driver can grasp the actual distance and, in particular, perceive changes based on the representation.

[0157] Other traffic members are presented by virtual traffic member objects 61 so that important features related to representation of the real appearance of the other traffic members are reproduced in the display. In this embodiment, the vehicle type and color of the other traffic members 23 are detected for this purpose. This detection is performed by means of the camera of the self vehicle 1. In other embodiments, alternatively or additionally, in particular by means of Car2Car communication, a data technology connection with the other traffic members 23 is established. Then, the graphic traffic member object 61 assigned to the traffic member 23 traveling ahead is formed so that the representation of the graphic traffic member object accurately reproduces the vehicle type and color. In other embodiments, alternatively or additionally, other features of the vehicle 23 traveling ahead can be reproduced in the case of the representation of the corresponding graphic traffic member object 63.

[0158] Figures 6A to 6CAlso included is a horizontal line arranged on lane object 30 in front of ego object 31 , which represents a set minimum distance of ego vehicle 21 from vehicle 23 travelling ahead.

[0159] exist Fig. 6A In the case shown in , it is detected that the current lane 20b is delimited on the right by a solid line and on the left by a dashed line. The detected lane markings are assigned to corresponding delimiting marking classes, and the delimiting markings are reproduced by presenting corresponding lane markings 30a, 30b.

[0160] A further traffic member is also detected on the left adjacent lane, which is approximately at the height of the ego vehicle 21. The display includes a corresponding graphic traffic member object 62 on the left adjacent lane object 40a, which reproduces the real arrangement of the vehicles. In this driving situation it was determined that the ego 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.

[0161] exist Figure 6B In the case shown in , other traffic members on the adjacent lanes are also detected, but this time on the right adjacent lane. Thus, the driver information display includes traffic member objects 63 in the area of ​​the right adjacent lane object 40b. It is determined that: the lane change to the left adjacent lane can be performed safely. Thus, the left adjacent lane object 40a is prominently presented. In these and other embodiments, different prominences can be used, for example, by means of hatching, color, brightness or by dynamic effects, such as flashing.

[0162] exist Figure 6C In the case shown in the above reference Figure 6B Based on the described situation, it is also detected that the driver of the ego vehicle 21 has activated the left turn signal light. The driver thereby indicates that he wants to perform a lane change to the left. The ego object 31 is output as a representation with an illuminated flashing signal light. Since a lane change to the left can be performed safely in the presented driving situation, in addition to highlighting the left adjacent lane object 40a, an arrow 65 is also displayed as a signal object 65. In this case, it is designed to be green in particular. In other embodiments, the color may depend on whether a lane change can be performed safely; if this is not the case, the arrow 65 may be colored red, for example. In addition, the signal object 65 may also be constructed differently, for example, like a running light or using other symbols.

[0163] exist Figure 6CIn the case shown in FIG. 2 , it is also detected that the adjacent lane on the left is delimited to the left by a solid line. In addition, the current lane 20 b of the ego vehicle 21 is now delimited to the right by a solid line. These lane markings are correspondingly Figure 6C In the figure, the boundary objects 30a, 30b, and 66 are displayed.

[0164] In other embodiments, it is detected that another traffic member 23 is planning a specific driving maneuver. To this end, the light signal of the turn signal indicator is analyzed or information is received via a Car2Car connection. A driving maneuver object is displayed at the traffic member object 61, which indicates that the vehicle 23 traveling ahead is planning a lane change, for example.

[0165] refer to Figures 7A to 7C , describes further displays which can be generated and output in the method taking into account possible upcoming oncoming traffic. Figure 1 The driver information system described is taken as a starting point and objects are denoted, wherever possible, by the reference numerals already used above.

[0166] exist Fig. 7A In the case shown in , no oncoming traffic has been detected in the lane of the ego vehicle 21 and in the adjacent lane. In this case, the representation includes the lane object 30 and the adjacent adjacent lane objects 40a, 40b on the right and left. The ego object 31 is also presented, as well as the vehicle 23 traveling ahead via the traffic member object 61.

