Method and device for ascertaining a driving route for a vehicle driving automatically

Abstract

The invention relates to a device and a method for ascertaining a travel route for a vehicle, which has an automated travel mode in which the vehicle is at least partially automated guided longitudinally and / or laterally and which has a manual travel mode in which the vehicle is at least partially manually guided longitudinally and / or laterally by a driver of the vehicle. The device is configured to ascertain release information (315) about the release of the automated travel mode on different road sections (314) of a road network (310) traveled by the vehicle. The device is further configured to ascertain and / or predict availability information (211, 212) about the availability of the manual longitudinal and / or lateral guidance of the vehicle by the driver of the vehicle in the travel from a starting point (311) to a target point (312). The device is configured to ascertain a travel route through the road network from the starting point to the target point based on the release information and based on the availability information.

Description

TECHNICAL FIELD

[0001] The invention relates to a vehicle which is configured to drive autonomously at least partially and / or at least on sections of a route. The invention particularly relates to a method for ascertaining a driving route for a vehicle having an automated driving mode and a corresponding device. BACKGROUND

[0002] The vehicle can have an automated driving mode in which the longitudinal and / or lateral guidance of the vehicle is automated or completely automated by the vehicle. In addition, the vehicle can have a manual driving mode in which the longitudinal and / or lateral guidance of the vehicle is provided partly or completely by a driver of the vehicle. The degree of automation of the vehicle can be changeable in a plurality of stages between the fully automated driving mode and the fully manual driving mode, if necessary. SUMMARY

[0003] For reaching a target point from a starting point, a driving route can be planned by means of a navigation device of the autonomously driving vehicle. Here, the comfort of the driving from the starting point to the target point can be related to the planned driving route. The technical task of achieving an ascertainment of a driving route for a vehicle having an automated driving mode as comfortable as possible is pursued herein.

[0004] The task is solved by a device for ascertaining a driving route for a vehicle having an automated driving mode in which the vehicle is at least partially automated longitudinally and / or laterally guided and having a manual driving mode in which the vehicle is at least partially manually longitudinally and / or laterally guided by a driver of the vehicle, the device being configured to:

[0005] ascertain release information about the release of the automated driving mode on different sections of a route network driven by the vehicle;

[0006] ascertain and / or predict availability information about the availability of the manual longitudinal and / or lateral guidance of the vehicle by a driver of the vehicle during the driving from the starting point to the target point, the availability information indicating for a sequence of time periods during the driving from the starting point to the target point respectively whether the driver of the vehicle is available for operating the vehicle in the manual driving mode in the respective time period;

[0007] ascertain, for a driving route through the route network from the starting point to the target point, a degree of relevance between sections on which the automated driving mode is released and time periods in which the driver is not available for operating the vehicle in the manual driving mode based on the release information and based on the availability information; and

[0008] ascertain the driving route such that the degree of relevance is increased.

[0009] The task is also solved by a device for ascertaining a travel route for a vehicle, which has an automated travel mode in which the vehicle is at least partially automatically guided longitudinally and / or laterally, and which has a manual travel mode in which the vehicle is at least partially manually guided longitudinally and / or laterally by a driver of the vehicle, the device being configured to:

[0010] ascertain release information on the release of the automated travel mode on different route sections of a route network traveled by the vehicle, the release information indicating for a plurality of route sections of the route network respectively a possible degree of automation of the vehicle in the respective route section;

[0011] ascertain and / or predict availability information on the availability of the manual longitudinal and / or lateral guidance of the vehicle by a driver of the vehicle in a travel from a starting point to a target point, the availability information indicating for a sequence of time periods during the travel from the starting point to the target point respectively a desired degree of automation of the vehicle in the respective time period;

[0012] ascertain, for a travel route through the route network from the starting point to the target point having a sequence of route sections, a degree of correlation between the possible degree of automation on the sequence of route sections of the travel route and the desired degree of automation on the sequence of time periods in the travel from the starting point to the target point based on the release information and based on the availability information; and

[0013] ascertain the travel route such that the degree of correlation is increased.

[0014] The task is also solved by a method for ascertaining a travel route for a vehicle, which has an automated travel mode in which the vehicle is at least partially automatically guided longitudinally and / or laterally, and which has a manual travel mode in which the vehicle is at least partially manually guided longitudinally and / or laterally by a driver of the vehicle, the method comprising:

[0015] ascertaining release information on the release of the automated travel mode on different route sections of a route network traveled by the vehicle;

[0016] ascertaining and / or predicting availability information on the availability of the manual longitudinal and / or lateral guidance of the vehicle by a driver of the vehicle in a travel from a starting point to a target point, the availability information indicating for a sequence of time periods during the travel from the starting point to the target point respectively whether a driver of the vehicle is available for operating the vehicle in the manual travel mode in the respective time period;

[0017] - determining a driving route such that the degree of correlation increases.

[0018] - determining a driving route such that the degree of correlation increases.

