Method and driver assistance system for supporting a driver when driving in the vicinity of a trajectory

Abstract

The present invention relates to a driver assistance system configured to support a driver of a motor vehicle while driving along a trajectory by displaying a displayed trajectory corresponding to the trajectory on a display unit. The driver assistance system is configured to identify, during driving, a proximity region of the trajectory in which the vehicle, starting from an actual position, approaches the vehicle, in which a plurality of different segments of the trajectory intersect, overlap, and / or approach one another. The driver assistance system is further configured to determine, from the plurality of segments, at least one relevant segment relevant for driving, starting from the actual position of the vehicle. The driver assistance system is further configured to highlight the relevant segment of the displayed trajectory on the display unit relative to one or more other segments of the plurality of segments.

Description

Technical Field

[0001] The present invention relates to a method and a corresponding driver assistance system which are designed to support the driver of a vehicle when resuming driving along a recorded trajectory, in particular when returning. Background Art

[0002] The vehicle may have an assistance system configured to record and store the vehicle's travel distance, in particular its driving trajectory, during a forward trip. For example, trajectory data related to the vehicle's driving trajectory may be recorded and stored when parking in a parking space and / or when shifting.

[0003] The stored trajectory data regarding the driving trajectory during the outbound trip can be used to support the vehicle user, particularly the driver, during the corresponding return trip. In particular, the driving path can be displayed to the vehicle user on a screen in the vehicle during the return trip, wherein the driving path is correlated with the trajectory data. The driving path can correspond to the driving trajectory during the outbound trip. The driving path can be visualized using camera images of the vehicle's surroundings and / or using a schematic diagram.

[0004] The driving path shown on the vehicle screen during the return journey may be confusing for the vehicle user. In particular, it may occur that multiple sections or segments of the driving path may be seen on the camera image and / or the schematic diagram around the vehicle. Summary of the Invention

[0005] The technical object of the present document is to improve the quality of a driver assistance system for supporting a driver of a vehicle while driving along a trajectory, in particular while driving along a recorded trajectory, in particular with regard to the quality of the driving path displayed during driving.

[0006] This object is achieved by each independent claim. Furthermore, advantageous embodiments are described in the dependent claims. It should be noted that the additional features of a claim dependent on an independent claim, without the features of the independent claim or in combination with only a subset of the features of the independent claim, can form a separate invention independent of the combination of all the features of the independent claim, and can be the subject of an independent claim, a divisional application, or a subsequent application. This applies in the same manner to technical teachings described in the description that can form inventions independent of the features of the independent claim.

[0007] According to one aspect, a driver assistance system is described that is configured to support a driver of a (motor vehicle) during a second trip along a trajectory recorded during a (previous) first trip. The first trip can include an outbound trip from a first point (e.g., a starting point) to a second point (e.g., an end point). The second trip can include a corresponding return trip from the second point to the first point. Thus, the driver assistance system can be configured to support the driver during the return trip.

[0008] Alternatively, the second travel may comprise a repetition of the first travel (along the same travel direction). Thus, the first travel may comprise a travel from a first point to a second point, and the second travel may comprise a repetition of the first travel to the second point.

[0009] If necessary, a journey can consist of multiple stages. The journey can take place via one or more intermediate points or via one or more additional points. The vehicle's direction of travel can be different in different stages of a multi-stage journey. In particular, the direction of travel can be changed in separate stages (between forward and backward or between backward and forward) in directly successive stages. The aspects described in this document can also be applied to multi-stage journeys. The described aspects can be applied in particular to each individual stage of a multi-stage journey or to the multi-stage journey as a whole.

[0010] It is noted that the aspects described in this document are specifically described for the second driving along the recorded trajectory. However, the described aspects are generally applicable to driving along a trajectory (eg, along a planned trajectory or along a recorded trajectory) both individually and in combination.

[0011] The driver assistance system can be designed to automatically guide the vehicle longitudinally and / or transversely (e.g., during the first and / or second travel). In particular, automatic transverse guidance can be implemented during the second travel. If necessary, longitudinal guidance can be implemented manually by the driver. The driver assistance system can, in particular, be a return assistance system and / or a parking assistance system. In an alternative example, the second travel can (if necessary entirely) be implemented manually by the driver (in terms of longitudinal and transverse guidance).