[0167] exist Figure 7B and 7C In the case shown in FIG. 1 , it can be seen that oncoming traffic is to be considered on the lane 20a which is located to the left of the current lane of the ego vehicle 21 in the direction of travel. Fig. 7A The representation shown differs in that graphic oncoming traffic warning objects 71 , 72 are arranged on the adjacent roadway object 40 a . The representation is realized in particular like a lane marking applied on the roadway surface.

[0168] In this embodiment, the oncoming traffic warning objects 71, 72 move together with the ego object 31. In other embodiments, the oncoming traffic warning objects 71, 72 may be stationary in the coordinate system of the presented lane surface, so that the ego object 31 appears to move past the oncoming traffic warning objects 71, 72. In this case, the oncoming traffic warning objects 71, 72 may reappear multiple times, for example, at certain intervals, as long as oncoming traffic is to be considered on the adjacent lane 20a.

[0169] In other embodiments, alternatively or additionally, if determined on the carriageway to consider opposite traffic, then present the oncoming traffic member object in the zone of the carriageway object.Here, the oncoming traffic member object can be constructed so that this oncoming traffic member object represents the actual oncoming traffic member.In addition, even if other traffic members were not detected, this oncoming traffic member object also can be shown, so that opposite traffic may occur in the warning driver.Be according to this oncoming traffic member object to represent the actual detected traffic member or this oncoming traffic member object just to be shown for warning, the representation of this oncoming traffic member object may be different.

[0170] refer to Figures 8A to 8C , describing different representations of the self object in the driver information representation that can be generated and output in this method. Figure 1 The driver information system described is taken as a starting point and objects are denoted, wherever possible, by the reference numerals already used above.

[0171] In this embodiment, the state of the lighting system 7 of the ego vehicle 1 is detected, and the representation of the ego object 31 in the driver information display is formed such that the representation reproduces the state of the different elements of the lighting device 7. For example, the taillights and the headlights can be displayed illuminated or not, depending on the detected state.

[0172] The ego object 31 includes a representation of the ego vehicle 1 from a perspective from behind in the direction of travel, so that the rear of the vehicle is visible. In each of the figures, only a fragment is shown, which in particular shows the important elements of the lighting system 7 of the ego vehicle that are visible from this perspective.

[0173] exist Fig. 8A In the case shown in FIG. 1 , the turn signal indicator 80 is prominently displayed on both sides, in particular by means of increased brightness and yellow color. This is the case, for example, when the warning flasher is activated. In this exemplary embodiment, the representation is dynamically formed so that a cyclically repeated switching on and off of the turn signal indicator 80 is output, in particular as actually performed by the lighting device 7 of the own vehicle 1.

[0174] In other embodiments, activation of a single turn signal indicator 80 is presented, such as in the case of a flashing signal light.

[0175] exist Figure 8B In the case shown in FIG. 8 , the brake light 81 is highlighted, in particular by its increased brightness and red color. Figure 8C In the case shown in FIG. 8 , the taillights 82 are highlighted here by means of increased brightness and white color.

[0176] Similarly, in other embodiments, other lights can be presented, such as rear fog lights or marker lights. Different combinations of lights can also be highlighted. In another embodiment, the actual lighting is also detected, wherein, for example, malfunctions are also detected. The representation can then be adapted to the actually detected lighting.

[0177] In another embodiment, the operating state of the forward-facing headlights of the ego vehicle, such as low beam, high beam, parking light, fog light, daytime running light or spotlight, is detected. In this case, in particular, the brightness, color, lighting range and / or intensity distribution are detected. Analogously to the representation explained above, the ego object is formed as a function of the detected operating state.

[0178] Furthermore, the representation can include other graphic objects in the surroundings of the ego object 31, and these graphic objects are formed in particular as a function of the detected operating state of the lighting device. For example, the roadway object 30 is presented with a specific texture and / or brightness distribution, wherein the light distribution generated by the lighting device 7 is presented on the roadway 20, in particular in the area in front of the ego vehicle 21. Other traffic members can also be presented depending on whether and in what manner they are illuminated by the lighting device 7. The representation is generated in such a way that the illumination range and the width of the light distribution can be detected from the representation, wherein in particular the illumination range and / or intensity depend on the angle relative to the driving direction of the ego vehicle 21.