[0019] The task is also solved by a method for determining a driving route for a vehicle, which has an automated driving mode in which the vehicle is at least partially automatically guided longitudinally and / or laterally, and which has a manual driving mode in which the vehicle is at least partially manually guided longitudinally and / or laterally by a driver of the vehicle, the method comprising:

[0020] - determining release information on the release of the automated driving mode on different road sections of a road network to be driven by the vehicle, the release information indicating for a plurality of road sections of the road network respectively a possible degree of automation of the vehicle in the respective road section;

[0021] - determining and / or predicting availability information on the availability of the manual longitudinal and / or lateral guidance of the vehicle by a driver of the vehicle in the driving from a starting point to a target point, the availability information indicating for a sequence of time periods during the driving from the starting point to the target point respectively a desired degree of automation of the vehicle in the respective time period;

[0022] - determining, for a driving route through the road network from the starting point to the target point, having a sequence of road sections, a degree of correlation of a correlation between the possible degrees of automation on the sequence of road sections of the driving route in the driving from the starting point to the target point and the desired degrees of automation on the sequence of time periods based on the release information and based on the availability information; and

[0023] - determining a driving route such that the degree of correlation increases.

[0024] According to one aspect, a device for determining a driving route for a vehicle (motor vehicle) is described. The vehicle has an automated driving mode, in which the vehicle is at least partially automatically or completely automatically guided longitudinally and / or laterally (for example according to SAE-Level 3 or higher). In addition, the vehicle has a manual driving mode, in which the vehicle is at least partially manually or completely manually guided longitudinally and / or laterally by a driver of the vehicle (for example according to SAE-Level 2 or lower).

[0025] The device is configured to ascertain release information about the release of the automated driving mode on different road sections of a road network to be traveled by the vehicle. The device can be configured in particular to ascertain digital map information about the road network to be traveled by the vehicle. The digital map information can specify the spatial and / or geographical arrangement of different road sections and / or road nodes of the road network. In addition, the digital map information can comprise release information for different road sections of the road network. The release information can depend on current weather conditions and / or current traffic conditions, if necessary. It is thus possible to ascertain on which road section or sections of the road network the utilization of the automated driving mode is possible, if necessary at the present time. It is also possible to ascertain on which road section or sections of the road network the utilization of the manual driving mode is necessary, if necessary at the present time.

[0026] The device is further configured to ascertain and / or predict availability information about the availability of manual longitudinal and / or lateral guidance of the vehicle by the vehicle driver in a journey from a starting point (within the road network) to a target point (within the road network), for which a travel route should be ascertained. It is possible in particular to predict on which one or more of the preceding time periods the driver is expected to have manual longitudinal and / or lateral guidance of the vehicle available to him or her or is expected to have no manual longitudinal and / or lateral guidance of the vehicle available to him or her when traveling along the travel route to be planned.

[0027] The device can be configured to ascertain and / or predict the availability information on the basis of one or more of the following data: sensor data about the driver, which is detected by one or more driver sensors of the vehicle, in particular by one or more interior cameras; data of an infotainment system of the vehicle, for example about audio and / or video programs which the driver wants to hear or watch; data from a private user device, for example a smartphone, of the driver; and / or data from a digital calendar of the driver, for example about planned audio and / or video conferences during the journey along the travel route to be planned. It is thus possible to predict the availability of the vehicle driver for manual longitudinal and / or lateral guidance in a preceding journey in an exact manner.

[0028] The device can be configured in particular to ascertain and / or predict the availability information, which indicates for a sequence of preceding time periods during the journey from the starting point to the target point the extent of the availability of manual longitudinal and / or lateral guidance of the vehicle by the vehicle driver in the respective time period, respectively. As an alternative or in addition, the predicted availability information can indicate the desired degree of automation of the vehicle in the respective time period of the sequence of time periods. As an alternative or in addition, the predicted availability information can indicate for a sequence of preceding time periods, respectively, whether the vehicle driver is available for operating the vehicle in the manual driving mode in the respective time period.

[0029] In addition, the device is configured to ascertain at least one travel route through the road network from the starting point to the target point on the basis of the release information and on the basis of the availability information (and in consideration of the digital map information). Here, at least one travel route can be ascertained (in the case of a routing algorithm), wherein the release of the sequence of road sections of the travel route is adapted as well as possible to the predicted availability of the driver for the manual longitudinal and / or lateral guidance of the vehicle over the sequence of time periods when driving along the travel route. Comfort for the driver of the vehicle with automated driving mode can thus be increased.

[0030] The device can be configured (in the context of ascertaining the travel route) to ascertain, for the (possible) travel route, a degree of correlation of the correlation and / or the overlap and / or the coincidence between one or more road sections (in which the automated driving mode is released) and one or more time periods (in which the driver is not available for operating the vehicle in manual driving mode). The travel route can then be ascertained such that the degree of correlation is increased, in particular maximized. A travel route can thus be ascertained which has as great a (temporal and / or spatial) correlation between the road sections (for which the automated driving mode is released) and the time periods (which have a low availability for the driver for manual driving) as possible. Comfort for the driver of the vehicle can thus be further increased.