[0012] During the first run, trajectory data regarding a trajectory of the first run may have been acquired and recorded. The trajectory data may indicate the positions of a plurality of waypoints on the trajectory recorded during the first run (e.g., in an xy plane of a Cartesian coordinate system). The trajectory data may be acquired based on sensor data from one or more vehicle sensors and / or based on map data regarding a road traveled by the vehicle.

[0013] The driver assistance system can be configured to support the driver of the motor vehicle by displaying a displayed trajectory corresponding to the recorded trajectory on a display unit. The display unit can include, for example, a screen or a heads-up display. The display unit can be part of the vehicle or part of a (mobile) user device (e.g., a smartphone).

[0014] The driver assistance system is designed to detect, during the second driving period, that the vehicle, starting from the actual position of the vehicle, approaches a neighborhood of the recorded trajectory and / or drives towards a neighborhood where a plurality of different segments of the recorded trajectory intersect, overlap, and / or are close to each other. The different segments of the trajectory may also be referred to as segments or parts of the trajectory. In particular, it can be recognized that the neighborhood is arranged starting from the actual position so that the neighborhood is displayed on the display unit. The display of a plurality of different segments of the recorded trajectory may cause confusion to the vehicle driver (especially when two different segments intersect, at least partially overlap, and / or are close to each other).

[0015] In particular, the driver assistance system can be designed to determine the distance between two different segments of the recorded trajectory. If the determined distance is equal to or less than a predefined distance threshold (e.g., 5 meters or less), it can be determined that the adjacent area of the recorded trajectory is formed by two different segments. This makes it possible to particularly reliably identify adjacent areas where no trajectory segments intersect.

[0016] The driver assistance system may also be configured to retrieve at least one relevant segment from the plurality of segments (of the identified neighboring area), the at least one relevant segment being relevant to the second run starting from the actual position of the vehicle. For example, the relevant segment may be a segment from the plurality of segments (of the identified neighboring area) on which the vehicle should or will travel in, through, and / or out of the neighboring area in order to follow the recorded trajectory in the second run. Alternatively or additionally, the driver assistance system may be configured to identify one or more segments from the plurality of segments as relevant segments that subsequently follow the actual position of the vehicle with respect to the vehicle's direction of travel in the second run.

[0017] Thus, one or more relevant segments of the recorded trajectory can be acquired, which, starting from the respective actual position of the vehicle, are associated with driving through the identified adjacent area and / or driving out of the identified adjacent area.

[0018] Furthermore, the driver assistance system may be designed to highlight the relevant segment in the displayed trajectory relative to one or more other segments of the plurality of segments on the display unit.

[0019] Here, the relevant segment can be highlighted in particular in the following manner: other segments of the plurality of segments are hidden or grayed out or shown transparently; a different color and / or shading is used for the relevant segment than for the other segments of the plurality of segments; and / or a symbol indicating the segment relevant to the second drive is shown, in particular a directional arrow and / or a traffic sign and / or a pictogram.

[0020] Therefore, it is possible to highlight one or more segments directly related to the previous adjacent area traveled through in the displayed trajectory shown on the display unit. Thus, the comfort and reliability of the driver assistance system can be improved.

[0021] The driver assistance system can be designed to determine the angle between two intersecting and / or adjacent segments of the recorded trajectory. This can include the angle between two intersecting segments that, at an intersection, have a driving direction away from the intersection or, alternatively, a driving direction toward the intersection.

[0022] If necessary, selective highlighting of one or more relevant segments can be implemented based on the detected angle. In particular, if necessary, the relevant segments of the adjacent area can be detected and / or highlighted only when the detected angle is within a predefined angular range of approximately 0° or 180°. The predefined angular range can be, for example, equal to or less than ±20°. Thus, based on the angles between intersecting and / or adjacent segments, it can be checked whether there is an overall risk of confusion between segments in the adjacent area. If this risk does not exist due to relatively large angles, highlighting can be omitted, thereby further improving driver comfort.

[0023] The driver assistance system can be designed to retrieve, starting from the vehicle's (corresponding) actual position, a plurality of adjacent regions (to be displayed on the display unit) of the recorded trajectory, which are located ahead of the vehicle in the direction of travel during the second drive. One or more relevant segments can then be individually retrieved and highlighted. This can further improve comfort and reliability.