[0179] 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 system on the surrounding scene is reproduced as realistically as possible.

[0180] refer to Fig. 9 The embodiment of the driver information display with the trailer object generated according to the method is described below. Figure 1 The driver information system described is taken as a starting point and objects are denoted, wherever possible, by the reference numerals already used above.

[0181] In this embodiment, the operating state of the towing device 8 of the ego vehicle 1 is detected. If it is detected that equipment is hung on the towing device, the ego object 31 is formed in conjunction with the graphic trailer object 90.

[0182] In this case, the display is implemented such that ego object 31 with a graphical trailer representation is displayed perspectively from behind, so that in this representation the lane section of lane object 30 located in front of ego object 31 is visible.

[0183] The trailer representation may differ according to the type of trailer object, for example by the size, shape and color of the trailer object.In particular, by means of the graphical trailer representation a schematically simplified image of a real trailer object is reproduced.

[0184] In this embodiment, the driver information display also includes: a traffic member object 61, which represents the vehicle 23 traveling ahead; a lane object 30, which represents the current lane 20b of the ego vehicle 1; and adjacent lane objects 40a, 40b for the adjacent lane 20a. In addition, lane markings are reproduced with the help of demarcation marking objects 30a, 30b.

[0185] refer to Fig. 10A and 10B The following is an example of an embodiment of driver information display for different automation levels. The above example is used as a starting point.

[0186] In addition to the environmental representation, the driver information display includes other information elements known per se. These include, for example, elements for outputting the current speed, the current gear, the consumption (Verbrauch) or the music tracks played. Driving instructions of the navigation system are also output.

[0187] exist Fig. 10A In the case of , it is detected that the driver assistance system 6 is operated at a lower automation level. Therefore, a reduced representation of the environment is output. In this exemplary embodiment, the longitudinal control of the ego vehicle 1 is activated, wherein the driving speed is controlled so that a certain minimum distance to the traffic member driving in front is observed and overtaking on the right is avoided. In other exemplary embodiments, the driver assistance module is activated so that instead of the longitudinal control, the lateral control of the ego vehicle 1 is assisted. In this case, the reduced representation of the environment is output in the case of an automation level in which either the longitudinal control or the lateral control is assisted.

[0188] Fig. 10A The driver information display of includes the following environment representation, which has: an ego object 101a for the ego vehicle 1; a traffic member object 102 for the vehicle traveling ahead; and other traffic member objects 103 for other vehicles on the left adjacent lane 20a. The current lane 20b in which the ego vehicle 1 is located is delimited on the left and right by lane markings 106a, 106b. A distance object 105 is presented at a certain distance in front of the ego object 101a, which represents the set safety distance from the traffic member traveling ahead.

[0189] Here, the ego object 101a is presented so that it cannot be seen in its entirety. The presented perspective is from a virtual point above and behind the ego vehicle 1, so that a portion of the ego vehicle 1 and a portion of the current lane are presented. The lane is only outlined and not shown in its full width.

[0190] In the driver information display, a traffic member object 102 for the vehicle traveling ahead is displayed as a control object for speed and distance control. In addition, other traffic member objects 103 for vehicles on the left adjacent lane are displayed as control objects for preventing overtaking on the right. Here, other traffic members are not output as long as they are not directly relevant for the automatic control of driving.

[0191] The lane section in front of ego object 101 a is output as a straight course.

[0192] exist Fig. 10B In the case shown in the figure, the driver information display is different from the above description. Fig. 10A The difference between the situation of is the environmental representation. It is detected that the driver assistance system 6 is operated at a higher level of automation, in which the longitudinal and lateral control of the ego vehicle 1 is actively and automatically intervened. Therefore, an enlarged representation is displayed.