[0031] As already set out above, the release information for a plurality of road sections of the road network can indicate the possible degree of automation of the vehicle in the respective road section. The device can be configured (in the context of ascertaining the travel route) to ascertain, for the (possible) travel route with the sequence of road sections, a degree of correlation of the correlation and / or the overlap and / or the coincidence between the possible degree of automation over the sequence of road sections of the travel route and the expected degree of automation over the sequence of time periods in the travel from the starting point to the target point. The travel route can then be ascertained such that the degree of correlation is increased, in particular maximized.

[0032] At least one travel route can thus be ascertained in which the possible degree of vehicle automation over the road sections of the planned travel route is adapted as well as possible to the predicted unavailability of the driver for manual longitudinal and / or lateral guidance. Comfort for the driver of the vehicle can thus be increased in a particularly remarkable manner.

[0033] As an alternative or in addition, the device can be configured to predict, on the basis of the availability information, one time period in the preceding travel from the starting point to the target point in which the manual longitudinal and / or lateral guidance of the vehicle by the driver will be unavailable. In addition, the device can be configured to ascertain the travel route on the basis of the release information such that the vehicle is (provisionally) in a road section in the predicted time period in which the automated driving mode is released. The travel route can thus be ascertained in which one or more time periods of driver unavailability coincide and / or correlate with one or more road sections in which the utilization of the automated driving mode is released. In other words, the travel route can be planned such that detours are taken if necessary in order to allow a higher degree of automation of the vehicle at one or more times of predicted driver unavailability. The comfort of the vehicle driver can thus be improved in a reliable manner.

[0034] The device can be configured to estimate the provisional duration for the travel route to be ascertained on the basis of the digital map information about the road network (and, if necessary, taking into account current traffic information about the current traffic situation in the road network). The availability information can then be ascertained and / or predicted for the (entire) provisional duration. A particularly comfortable travel route can thus be ascertained.

[0035] The device can be configured to ascertain the travel route by means of a routing algorithm in which different possible road sections of the road network are each taken into account with a road section weight which indicates the value of the respective possible road section for the travel route to be ascertained. The road section weights of the different possible road sections can be ascertained on the basis of the availability information. Here, if a road section has a release for the automated driving mode and if this road section is provided for a time period along the travel route on which the manual longitudinal and / or lateral guidance of the vehicle by the vehicle driver is not available, the road section weight for this road section can be increased (in order to indicate a relatively high value for the travel route to be planned). On the other hand, if a road section does not have a release for the automated driving mode and if this road section is provided for a time period along the travel route on which the manual longitudinal and / or lateral guidance of the vehicle by the vehicle driver is not available, the road section weight for this road section can be reduced (in order to indicate a relatively low value for the travel route to be planned). By adapting the road section weights in relation to the availability information, the travel route can be ascertained in a particularly reliable manner which has road sections for the automated driving mode which are particularly well adapted to the predicted unavailability for driver manual driving.

[0036] The device can be configured to ascertain and / or predict, in particular repeatedly and / or periodically, during the travel from the starting point to the target point, updated availability information on the availability of the manual longitudinal and / or lateral guidance of the vehicle by the driver of the vehicle in the travel from the respective current location of the vehicle to the target point. It is thus possible to check during the travel (with the originally planned travel route) whether the availability of the manual longitudinal and / or lateral guidance of the vehicle by the driver has changed (compared to the previous prediction or estimate). It is possible, for example, to check whether the availability of the driver is decreasing in tendency. Alternatively or in addition, it is possible to check whether one or more time periods of availability or unavailability of the driver have changed.

[0037] In addition, the device can be configured to adapt the travel route from the current location of the vehicle to the target point (during the travel) on the basis of the updated availability information. Here, a respective one of the updated travel routes can be ascertained by which the degree of correlation is increased, in particular maximized. Alternatively or in addition, an updated travel route can be ascertained by which one or more route sections with a relatively high degree of automation of the vehicle (for example with an automated driving mode released) are adapted to one or more updated time periods of unavailability of the driver. For example, an updated travel route can be ascertained when the unavailability of the driver is increasing, which updated travel route has an increased share of route sections in which the automated driving mode is released (and which updated travel route is typically longer than the travel route valid herebefore). By adapting the travel route (repeatedly if necessary), the comfort of the driver can be further increased.

[0038] The device can be configured to output route information on the ascertained travel route to the driver of the vehicle (for example via a user interface of the vehicle). The route information can indicate here (for example in graphical form) the one or more time periods and / or the one or more route sections in which the vehicle can be operated in an automated driving mode or in which the vehicle has to be operated in a manual driving mode when traveling along the ascertained travel route. By outputting the route information on one or more different planned travel routes, the driver of the vehicle can select a travel route in a comfortable manner which is particularly well adapted to the availability of the driver planned for manual driving.

[0039] According to another aspect, a motor vehicle (road motor vehicle), in particular a passenger car or a truck or a bus, is specified, which motor vehicle comprises the device specified herein.

[0040] According to another aspect, a method for ascertaining a driving route for a vehicle is specified, the vehicle having an automated driving mode in which the vehicle is at least partially automatically guided longitudinally and / or laterally and having a manual driving mode in which the vehicle is at least partially manually guided longitudinally and / or laterally by a driver of the vehicle. The method can be implemented by a control unit inside the vehicle and / or by a unit outside the vehicle.