[0024] The driver assistance system may also be configured to acquire a sequence of segments of the recorded trajectory, which are successively traveled through starting from the actual position during the second drive (particularly when there are multiple adjacent areas). As the segments are traveled through during the second drive along the recorded trajectory, they may thus be arranged continuously in the sequence of segments.

[0025] Subsequently, a first segment can be identified from the segmented sequence that initially forms a neighborhood of the recorded trajectory with a segment preceding the first segment from the segmented sequence. In other words, a first segment from the segmented sequence can be obtained that may be confusing to the driver of the vehicle due to proximity to or intersection with other segments preceding the first segment in the segmented sequence.

[0026] Subsequently, at least one relevant segment (which should be highlighted) can be retrieved from the set of segments that has one or more segments preceding the first segment in the sequence of segments. Thus, one or more relevant segments can be retrieved in a particularly accurate and stable manner (especially when there are multiple neighboring regions). For example, all segments preceding the first segment in the sequence of segments can be highlighted. If necessary, all segments starting from (including) the first segment in the sequence of segments can be hidden.

[0027] The driver assistance system can be designed to, during the second driving period (typically repeated), acquire image data about the environment ahead of the vehicle in the direction of travel using at least one camera (and optionally multiple cameras) of the vehicle. The camera or cameras can be located at the front and / or rear of the vehicle. Furthermore, the driver assistance system can be designed to display or output a graphic representation on a display unit based on the image data, which graphic representation shows the vehicle's environment superimposed on the displayed trajectory. The graphic representation can include a video of the vehicle's environment. Alternatively or additionally, the graphic representation can include a schematic diagram (e.g., a top view) of the vehicle's environment.

[0028] The driver assistance system can be designed to repeatedly acquire the corresponding actual position of the vehicle, in particular the corresponding actual position of the vehicle's camera, during the second driving period. The displayed trajectory can then be updated based on the corresponding actual position. Furthermore, it can be implemented that the respectively updated displayed trajectory is displayed on the vehicle's display unit (overlapping with the respectively detected vehicle surroundings). Thus, the displayed trajectory can be repeatedly adapted based on the respective actual position of the vehicle (and therefore based on the respectively displayed vehicle surroundings). This can further improve the quality of the driver assistance.

[0029] In particular, the driver assistance system can be configured to repeatedly determine, during the second driving period, whether a neighboring area with at least one relevant segment of the recorded trajectory exists ahead in the direction of travel, starting from the respective actual position. The displayed trajectory can then be updated based on whether a neighboring area with a relevant segment of the recorded trajectory exists ahead in the direction of travel at the respective actual position. In particular, the corresponding highlighted segment can be updated. This can further improve the quality of the driver assistance.

[0030] As mentioned above, the aspects described in this document can generally be applied to driving along a trajectory. In particular, according to another aspect, a driver assistance system is described that is configured to support the driver of a motor vehicle when driving along a planned trajectory by showing a displayed trajectory corresponding to the planned trajectory on a display unit. The aspects described in this document with respect to the trajectory recorded during the first driving period can also be applied in a corresponding manner to the planned trajectory. The planned trajectory can, for example, relate to a parking maneuver and / or a valet parking maneuver. In this case, the trajectory can be planned by a planning unit of the vehicle (for example based on sensor data from one or more environmental sensors of the vehicle).

[0031] Therefore, the aspects described with respect to the “recorded trajectory” can be applied accordingly to the “planned trajectory” (for the driving maneuver). Furthermore, the aspects described with respect to the “second drive” can be applied accordingly to the “drive” along the planned trajectory.

[0032] The driver assistance system may be designed to detect during driving that the vehicle, starting from the respective actual position, is approaching a vicinity of the planned trajectory and / or is approaching a vicinity where a plurality of different segments of the planned trajectory intersect, overlap and / or are close to each other.

[0033] Furthermore, the driver assistance system may be configured to determine at least one relevant segment relevant for driving starting from the actual position of the vehicle from the plurality of segments. Furthermore, the driver assistance system may be configured to highlight the relevant segment in the displayed trajectory relative to one or more other segments of the plurality of segments on the display unit.