[0193] This environment representation includes a larger area of ​​the environment, in particular the left and right adjacent lanes are presented in full width. Also presented are other traffic member objects 104, which represent other traffic members, but which are not used as adjustment objects for the driver information system 6. That is, the driver information display also includes such traffic members that are not directly used by the driver assistance system 6 for automated assistance in driving. The lane markings 107a, 107b presented in the driver information display are shown here as dashed or solid lines.

[0194] The lane course displayed in front of the ego object 101 b represents a curved lane, wherein the curvature corresponds to the actual lane course, which is determined with the aid of sensors of the ego vehicle 1 and based on map data. In this enlarged representation, the output is performed dynamically, that is, the movement of the lane relative to the statically displayed ego object 101 b is presented, wherein the curvature can also be changed according to the actual reality.

[0195] In one embodiment, after detecting user input to change between different automation levels, the Fig. 10A A zoomed-out view of Fig. 10BAn animated transition between enlarged views of the vehicle. In this case, the vehicle switches from a lower automation level to a higher automation level. In particular, the switch between the automation levels is made by actuating a button on the steering wheel or on the brake pedal.

[0196] With this animated transition, the perspective of the representation is shifted so that the ego object 101a appears to move forward, making a larger portion of the representation of the ego vehicle 1 visible. Fig. 10B When the self-object 101b is enlarged, it is completely presented in the caudal view. At the same time as the shift of the perspective, other objects in the environment are also presented, that is, the radius or maximum distance of other presented objects increases, and the number of other objects also increases.

[0197] refer to Figures 11A to 11D , an embodiment of the driver information display with unclassified and classified other traffic members is described. Here, the other embodiments described above are taken as the starting point again.

[0198] exist Fig.11A and Fig. 11B In the case of the self-vehicle 1, the expanded environment representation includes: a rear side view of the self object 111 representing the self vehicle 1; a traffic member object 112 for the vehicle traveling in front; and other traffic member objects 114 for other vehicles located in front of the right side of the self vehicle 1. These other traffic members are detected and assigned to specific traffic member categories, wherein these other traffic members are identified as passenger vehicles (PKW) in the current case. The representation of these other traffic members is implemented so that the driver can know from the driver information display that they are passenger vehicles.

[0199] In other embodiments, other features of these other traffic members are detected, such as the color, vehicle type or lighting system status of these other traffic members. The representation of traffic member objects 112, 114 is realized according to the detected features, so that a more detailed and more realistic representation of traffic members is realized.

[0200] The representation also includes general traffic member objects 113a, 113b, which represent other traffic members on the left side of the ego vehicle 1. These other traffic members have not yet been accurately identified and may only be assigned to the general traffic member category. In this embodiment, it is a traffic member that is overtaking, wherein only the position of this traffic member relative to the ego vehicle 1 is detected by means of radar sensors in the rear and side areas of the ego vehicle 1; however, data from the camera of the ego vehicle 1 cannot yet be detected, which would allow a more accurate classification and assignment of specific traffic member categories.

[0201] exist Fig.11AIn the case shown in FIG. 1 , the general traffic member object 113a is presented as a cuboid with rounded edges or as a similar three-dimensional shape. Fig. 11B In the case shown in FIG. 1 , the traffic member object 113 b is presented as a shaded area. The general traffic member objects 113 a , 113 b are respectively presented so that the position of the assigned traffic member relative to the ego vehicle 1 can be detected.

[0202] In another embodiment, the general traffic member objects 113a, 113b have a length extension in the driving direction. Since the length of other traffic members approaching the ego vehicle 1 from behind is usually not detected by the sensors of the ego vehicle 1, the general traffic member objects 113a, 113b are presented with an increase in their longitudinal extension during their passing by the ego vehicle 1. That is, in this representation, the general traffic member objects 113a, 113b increase in length during the overtaking process until the end of the other traffic member is detected.

[0203] If in Fig.11A and 11B If the general traffic member objects 113a and 113b in the above diagram are assigned to a traffic member that is overtaking and passes by the ego vehicle 1 so that the traffic member enters the detection area of ​​the camera that detects the front area in front of the ego vehicle 1, the traffic member is assigned to a specific traffic member category. That is, for example, the traffic member is identified as a passenger vehicle of a specific color and of a specific type.