[0041] The method comprises ascertaining release information about releasing the automated driving mode on different road sections of a road network to be driven by the vehicle. In addition, the method comprises ascertaining and / or predicting availability information about the availability of manual longitudinal and / or lateral guidance of the vehicle by a driver of the vehicle in a driving from a starting point to a target point. The method further comprises ascertaining a driving route through the road network from the starting point to the target point on the basis of the release information and on the basis of the availability information.

[0042] According to another aspect, a software program is specified. The software program can be set up for being executed on a processor, for example on a controller of a vehicle or on a server, and for thus implementing the method specified herein.

[0043] According to another aspect, a storage medium is specified. The storage medium can contain a software program which is set up for being executed on a processor and for thus implementing the method specified herein.

[0044] It is noted that the methods, devices and systems specified herein can not only be applied individually, but also in combination with other methods, devices and systems specified herein. In addition, individual aspects of the methods, devices and systems specified herein can be combined with one another in a great variety of ways.

[0045] The term "automated driving" can be understood in the context of this document as a driving with automated longitudinal or lateral guidance, or as an autonomous driving with automated longitudinal and lateral guidance. Automated driving can for example involve a longer in time driving on a highway or a limited in time driving in a parking or shunting range. The term "automated driving" includes automated driving with any degree of automation. Exemplary degrees of automation are assisted, partially automated, highly automated or fully automated driving. These degrees of automation are defined by the German Federal Highway Research Institute (BASt) (see BASt publication "Forschung kompakt", published in November 2012). In assisted driving, the driver permanently implements the longitudinal or lateral guidance, while the system takes over the respective other function within certain limits. In partially automated driving (TAF), the system takes over the longitudinal and lateral guidance over certain time intervals and / or in specific situations, wherein the driver needs to monitor the system permanently as in assisted driving. In highly automated driving (HAF), the system takes over the longitudinal and lateral guidance over certain time intervals, while the driver does not need to monitor the system permanently; however, the driver needs to be able to take over the vehicle guidance at certain times. In fully automated driving (VAF), the system can automatically cope with the driving in all situations for a specific application; for this application, no driver is needed anymore. The four degrees of automation listed above correspond to SAE-Levels 1 to 4 of the standard SAE J3016 (SAE: Society of Automotive Engineers). For example, highly automated driving (HAF) corresponds to Level 3 of the standard SAE J3016. In addition, SAE-Level 5 is specified in SAE J3016 as the highest degree of automation, which is not included in the definition of the BASt. SAE-Level 5 corresponds to a driverless driving, wherein the system is able to cope with all situations autonomously like a human driver during the entire driving; in general, no driver is needed anymore. BRIEF DESCRIPTION OF DRAWINGS

[0046] Further, the application is explained in more detail by means of embodiments. Therein:

[0047] Figure 1 Exemplary components of a vehicle are shown;

[0048] Figure 2 Exemplary modules for ascertaining a driving route related to a user are shown;

[0049] Figure 3 Exemplary availability information of a user on a driving from a starting point to a target point is shown; and

[0050] Figure 4A flowchart of an exemplary method for ascertaining a driving route for a vehicle having an automated driving mode is shown. DETAILED DESCRIPTION

[0051] As already set out in the outset, the present document is devoted to the ascertaining of a driving route for an automated driving vehicle that is as comfortable as possible. In this connection, Figure 1 An exemplary vehicle 100 having an automated driving mode is shown, which allows for an automated driving of the vehicle 100, for example in accordance with SAE-Level 3 or higher.

[0052] The vehicle 100 can comprise one or more environmental sensors 102 configured to detect environmental data (i.e. sensor data) related to an environment of the vehicle 100. Exemplary environmental sensors 102 are cameras, radar sensors, lidar sensors, ultrasonic sensors, etc. A control unit (or device) 101 of the vehicle 100 can be configured to create an environmental model of the environment of the vehicle 100 based on the environmental data. The environmental model can describe, for example, a lane course in the environment of the vehicle 100, one or more other traffic participants, one or more obstacles, etc.

[0053] The control unit 101 can be configured to operate one or more longitudinal and / or lateral actuators 103 (e.g. steering devices, drive motors, brake devices, etc.) in dependence on the environmental data, in particular in dependence on the environmental model, in particular for at least partially automatically longitudinally and / or laterally guiding the vehicle 100 (i.e. for providing an automated driving mode of the vehicle 100).

[0054] In addition, the vehicle 100 can comprise a storage unit 104 on which digital map information is stored, for example, about a road network to be driven by the vehicle 100. In addition, the vehicle 100 comprises a position sensor, for example a GPS receiver (not depicted), configured to ascertain position data about a position of the vehicle 100. The control unit 101 can be configured to plan a driving route for the vehicle 100 within the road network from a start point to a target point based on the digital map information, if necessary taking into account the position data.