[0034] The driver assistance system can be designed to recognize that a trajectory has a loop with (at least) two segments that intersect at an intersection and / or overlap in an overlap region. The area around the intersection (e.g., an area with a specific (predefined) radius around the intersection) and / or the overlap region can be determined as a neighboring area. In other words, the neighboring area can correspond to the area around the intersection and / or the overlap region. Furthermore, from the two segments that intersect at the intersection and / or overlap in the overlap region, the segment closest to the actual position along the trajectory (and therefore the one that was traveled over first during the second drive) can be selected as the relevant segment.

[0035] Alternatively or additionally, the driver assistance system can be designed to recognize that the trajectory has two segments with opposite driving directions, and that the vehicle changes direction at a driving direction change point between the two segments. Subsequently, an area around the direction change point (e.g., an area with a specific radius around the direction change point) can be determined as a neighboring area. In other words, the area around the direction change point can correspond to the neighboring area. Furthermore, the segment closest to the actual position along the trajectory (and therefore the one traveled over first during the second drive) can be selected as the relevant segment from the two segments.

[0036] Thus, the trajectory can be analyzed and it can be detected that two different segments of the trajectory overlap (for example, due to an intersection or a change in driving direction). The overlapping area of the trajectory segments can be identified as a neighboring area. Subsequently, the relevant segments within the neighboring area can be highlighted to improve the comfort of the driver assistance system.

[0037] The relevant segment can be highlighted in that one or more other (irrelevant) segments are visually faded and / or displayed visually differently (eg in a different color, eg in a lighter color than the relevant segment).

[0038] The driver assistance system may be designed to at least partially or completely transparently display and / or at least partially or completely conceal one or more other (irrelevant) segments of the plurality of segments. Alternatively or additionally, the driver assistance system may be designed to at least partially or completely transparently display and / or at least partially or completely conceal one or more direction symbols, in particular arrows, on one or more other (irrelevant) segments of the plurality of segments.

[0039] On the other hand, it is possible that the relevant segment is not shown transparently and / or is not hidden and / or one or more direction symbols on the relevant segment are not shown transparently and / or are not hidden. Thus, the relevant segment in the displayed trajectory can be highlighted on the display unit in a particularly prominent manner relative to one or more other segments of the plurality of segments.

[0040] The driver assistance system can be designed to at least partially or completely transparently display and / or at least partially or completely hide one or more segments, in particular all segments, of the following relevant segment of the trajectory (to be displayed). Alternatively or additionally, the driver assistance system can be designed to at least partially or completely transparently display and / or at least partially or completely hide one or more direction symbols, in particular arrows, on one or more segments, in particular all segments, of the following relevant segment of the trajectory (to be displayed).

[0041] Thus, one or more, in particular all, segments of the trajectory (to be displayed) that follow the relevant segment (also one or more segments that follow a neighboring area or overlap with the relevant segment from the perspective of the actual position) can be displayed differently from the relevant segment. Thus, the relevant segment in the displayed trajectory can be highlighted on the display unit in a particularly prominent manner relative to one or more other segments of the plurality of segments.

[0042] The driver assistance system can be configured to highlight the relevant segment of the displayed trajectory on the display unit relative to one or more other segments of the plurality of segments, particularly only as long as the vehicle is positioned on a segment preceding the relevant segment in the direction of travel or on the relevant segment. The highlighting can optionally be terminated as soon as the vehicle reaches a segment of the trajectory that (directly) follows the relevant segment. This can further enhance the comfort of the driver assistance system.

[0043] According to a further aspect, a (road) motor vehicle, in particular a passenger car or a truck or a bus or a motorcycle, is described, which comprises at least one of the driver assistance systems described in this document.

[0044] According to another aspect, a method is described for providing driving assistance during a second journey along a trajectory recorded during a first journey by showing a displayed trajectory corresponding to the recorded trajectory on a display unit.

[0045] During the second run, the method includes identifying that the vehicle, starting from the actual position, approaches a vicinity of the recorded trajectory and / or drives toward a vicinity where multiple different segments of the recorded trajectory intersect, overlap, and / or are close to each other. The method also includes obtaining at least one relevant segment from the plurality of segments that is relevant to the second run starting from the actual position of the vehicle. The method also includes highlighting the relevant segment of the trajectory relative to one or more other segments of the plurality of segments on a display unit.