[0204] exist Fig. 11C In the case shown in FIG. 1 , this classification is performed for other traffic members on the left adjacent lane, and a specific traffic member object 113 c is presented at the position of the other traffic member, which has the characteristics of the actual appearance of the other traffic member. The view of the other traffic member is presented according to the assigned traffic member category.

[0205] In from Fig.11A or one of the representations of 11B to Fig. 11C In the case of a transition in representation, the change from the general traffic member object 113a, 113b to the specific traffic member object 113c is graphically presented in a manner known per se, such as by superimposing, crossfading, deforming, replacing the presented elements piece by piece or completely, or by "growing" the specific traffic member object 113c from the general traffic member object 113a, 113b.

[0206] refer to Fig.11D The method for generating the above display will be further explained according to the specific traffic situation.

[0207] Own vehicle 116 is moving along the roadway in driving direction 115, which is indicated by arrow 115. Furthermore, another traffic member 117 on the adjacent roadway is also moving in driving direction 115 and is approaching own vehicle 116 from behind.

[0208] Ego vehicle 115 includes sensors which each have a detection range 118 , 119 , namely a rear detection range 118 extending into the area behind the rear of ego vehicle 115 and a front detection range 119 extending into the area in front of the front of ego vehicle 115 .

[0209] exist Fig.11D In the driving situation shown in , other road user 117 is trying to pass ego vehicle 116 , ie, is moving at a higher speed and is driving out of rear detection area 118 and into front detection area 119 .

[0210] In this embodiment, data are detected by a radar sensor in the rear detection area 118. These data allow the detection of the other traffic member 117 and the detection of the position of the other traffic member and the distance of the other traffic member relative to the ego vehicle 116 as well as the relative speed of the other traffic member. In addition, in this embodiment, image data are detected by a camera in the front detection area 119. These image data also allow the detection of the other traffic member 117 and the detection of the position of the other traffic member and the distance of the other traffic member relative to the ego vehicle 116; the relative speed of the other traffic member can also be determined.

[0211] Based on the image data detected in the front detection area 119, it can also be determined which type of vehicle is involved. In particular, after detecting the other traffic member 117 in the front detection area 119, the color, vehicle type, and manufacturer and model of the vehicle are determined.

[0212] In this embodiment, if the other traffic member 117 is detected in the rear detection area 118, a general traffic member category is determined. In this example, the general traffic member category includes all vehicles. After the other traffic member 117 enters the front detection area 119, a specific traffic member category is determined, which includes, for example, all passenger cars or all compact vehicles of a specific brand.

[0213] In this exemplary embodiment, as long as the other traffic member 117 is detected only by the radar sensor with the rear detection range 118, a signal is generated in Fig.11A and 11BIf the other traffic member 117 enters the front detection area 119 of the camera, the output is Fig. 11C Here, the known “Morphing” method is used to present the animated change of the general traffic member objects 113a, 113b to the specific traffic member object 113c.

[0214] refer to Fig. 12A and 12B , an embodiment of the driver information display during the following driving of the ego vehicle is described. Here, the other embodiments described above are taken as the starting point again.

[0215] The displayed displays are generated when another traffic member 23 traveling ahead is detected on a lane segment located ahead of the ego vehicle 1 in the driving direction. In these displays, the lane being traveled is presented as a lane object 30. These displays also include: an ego object 121, which represents the ego vehicle 1; and a traffic member object 120, which represents the vehicle 23 traveling ahead. Here, the presented distance between the ego object 121 and the traffic member object 120 is formed according to the actual distance detected between the ego vehicle 1 and the vehicle 23 traveling ahead, that is, the quantitative value of the distance can be known from these displays. The arrangement of the geographical objects 120, 121 with respect to each other and with respect to the graphical representation of the lane corresponds to the physical relationship.

[0216] The driver assistance system 6 is activated by means of a driver assistance module which partially automatically intervenes in the lateral control of the host vehicle 1. In particular, the steering is intervened here by applying a steering torque in order to keep the host vehicle 1 on the roadway.