[0055] Furthermore, the vehicle 100 can comprise a communication unit 106 configured to establish a (wireless, if necessary) communication connection 121 with a vehicle-external unit 120, for example with a backend server. Updated digital map information, for example information about current traffic conditions, can be provided, for example, by the vehicle-external unit 120.

[0056] Alternatively or additionally, a (wireless) communication connection 111 with a user device 120, for example a smartphone, of a user of the vehicle 100, in particular of the driver, can be established by means of the communication unit 106 of the vehicle 100 if necessary, for example in order to provide information about the user, for example information about a digital calendar of the user.

[0057] In addition, the vehicle 100 can comprise a user interface 105, for example having one or more operating elements and / or having one or more output elements, which allows an interaction between the vehicle 100 and a user of the vehicle 100, in particular the driver.

[0058] Furthermore, the vehicle 100 can have one or more driver sensors 107, in particular a camera, which is directed at the driver of the vehicle 100, which is configured to detect driver data, i.e. sensor data, about the driver (state of the driver).

[0059] As already set out at the outset, the vehicle 100 can be configured to be operated in an automated driving mode or in a manual driving mode. Here, the degree of automation of the vehicle 100 can be adjustable in a plurality of levels between a fully automated driving mode and a fully manual driving mode if necessary.

[0060] The degree of automation of the operation of the vehicle 100 can be related to a road section on which the vehicle 100 is located. A road section, for example on a motorway, can be released for autonomous or at least partially autonomous driving if necessary. In other words, on a certain road section, the automated, if necessary fully automated, driving mode of the vehicle can be utilized. On the other hand, the automated driving mode cannot be utilized if necessary on another road section, for example in a city or on a construction site, and / or the manual driving mode needs to be utilized.

[0061] The release information about whether the utilization of the automated driving mode is released for a road section in principle, and / or the release information about the allowed degree of automation of the vehicle 100 on a road section, for example, can be stored and / or provided (by a vehicle-external unit 120) as digital map information about the road network driven by the vehicle. The release information for a road section can here also be related to the current weather situation and / or the current traffic situation and / or the traffic density if necessary.

[0062] For reaching the target point from the starting point, a driving route can be planned by the control unit 101 of the vehicle 100. Herein, in the route planning, the availability information of the individual road sections on one possible driving route can be taken into account. For example, a driving route can be determined which can have the largest possible share of road sections on which the vehicle 100 can be operated in an automated driving mode (e.g. according to SAE-Level 3 or higher). Thus, the comfort of the user of the vehicle 100 can be improved, since the share of the journey on which the vehicle 100 needs to be operated in a manual driving mode (e.g. according to SAE-Level 2 or lower) can be reduced.

[0063] The control unit 101 of the vehicle 100 can be configured to predict, for a driving route to be planned from a starting point to a target point, availability information about the availability of a driver of the vehicle 100 during driving from the starting point to the target point. The availability information can be ascertained, for example, on the basis of:

[0064] - driver data of one or more driver sensors 107 of the vehicle 100;

[0065] - data from a user device 110 of the driver (e.g. a calendar entry of a digital calendar); and / or

[0066] - an input by the driver via a user interface 105 of the vehicle 100 (e.g. for reserving a time period during the driving on which manual driving should not be necessary).

[0067] The availability information can indicate the availability of the driver for manually guiding the vehicle as a function of time during the driving. Herein, the degree of availability of the driver can change over time.

[0068] For example, the driver can have scheduled a telephone conference in a determined time interval or time period during the driving, which results in that the driver has a reduced availability for guiding the vehicle in said time period. Further, in another time period, the driver can have scheduled a rest phase, so that the driver is completely unavailable for guiding the vehicle in this time period. On the other hand, there can be one or more further time periods in which the driver has no fixed schedule and is thus expected to be available for guiding the vehicle.

[0069] The control unit 101 can be configured to take the availability information of the driver of the vehicle 100 into account when planning the driving route. In particular, a driving route can be ascertained which has the highest possible consistency between:

[0070] - intervals (time intervals) in which the driver is expected to be unavailable for guiding the vehicle; and

[0071] - a section (road section) in which the vehicle 100 can be operated in the automated driving mode.

[0072] Thus, an especially comfortable driving route for a user of the vehicle 100 can be ascertained.

[0073] Figure 2 An exemplary device 200 for ascertaining a driving route for a vehicle 100 is described. The device 200 comprises a behavior estimation module 201 which is configured to estimate a behavior of a driver of the vehicle 100 when driving on a driving route to be planned. The predicted behavior information and / or availability information 211 can be transmitted to a processing module 202 which is configured to ascertain behavior data and / or availability data 212 on the basis of the behavior information and / or availability information 211, said behavior data and / or availability data having a data format which can be applied in a routing algorithm. If necessary, a combination module 205 can be provided such that the behavior data and / or availability data 212 are provided directly in the data format for the routing algorithm.

[0074] In addition, the device 200 comprises a routing module 203 which is configured to ascertain driving route data 213 for one or more possible driving routes on the basis of the behavior data and / or availability data 212 and on the basis of digital map data (taking into account release information for the respective road sections).