[0046] According to another aspect, a method for providing driving assistance during driving along a planned trajectory by displaying a displayed trajectory corresponding to the planned trajectory on a display unit is described. The method includes identifying during driving: a vicinity where the vehicle, starting from an actual position, approaches the planned trajectory and / or a vicinity where a plurality of different segments of the planned trajectory intersect, overlap, and / or are close to each other. Furthermore, the method includes obtaining at least one relevant segment from the plurality of segments that is relevant for driving starting from the actual position of the vehicle. The method also includes enabling the relevant segment of the displayed trajectory to be highlighted on the display unit relative to one or more other segments of the plurality of segments.

[0047] According to another aspect, a software (SW) program is described. The software program can be designed to be executed on a processor (for example, on a control unit of a vehicle) and thereby implement at least one of the methods described in this document.

[0048] According to another aspect, a storage medium is described. The storage medium may include a software program designed to be executed on a processor and thereby to implement at least one of the methods described in this document.

[0049] It should be noted that the methods, apparatus, and systems described in this document may be used not only individually but also in combination with other methods, apparatus, and systems described in this document. Furthermore, any aspect of the methods, apparatus, and systems described in this document may be combined with one another in a variety of ways. In particular, features of the claims may be combined with one another in a variety of ways. Furthermore, features listed in parentheses should be understood to be optional features. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Hereinafter, the present invention will be described in detail with reference to embodiments.

[0051] Figure 1 Exemplary components of a vehicle are shown;

[0052] Figure 2a An exemplary recorded outbound trajectory is shown;

[0053] Figure 2b An exemplary graphical representation of a return trajectory is shown;

[0054] Figures 3a to 3e An exemplary recorded (outbound) trajectory is shown;

[0055] Figure 4 A flow chart illustrating an exemplary method for supporting a vehicle user while driving along a recorded trajectory; and

[0056] Figures 5a to 5d An exemplary graphical representation showing a trajectory is shown. DETAILED DESCRIPTION

[0057] As explained at the outset, this document relates to improving the quality of driver assistance systems, particularly with respect to displayed trajectories displayed during a trip. A return trip based on the trajectories recorded during the outbound trip will be discussed below. It should be noted that the described aspects are generally applicable to a second trip based on the trajectories recorded during the first trip.

[0058] Figure 1An exemplary vehicle 100 is shown having one or more environmental sensors 102 (e.g., cameras, radar sensors, lidar sensors, etc.) and one or more vehicle sensors 103 (e.g., steering sensors, speed sensors, inertial measurement units (IMUs), etc.). A (control) device 101 of vehicle 100 may be configured to detect trajectory data about a forward trajectory traveled during the forward journey (e.g., during a shift maneuver) based on sensor data from one or more environmental sensors 102 and / or based on one or more vehicle sensors 103, and to store the data in a storage unit (not shown) of vehicle 100.

[0059] Vehicle 100 further includes a return camera 106, which is configured to detect image data about the environment in front of vehicle 100 along the direction of travel of vehicle 100 when vehicle 100 is returning. In particular, the environment behind vehicle 100 can be detected by camera 106 when vehicle 100 is returning.

[0060] Vehicle 100 may also include one or more longitudinal and / or transverse guidance actuators 104, which are configured to provide at least semi-automatic longitudinal and / or transverse guidance of vehicle 100. Exemplary actuators 104 include drive motors, steering systems, and / or braking systems. (Control) device 101 may be configured to control one or more actuators 104 during the return trip based on trajectory data related to the outbound trip, in order to support the driver of vehicle 100 during the return trip.

[0061] Vehicle 100 also includes a display unit 105, which can be arranged, for example, on the dashboard and / or head unit of vehicle 100. Display unit 105 can include a screen (particularly an LCD, LED, or OLED screen), a projector, and / or a head-up display. Device 101 can be configured to display image data from a return camera 106 on display unit 105 during a return trip. In particular, the environment ahead of vehicle 100 in the direction of travel can be displayed (in video form).