[0217] In this exemplary embodiment, no lane markings are detected at the edge of the currently traveled lane. Since orientation is not possible based on the lane markings, a following drive is performed, wherein the target trajectory of the ego vehicle 1 is controlled, in particular with respect to the lateral deviation of the ego vehicle 1 on the traveled lane. Here, the lateral deviation relates to the position in a direction transverse to the travel direction. In other words, the target trajectory of the ego vehicle 1 is formed such that it follows the detected trajectory of the vehicle 23 traveling ahead.

[0218] The target trajectory of the ego vehicle 1 is output by means of trajectory objects 122a, 122b, which extend from the ego object 121 to the traffic member object 120 in this exemplary embodiment. Fig. 12A In the case shown in FIG. 1 , the trajectory object 122 a is presented as a wide line with highlighted edges. Fig. 12BIn the case shown in FIG. 1 , the trajectory object 122 b is presented as a narrow line. Other representation forms are also conceivable.

[0219] In other embodiments, the intention to perform a lane change with the ego vehicle 1 is recognized. For example, it is detected that the driver operates the flashing lights or an automated lane change should 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 members are analyzed here, and the lane change is determined to be safe to perform if there is no risk of collision. Then, the target trajectory is generated so that the target trajectory guides the ego vehicle to the adjacent lane. Then, the trajectory objects 122a, 122b can be similar to those in Fig. 12A and 12B The situation shown in FIG. 1 is directed from the virtual front of ego object 121 to the adjacent lane.

[0220] refer to Figures 13A to 13D , describes an embodiment of driver information display when setting the adjustment distance. Here, the other embodiments described above are used as a starting point again.

[0221] exist Fig.13A and 13B In the case shown in , a lane object 30 is presented, which represents the lane on which the ego vehicle 1 is moving. In this display, the lane object is delimited by a right lane marking 30b and a left lane marking 30a at the edges of the current lane of the ego vehicle 1. The display also includes an ego object 131 representing the ego vehicle 1. Other traffic members 132, 133, 134 are also shown, in particular the vehicle 132 traveling ahead and other traffic members 133, 134 on adjacent lanes.

[0222] At a certain distance in front of ego object 131 in the direction of travel, a distance object 135 in the form of a line is present transversely to the direction of travel and is substantially within the width of the current lane of ego object 131. The distance object shows, as a function of the distance between ego object 131 and distance object 135, a safety distance between ego vehicle 1 and other members of the traffic traveling ahead, in order to maintain this safety distance, the driver assistance system 6 of ego vehicle 1 intervenes in the vehicle control at least partially automatically.

[0223] Among them produced Fig.13A and 13B The driving situation represented by is different in that: the ego vehicle 1 is Fig.13A In the case of Fig. 13B In other words, the safe distance to be observed from other traffic members ahead is Fig. 13B In the case of Fig.13ACorrespondingly, the traffic member object 132 for other traffic members traveling ahead is presented at a greater distance from the self object 131 , and the distance object 135 is also presented at a greater distance from the self object 131 .

[0224] In this exemplary embodiment, the safety distance to be observed by the driver assistance system 6 is set by a parameter to which a certain time interval is assigned. The length of the safety distance is determined based on the time interval and the current speed of the ego vehicle 1. For this purpose, in particular, the formula s=v*t is used, where s represents the length of the safety distance, v represents the current speed of the ego vehicle 1 and t represents the time interval predefined by the parameter.

[0225] exist Fig. 13C and 13D In the case of , the manipulation of a setting element in the ego vehicle 1 is detected. The setting element is, for example, included in the detection unit 2 or coupled to the detection unit. In this embodiment, a key switch is involved, alternatively or additionally, other input devices such as a small wheel or a sliding regulator can also be provided. By means of this manipulation, the set parameters of the driver assistance system 6 are changed.