[0075] The ascertainment of a driving route 316 from a starting point 311 to a target point 312 is described exemplarily in Figure 3 . In particular, Figure 3 A part of a road network 310 is displayed which comprises a plurality of nodes 313 and a plurality of edges or connection paths 314 between different nodes 313. The road network 310, in particular the geographical arrangement of the road network 310, can be displayed and / or illustrated by digital map information. The digital map information can additionally display release information for one or more road sections of the road network 310, i.e. for edges 314 or for sections of edges 314. In Figure 3 a road section 314 is described exemplarily by a dashed line, said road section being released for utilization of the automated driving mode.

[0076] Exemplary availability information 211 is additionally described in Figure 3 . In particular Figure 3An exemplary time profile 300 of the availability or rather the degree of availability 301 of the driver of the vehicle 100 for manually guiding the vehicle is shown. The availability 301 of the driver can be taken into account when planning the route. In particular, a travel route can be found in which the sections with low driver availability overlap as well as possible with the sections 314 that are released for utilization of the automated driving mode.

[0077] Therefore, a multi-criteria route optimization is described herein in the case of the introduction of the road release information, i.e. the release information 315, in order to determine a travel route 316. The found travel route 316 can here be adapted in time with respect to one or more characteristics, such as an estimated time of arrival (ETA), road release / driving release for assisted, partially autonomous or fully autonomous driving, etc., to the observed driver behavior and / or to the estimated future driver behavior expectation (i.e. the availability information 211 for the driver). In particular, a travel route 316 can be found in order to:

[0078] - increase, in particular maximize, the highly automated driving time (HAF time) that is concatenated; and / or

[0079] - adapt the time optimization of the sections of the HAF time to one or more calendar appointments, ongoing entertainment programs, etc. of the driver. Here, an extended travel time and / or journey can be accepted, if necessary.

[0080] The behavior estimator 201 can be used to estimate the current and future driver behavior based on different data sources. The found behavior information and / or availability information 211 can be transmitted to the pre-processor 202. The pre-processor 202 converts this information 211 into a data format that is available to the routing engine 203. Here, the estimated driver behavior can be divided into different time periods (e.g. time blocks). In addition, a classification of the actions of the driver can be implemented. The different classes of actions can be evaluated by means of the complexity of these actions for the driver. Actions with a relatively high complexity (and thus time periods with a relatively low availability 301) can have a higher priority for consuming HAF time in order to optimally relieve the driver. The complexity evaluation can be based on the general classification of the driver in similar activities in the past as well as on personnel-related information (e.g. the number of interventions of the driver assistance system, distractions from road traffic identified by the interior camera 107, identified fatigue phenomena, etc.). Safety-relevant predicted driver behavior, such as fatigue, can have the highest priority for utilization of HAF, i.e. for utilization of the automated driving mode. The found data 212 can be transmitted to the routing engine 203.

[0081] The routing engine 203, for example, uses a dynamic graph (e.g. in the form of a graph-based model) in order to find the travel route 316. The dynamic graph can be based on the release information 315, the availability information 211, the current and future driver behavior, etc. The dynamic graph can be updated in real time, for example, in order to take into account the current and future driver behavior. Figure 3The one or more route proposals are calculated (as described above in the context of the method). A route 316 can be determined here in such a way that the level of possible assisted driving and / or autonomous driving on this route 316 allows the planned action of the driver and / or the predicted action and / or the estimated behavior as far as possible essentially. This can be achieved, inter alia, in that the link weight or the section weight for sections with a positive road release, i.e. in which automated driving mode is possible, is increased in the time period with a higher priority for utilizing partial / fully autonomous driving (according to the priority from the behavior estimator 201) (based on the estimated driver behavior, i.e. based on the behavior information).

[0082] After the route calculation, it can be checked whether the calculated route 316 contains one or more side conditions (e.g. an estimated time of arrival (ETA) at the target point 312 which cannot be exceeded, a maximum allowed additional time consumption compared to the fastest route, etc.).

[0083] The one or more optimized routes 316 can be output to the driver via the user interface 105. Here, it is also possible to output information on in which one or more sections 314 of the respective route 316 the operation in automated driving mode is implemented. The one or more routes 316 can be ascertained in the vehicle or by means of a vehicle-external unit 120.

[0084] For example, by means of an adjustment of a personal calendar of the user of the vehicle 100 it can be ascertained whether an action is planned in the time of the planned route which can be more easily performed (e.g. a telephone call) in the TAF / HAF operation of the vehicle 100. In another example, the HAF time of the vehicle 100 can be adapted to a current entertainment program of the user (e.g. to the time interval of an audio and / or video program).

[0085] By proposing a plurality of possible driving routes 316 it can be ascertained and / or learned, if necessary, whether the user accepts a longer driving time if one route 316 has more HAF times in succession and / or if one route 316 has HAF times which are well adapted to the planned user action. The route planning can thus be adapted to the preferences of the user.