[0062] The device 101 can also be designed to obtain a return trajectory based on the trajectory data detected during the corresponding outbound trip, and to display the return trajectory in an image on the display unit 105, and to overlap it with the image data of the return camera 106. In this case, the return trajectory (which is also referred to as the display trajectory in this document) can show the user of the vehicle 100, in particular the driver, how the vehicle 100 should turn on the return trip, in particular in order to return the vehicle 100 along the outbound trajectory. In this case, the steering of the vehicle 100 on the return trip can be achieved automatically by the vehicle 100 or manually by the driver. If the steering of the vehicle 100, i.e., the lateral guidance, is achieved automatically by the vehicle 100, the displayed return trajectory can represent support for the driver in monitoring the automatic lateral guidance. If the steering is achieved manually by the driver, the displayed return trajectory can be used by the driver as a reference point for the steering that can be achieved by the driver.

[0063] Figure 2a An exemplary outbound trajectory 200 from a starting point 201 to an end point 202 is shown, which is recorded and stored on an outbound journey 203 (usually on the first drive). In this case, the outbound trajectory 200 can have any waypoints in a plane spanned by the x-axis and the y-axis. Figure 2a The outbound trajectory 200 shown has intersections between the different sections (also called segments) of the trajectory 200 .

[0064] Figure 2b An exemplary image representation 205 is shown which may be output on the display unit 105 of the vehicle 100 during the return trip 213 (typically during the second drive). The image representation 205 may include image data 215 of the return trip camera 106. Figure 2b In the example shown, a road boundary of a road in the environment of vehicle 100 can be seen in image data 215 .

[0065] Image data 215 of return camera 106 may be superimposed with (a representation of) return trajectory 210 (typically displayed trajectory) obtained based on the trajectory data regarding outbound trajectory 200. In particular, return trajectory 210 (e.g., in the form of a driving path) may be additionally displayed on image data 215, indicating to the user of vehicle 100 how vehicle 100 should be guided longitudinally and / or laterally during the return trip 213 (in order to return vehicle 100 according to outbound trajectory 200).

[0066] If the outbound trajectory 200 has intersecting segments (such as Figure 2a As shown by way of example), this may result in the return trajectory 210 shown on the display unit 105 also having intersecting segments 211. For example, Figure 2bSegments 211 extending transversely to the road boundary are shown. The display of the different segments 211 of return trajectory 210 may be confusing for the driver of vehicle 100 and may lead to errors when driving along return trajectory 210 .

[0067] Figures 3a to 3e Different exemplary recorded trajectories 200 (particularly outbound trajectories) are shown, each having at least one adjacent region 310, 320 in which different segments 301-307 of the respective trajectory 200 approach or intersect one another. Vehicle 100 is located at actual position 300 and is traveling 213 in the direction of travel indicated by the arrow.

[0068] Figure 3a The trajectory 200 shown has as a neighborhood the intersection 310 between segments 302 and 303. The vehicle 100 is located at the actual position 300 in segment 301. The transition between directly consecutive segments is Figures 3a to 3e , 303 . At intersection point 310, a specific intersection angle 311 is formed by the intersecting segments 302 , 303 of trajectory 200 . Angle 311 can be observed at the intersection point between the intersecting segments 302 , 303 of trajectory 200 . In particular, angle 311 can be observed at the intersection point between regions of intersecting segments 302 , 303 that have a direction of travel away from the intersection point (or alternatively, a direction of travel toward the intersection point).

[0069] In particular, in the case of relatively small intersection angles 311 (e.g. 20° or less), it may happen that the displayed trajectory 210 corresponding to the recorded trajectory has segments 211 at the intersection point 310, which extend at small angles to one another, so that the driver of the vehicle 100 cannot clearly identify which segment 211 is related to the lateral guidance of the vehicle 100.

[0070] Figure 3b A simulated intersection situation is shown, in which the intersection angle 311 is large (eg 160° or more), so that the segments 301 , 303 , 211 are close to each other and / or extend similarly, so that a confusing situation may arise for the driver of the vehicle 100 .

[0071] Figure 3c and 3d Trajectory 200 is shown, in which different segments 302, 303 extend parallel to one another and / or relatively close to one another in a neighboring region 320. In this case, the corresponding displayed trajectory 210 also has segments 211 extending accordingly, so that the driver of vehicle 100 cannot clearly identify which segment 211 is relevant for the lateral guidance of vehicle 100.