[0226] This change results in that the position of the distance object 135 relative to the ego object 131 is changed. Since a step-by-step setting of this parameter is provided in this exemplary embodiment, the distance object 135 jumps forward or backward by one level in the case of this manipulation, that is, jumps to a greater distance or a smaller distance relative to the ego object 131 in the representation.

[0227] exist Fig. 13C and 13D The representation in also includes a distance setting object 136, based on which the driver can grasp the potential adjustable value of the parameter. In this embodiment, a line or a substantially rectangular area that is highlighted with a color compared to the distance object 135 is presented on the lane object, and these lines or areas form a distance scale object 136. The distance object 135 serves as a distance indicator object 135, which displays the actual setting value of the parameter based on the distance scale object 136. Thus, the driver can see whether the setting value of the parameter corresponds to the minimum adjustable value or the maximum adjustable value or where the setting value is between these values.

[0228] Fig. 13C and 13D The difference in the representation of is the speed of the ego vehicle 1, which is Fig.13D In the case of Fig. 13C As mentioned above, Fig.13A and 13BAs explained above, depending on the speed, the safety distance corresponds to different lengths at different values ​​of this parameter. The ratio has a similar influence on the representation of the distance setting object 135 as on the arrangement of the distance object 135. In this exemplary embodiment, the representation of the distance setting object 136 is extended in the direction of travel at higher speeds.

[0229] In other exemplary embodiments, the value of this parameter can be adjusted steplessly or in a greater number of steps. Distance setting object 136 can be formed in other ways, for example with a color scale or other scale with the aid of a graphical representation feature extending longitudinally in the direction of travel.

[0230] The above embodiments illustrate essential or optional features of the method according to the invention according to the patent claims. The features described in the individual embodiments may be combined as desired, in particular in order to realize the invention in a comprehensive method or system.

[0231] List of Reference Numerals

[0232] 1 Ego Vehicle

[0233] 2 Detection unit; sensor

[0234] 3 Control unit

[0235] 4 Display unit

[0236] 5 Analysis Unit

[0237] 6 Driver Assistance Systems

[0238] 7 lighting fixtures

[0239] 8 Trailer

[0240] 10 external unit; external server

[0241] 20 lanes

[0242] 20a Lane

[0243] 20b Lane

[0244] 20c Lane markings

[0245] 21 Ego Vehicle

[0246] 22 Arrow

[0247] 23 Vehicle ahead

[0248] 24 Oncoming traffic

[0249] 25 Traffic Signs

[0250] 30 Lane Objects

[0251] 30a, 30b Lane marking (indication)

[0252] 31 Ego vehicle (representation)

[0253] 32 Curve area (indicated)

[0254] 32a, 32b Lane markings in curve areas (indications)

[0255] 33a, 33b Traffic signs (indications)

[0256] 40a, 40b Adjacent lanes (indicated)

[0257] 61 Traffic member object, vehicle ahead (indicates)

[0258] 62, 63 Traffic member objects, vehicles on adjacent lanes (indicated)

[0259] 65 Signal objects, arrows

[0260] 71, 72 Oncoming traffic alarm objects

[0261] 80 Driving direction indicator

[0262] 81 Brake Light

[0263] 82 Taillight

[0264] 90 trailer object (representation)

[0265] 101a, 101b Self-object

[0266] 102 Traffic member object; vehicle ahead

[0267] 103, 104 Traffic member objects

[0268] 105 Distance Object

[0269] 106a, 106b, 107a, 107b Lane markings (indications)