[0086] Figure 4A flow chart of an exemplary (computer-implemented, if necessary) method 400 for ascertaining a travel route 316 for a vehicle 100 (motor vehicle) is shown. The method 400 can be executed by a control unit 101 of the vehicle 100 and / or by a vehicle-external unit 120. The vehicle 100 has an automated travel mode in which the vehicle 100 is at least partially automatically guided longitudinally and / or laterally (e.g. according to SAE-Level 3 or higher). In addition, the vehicle 100 has a manual travel mode in which the vehicle 100 is at least partially manually guided longitudinally and / or laterally by a driver of the vehicle 100 (e.g. according to SAE-Level 2, 1 or 0).

[0087] The method 400 comprises ascertaining 401 release information 315 regarding the release of the automated travel mode on different road sections 314 of a road network 310 traveled by the vehicle 100. The release information 315 can be provided as part of digital map information regarding the road network 310. The release information 315 can indicate for each road section 314 the possible degree of automation of the vehicle 100 when traveling on the respective road section 314.

[0088] In addition, the method 400 comprises ascertaining and / or predicting 402 availability information 211, 212 regarding the availability of manual longitudinal and / or lateral guidance of the vehicle 100 by a driver of the vehicle 100 for a travel from a starting point 311 to a target point 312 for which the travel route 316 is to be planned. The availability information 211, 212 can be ascertained based on sensor data of one or more driver sensors 107 of the vehicle 100 and / or based on a driver appointment plan from a driver digital calendar. The availability information 211, 212 can indicate for a sequence of preceding time periods the degree 301 of availability of manual longitudinal and / or lateral guidance of the vehicle 100 by the driver.

[0089] The method 400 further comprises ascertaining 403 a travel route 316 through the road network 310 from the starting point 311 to the target point 312 based on the release information 315 and based on the availability information 211, 212. In particular, a travel route 316 can be determined in which there is as great an overlap as possible of time periods in which manual longitudinal and / or lateral guidance of the vehicle 100 by the driver is not available and road sections 314 in which automated travel mode is possible.

[0090] By the measures explained herein, the comfort of a user of a vehicle 100 having an automated travel mode can be improved.

[0091] The application is not limited to the embodiments shown. In particular, it should be noted that the description and drawings should only exemplarily describe the principles of the proposed method, device and system.

Claims

1. A device for determining a travel route (316) for a vehicle (100), the vehicle having an automated driving mode in which the vehicle (100) is at least partially automatically guided longitudinally and / or laterally, and the vehicle having a manual driving mode in which the vehicle (100) is at least partially manually guided longitudinally and / or laterally by a driver of the vehicle (100), the device being configured to: - Determine the release information (315) regarding the release of automated driving modes on different road segments (314) of the road network (310) traveled by vehicles (100). - Identify and / or predict availability information (211, 212) regarding the availability of manual longitudinal and / or lateral guidance of the vehicle (100) for the driver of the vehicle (100) during the journey from the starting point (311) to the target point (312), the availability information (211, 212) indicating, respectively, for a sequence of time periods during the journey from the starting point (311) to the target point (312): whether the driver of the vehicle (100) is available for operating the vehicle (100) in manual driving mode during the corresponding time period; - For a driving route (316) traversing the road network (310) from the starting point (311) to the destination point (312), based on release information (315) and availability information (211, 212), determine the degree of correlation between the road segment (314) released in automated driving mode and the time period during which the driver is unable to operate the vehicle (100) in manual driving mode; and - Identifying the driving route (316) increases the relevance.

2. A device for determining a travel route (316) for a vehicle (100), the vehicle having an automated driving mode in which the vehicle (100) is at least partially automatically guided longitudinally and / or laterally, and the vehicle having a manual driving mode in which the vehicle (100) is at least partially manually guided longitudinally and / or laterally by a driver of the vehicle (100), the device being configured to: - Determine the release information (315) regarding the release of automated driving modes on different road segments (314) of the road network (310) driven by the vehicle (100), the release information (315) indicating the possible degree of automation of the vehicle (100) in the corresponding road segment (314) for multiple road segments (314) of the road network (310); - Identify and / or predict availability information (211, 212) regarding the availability of manual longitudinal and / or lateral guidance of the vehicle (100) by the driver of the vehicle (100) during the journey from the starting point (311) to the target point (312), wherein the availability information (211, 212) indicates the desired degree of automation of the vehicle (100) for the sequence of time periods during the journey from the starting point (311) to the target point (312); - For a travel route (316) with a sequence of road segments (314) from the starting point (311) to the destination point (312) via the road network (310), the correlation between the possible degree of automation in the sequence of road segments (314) of the travel route (316) and the expected degree of automation in the sequence of time periods is determined based on release information (315) and availability information (211, 212); and - Identifying the driving route (316) increases the relevance.

3. The device according to claim 1 or 2, wherein, The device is configured to determine the travel route (316) in order to maximize the degree of correlation.

4. The device according to claim 1 or 2, wherein, The device is configured such that: - Based on availability information (211, 212), predict the time period during which manual longitudinal and / or lateral guidance of the driver to the vehicle (100) will be unavailable during the journey from the starting point (311) to the destination point (312); and - Based on the release information (315), the driving route (316) is determined, so that the vehicle (100) is in a road segment (314) during the predicted time period, which is released for the automated driving mode.