[0072] Figure 3e A trajectory 200 is shown having a plurality of intersections 310 and approach regions 320. In such a trajectory 200, a corresponding displayed trajectory 210 may have a plurality of corresponding regions, at which segments 211 are displayed on the display unit 105, which segments cannot be clearly assigned to a vehicle-related travel distance.

[0073] The (control) device 101 of the vehicle 100 or a driver assistance system including the device 101 can be configured to determine whether the recorded trajectory 200 for a trip, such as a return trip, has adjacent regions 310, 320. In this case, adjacent regions 310, 320 can be regions where the trajectory 200 has an intersection 310. Alternatively, adjacent regions 310, 320 can be proximity regions 320 in which the distances between different segments 301, 303 of the trajectory 200 are equal to or less than a predefined distance threshold. Segments 301, 303 can extend substantially parallel to one another in proximity regions 320.

[0074] Device 101 and / or the driver assistance system may be designed to acquire a display trajectory 210 of recorded trajectory 200. Display trajectory 210 may then be displayed on display unit 105 during driving. Typically, only a portion of display trajectory 210 is shown, which portion is located in the area of the surroundings of vehicle 100 captured by camera 106 and reproduced on display unit 105.

[0075] If the vehicle 100 approaches the adjacent areas 310, 320 of the recorded trajectory 200 during driving, it is possible (as exemplarily in Figure 2b What happens is that a plurality of segments 211 of the display trajectory 210 (for the corresponding segments 301 , 303 of the recorded trajectory 200 ) are shown on the graphic representation 205 of the display unit 105 .

[0076] Thus, device 101 and / or the driver assistance system can be designed to recognize that a plurality of different segments 211 of displayed trajectory 200 (a corresponding plurality of segments 301 , 303 of recorded trajectory 200 ) are displayed for adjacent areas 310 , 320 . It can then be determined which of the plurality of different segments 211 has the highest relevance to the (lateral) guidance of vehicle 100 at the respective point in time and / or the respective actual position of vehicle 100 (compared to one or more other segments 211 ). In particular, segments 211 that are currently and / or subsequently traveled past can be identified.

[0077] The identified segment 211 can then be (visually) highlighted in the image representation 205 relative to one or more other segments 211. This can be achieved, for example, by selecting a specific color and / or by hiding one or more other segments 211. By highlighting the identified segment 211, the comfort and reliability of the driving assistance can be improved.

[0078] Thus, the relevant driving distance that the driver assistance system will follow can be shown to the driver while driving along the recorded trajectory 200. To this end, the system can recognize different situations, in particular different adjacent areas 310, 320, and take these into account when displaying the displayed trajectory 210. The relevant driving distance can be shown by hiding and / or graying out and / or by transparently displaying irrelevant segments 211, by a special visual display of the relevant segments, by directional arrows, etc.

[0079] Figure 3a and 3b An exemplary intersection 310 of the recorded trajectory 200 is shown. During travel 213, the current actual position 300 of the vehicle 100 on the trajectory 200 is compared with the stored road segments. If an intersection 310 of a road segment is detected and the vehicle 100 has not yet passed this point 310 (the vehicle 100 is, for example, in segment 301), then, for example, a further downstream segment 303 of the road segment can be hidden. It can be seen that at the intersection 310, the vehicle will follow segment 302 (and not segment 303).

[0080] If necessary, the angle 311 between the segments 303, 302 at the intersection 310 can be taken into account. The smaller the angle 311, the harder it is for the driver to see which path is more favorable. On the other hand, at an angle 311 of approximately 90°, it is obvious which path to follow. Therefore, the angle conditions can be checked and, if necessary, irrelevant road segments 303 can be hidden only at relatively small angles 311 (see Figure 3a ).

[0081] A similar situation exists in the case of intersections with relatively large angles 311 (see Figure 3b ). The closer the segments 301, 303 are to one another, ie the greater the angle 311 (ie the closer it is to 180°), the more difficult it is to distinguish between the paths. In this case, the paths may also overlap if necessary. If there is no visual direction indication in the corresponding segment 302, 303, this situation is similar to Figure 3a Thus, if the angle 311 is greater than a certain threshold value (eg 160°), a direction indication can be displayed or the irrelevant road section 303 can be hidden, for example.