[0270] 111 Self-object

[0271] 112 Traffic member object; vehicle ahead

[0272] 113a, 113b General traffic member objects

[0273] 113c Specific traffic member object

[0274] 114 Traffic Member Object

[0275] 115 Arrow; direction of travel

[0276] 116 Ego Vehicle

[0277] 117 Other traffic members

[0278] 118 Rear detection area

[0279] 119 Front detection area

[0280] 120 Traffic member object; vehicle ahead

[0281] 121 Self-object

[0282] 122a, 122b Track objects

[0283] 131 Self-object

[0284] 132 Traffic member object; vehicle ahead

[0285] 133, 134 Traffic member objects

[0286] 135 distance object; distance indicator

[0287] 136 Distance setting object; distance scale object

Claims

1. A method for operating a driver information system in an ego vehicle (1), wherein detecting other traffic members (23) in a lane area in front of the ego vehicle (1), A target trajectory of the ego vehicle (1) is generated as a function of the other traffic members (23) by means of a driver assistance system (6) for at least partially automated lateral control of the ego vehicle (1), and Generates and outputs a driver information display, where The driver information display includes a graphical traffic member object (120), the graphical traffic member object representing the other traffic members (23), wherein: The output display does not include a representation of image data detected by a camera of the ego vehicle (1), but rather the output graphic objects in the driver information display are presented schematically or simplified relative to real objects, The driver information display further includes a trajectory object (122a, 122b), wherein the trajectory object represents a target trajectory of the ego vehicle (1), Wherein, a rear detection area (118) extending into an area behind the rear of the ego vehicle and a front detection area (119) entering into an area in front of the front of the ego vehicle are detected respectively, wherein if the other traffic member is detected in the rear detection area (118), a general traffic member category is determined, wherein after the other traffic member enters the front detection area (119), a specific traffic member category is determined.

2. The method according to claim 1, It is characterized in that The driver information display includes a graphical lane object (30) which represents the direction of a lane in front of the ego vehicle (1), wherein The lane object (30) is designed such that it corresponds to a perspective view of the lane course and includes a radius of curvature, so that an actual radius of curvature of a curve of the lane course is output.

3. The method according to claim 1 or 2, It is characterized in that The driver information display includes an ego object (121) representing the ego vehicle (1), and The track object (122a, 122b) extends from the ego object (121) to the graphic traffic member object (120).

4. The method according to claim 1 or 2, It is characterized in that detecting a planned lane change of the ego vehicle (1); and A target trajectory of the ego vehicle (1) is determined for the lane change.

5. The method according to claim 1 or 2, It is characterized in that detecting representation-related features of the other traffic member (23); and A traffic member object (120) assigned to the other traffic member (23) is formed based on the representation-related features.

6. The method according to claim 5, It is characterized in that A data technology connection is established between the ego vehicle (1) and the other traffic member (23); and the representation-related feature is detected by means of the data technology connection.

7. The method according to claim 1 or 2, It is characterized in that detecting the operating state of a driver assistance system (6) of the ego vehicle (1), and An automation level is determined as a function of the detected operating state of the driver assistance system (6), wherein the driver information display includes a representation of the environment of the ego vehicle (1), which is formed in accordance with the determined automation level.

8. The method according to claim 1 or 2, It is characterized in that Detecting the direction of a lane including the radius of curvature of a curve in front of the ego vehicle (1) along the driving direction; Detecting movement data of the ego vehicle (1); determining a criticality based on the detected movement data and the detected radius of curvature; and The graphical lane object (30) has prominent features which are formed according to the determined criticality.

9. A driver information system in an ego vehicle (1), the driver information system comprising: A detection unit (2) configured to detect other traffic members (23) in a lane area in front of the ego vehicle (1); a driver assistance system (6) for at least partially automated lateral control of the ego vehicle (1), the driver assistance system being configured to generate a target trajectory for the ego vehicle (1) as a function of the other traffic members (23); a control unit (3) configured to generate a driver information display; and A display unit (4) is configured to output the driver information display, wherein The driver information display comprises a graphical traffic member object (120) which represents the other traffic member (23), wherein the output display does not include a representation of image data detected by a camera of the ego vehicle (1), but rather the graphical objects output in the driver information display are presented schematically or simplified relative to real objects, The driver information display further includes a trajectory object (122a, 122b), wherein the trajectory object represents a target trajectory of the ego vehicle (1), The detection unit (2) is configured to respectively detect a rear detection area (118) extending behind the rear end of the ego vehicle and a front detection area (119) entering in front of the front end of the ego vehicle, wherein if the other traffic member is detected in the rear detection area (118), a general traffic member category is determined, and after the other traffic member enters the front detection area (119), a specific traffic member category is determined.

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 the driver information display.

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