5. The device according to claim 1 or 2, wherein, The device is configured to: ascertain and / or predict availability information based on the following (211, 212): - Regarding sensor data of the driver, the sensor data is detected by one or more driver sensors (107) of the vehicle (100); - Data from the vehicle's (100) infotainment system; - Data from the driver's private user device (110); and / or - Data from the driver's digital calendar.

6. The device according to claim 5, wherein, The one or more driver sensors are one or more interior cameras.

7. The device according to claim 1 or 2, wherein, The device is configured such that: - Based on digital map information about the road network (310), estimate the expected duration for the driving route (316) to be identified; and - Identify and / or predict availability information for the expected duration (211, 212).

8. The device according to claim 1 or 2, wherein, The device is configured such that: - The travel route (316) is determined by means of a routing algorithm, in which different possible road segments (314) of the road network (310) are considered with respect to the travel route (316) to be determined; and - Based on availability information (211, 212), identify the segment weights of different possible segments (314).

9. The device according to claim 1 or 2, wherein, - The device is configured to output route information about the identified driving route (316) to the driver of the vehicle (100); and - The route information indicates one or more time periods and / or one or more road segments (314) during which the vehicle (100) can operate in an automated driving mode, or the vehicle (100) must operate in a manual driving mode during the one or more time periods and / or one or more road segments.

10. The device according to claim 1 or 2, wherein, - The device is configured to determine digital map information about the road network (310) traveled by the vehicle (100), and to determine the travel route (316) based on the digital map information; and - The digital map information includes release information (315) for multiple different road segments (314) of the road network (310).

11. The device according to claim 1 or 2, wherein, The device is configured such that, during travel from the starting point (311) to the target point (312), - Determine and / or predict updated availability information (211, 212) regarding the availability of manual longitudinal and / or lateral guidance of the vehicle (100) by the driver of the vehicle (100) during travel from the current location of the vehicle (100) to the target point (312); and - Based on updated availability information (211, 212), adapt the driving route (316) from the current location of the vehicle (100) to the target point (312).

12. The device according to claim 1 or 2, wherein, The device is configured to periodically, during its journey from the starting point (311) to the target point (312), - Determine and / or predict updated availability information (211, 212) regarding the availability of manual longitudinal and / or lateral guidance of the vehicle (100) by the driver of the vehicle (100) during travel from the current location of the vehicle (100) to the target point (312); and - Based on updated availability information (211, 212), adapt the driving route (316) from the current location of the vehicle (100) to the target point (312).

13. A method (400) for determining a driving route (316) for a vehicle (100), the vehicle having an automated driving mode in which the vehicle (100) is at least partially automatically guided longitudinally and / or laterally, and the vehicle having a manual driving mode in which the vehicle (100) is at least partially manually guided longitudinally and / or laterally by a driver of the vehicle (100), the method (400) comprising: - Determine the release information (315) regarding the release of automated driving modes on different road segments (314) of the road network (310) traveled by vehicles (100). - Identify and / or predict availability information (211, 212) regarding the availability of manual longitudinal and / or lateral guidance of the vehicle (100) for the driver of the vehicle (100) during the journey from the starting point (311) to the target point (312), the availability information (211, 212) indicating, respectively, for a sequence of time periods during the journey from the starting point (311) to the target point (312): whether the driver of the vehicle (100) is available for operating the vehicle (100) in manual driving mode during the corresponding time period; - For a driving route (316) traversing the road network (310) from the starting point (311) to the destination point (312), based on release information (315) and availability information (211, 212), determine the degree of correlation between the road segment (314) released in automated driving mode and the time period during which the driver is unable to operate the vehicle (100) in manual driving mode; and - Identifying the driving route (316) increases the relevance.

14. A method (400) for determining a driving route (316) for a vehicle (100), the vehicle having an automated driving mode in which the vehicle (100) is at least partially automatically guided longitudinally and / or laterally, and the vehicle having a manual driving mode in which the vehicle (100) is at least partially manually guided longitudinally and / or laterally by a driver of the vehicle (100), the method (400) comprising: - Determine the release information (315) regarding the release of automated driving modes on different road segments (314) of the road network (310) driven by the vehicle (100), the release information (315) indicating the possible degree of automation of the vehicle (100) in the corresponding road segment (314) for multiple road segments (314) of the road network (310); - Identify and / or predict availability information (211, 212) regarding the availability of manual longitudinal and / or lateral guidance of the vehicle (100) by the driver of the vehicle (100) during the journey from the starting point (311) to the target point (312), wherein the availability information (211, 212) indicates the desired degree of automation of the vehicle (100) for the sequence of time periods during the journey from the starting point (311) to the target point (312); - For a travel route (316) with a sequence of road segments (314) from the starting point (311) to the destination point (312) via the road network (310), the correlation between the possible degree of automation in the sequence of road segments (314) of the travel route (316) and the expected degree of automation in the sequence of time periods is determined based on release information (315) and availability information (211, 212); and - Identifying the driving route (316) increases the relevance.

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