[0082] Even when the road segments 302 and 303 do not intersect (see Figure 3c and 3d ), there is another situation in relatively close sections 302, 303. It is not possible for the driver to see which path to follow. In this case, the distance between the two sections 302, 303 can be obtained. If the distance is equal to or less than a certain distance threshold, the irrelevant section 303 can be grayed out and / or hidden, for example. In this case, in sections close to each other, the driving direction can be the same (such as Figure 3c as shown) or vice versa (as Figure 3d shown).

[0083] Figure 3e A situation with multiple intersections 310 and / or approach areas 320 is shown. In this case, the segment with the subsequent intersection 310 or bottleneck 320 relative to the current position 300 of the vehicle 100 can be detected and highlighted, if necessary. The remaining segments ahead or behind can be hidden. In other words, it is possible to analyze which segment 305, starting from the actual position 300 of the vehicle 100, first leads to an intersection 310 or bottleneck 320 with another segment 304 ahead. This segment 305 and all subsequent segments 306, 307 of the trajectory 200 can then be hidden.

[0084] exist Figure 3e 213 (by an arrow). If vehicle 100 is located in segment 301, segment 305 is the first segment of trajectory 200 that forms an intersection 310 (or bottleneck 320) with the preceding segment 304 of trajectory 200. Subsequently, all segments 305, 306, 307 following segment 304 can be hidden. This reliably allows the user to see as much of trajectory 200 as possible without showing intersections 310 or bottlenecks 320.

[0085] Alternatively, each segment can be considered if necessary, or a certain number of subsequent segments (eg, three segments) starting from actual position 300 can be considered. In this case, the level of relevance of the segments can be visually indicated (eg, by different colors).

[0086] As described above, different illustrations can be used to visually illustrate the relevance of different segments 301-307 of the trajectory 200 in the adjacent areas 310, 320. Exemplary measures are: hiding and / or graying out irrelevant segments; attenuation within a segment or across multiple segments; different visual illustrations (colors / shading) of the segments; and / or using symbols, such as arrows or no-entry signs.

[0087] Figure 5a and 5bAn exemplary display trajectory 210 is shown, which can be displayed on the display unit 105 of the vehicle 100 during a second trip 213, for example, during a return trip. The display trajectory 210 can each start at the actual position 300 of the vehicle 100 (wherein the actual position 300 of the vehicle 100 is graphically represented on the display trajectory 210, for example, by a symbol for the vehicle 100). The display trajectory 210 can optionally show the driving path of the vehicle 100 for the second trip 213. Alternatively or additionally, the driving direction of the vehicle 100 can be displayed along the display trajectory 210, for example, by a series of arrows 501, 502.

[0088] Figure 5a The diagram shows a driving situation in which the displayed trajectory 210 for the second driving 213 forms a loop, so that the displayed trajectory 210 intersects or crosses in the adjacent area 320. The displayed trajectory 210 has a first segment 301, which extends from the actual position 300 of the vehicle 100 to the adjacent area 320. The first segment 301 is directly adjacent to the second segment 302, which extends within the adjacent area 320. Subsequently, the displayed trajectory 210 forms a loop (outside the adjacent area 320), so that the displayed trajectory 210 enters and passes through the adjacent area 320 again. In particular, the displayed trajectory 210 has a third segment 303, which extends through the adjacent area 320 and intersects the second segment 302 of the displayed trajectory 210 within the adjacent area 320. In the example shown, after the third segment 303, the displayed trajectory 210 extends further outside the adjacent area 320.

[0089] Therefore, in Figure 5a In the example shown, a plurality of segments 302 , 303 of the display trajectory 210 are arranged within the adjacent region 320 , wherein two segments 302 , 303 of the display trajectory 210 intersect within the adjacent region 320 (at an intersection 505 ).

[0090] Segments 302 may be identified that are relevant for directing the travel 213 of the vehicle 100 (starting from the actual position 300 of the vehicle 100) through the adjacent area 320 (subsequently and / or initially). Figure 5a In the example shown, this is the second segment 302 , which is more relevant than the third segment 303 , because the vehicle 100 will first travel on the second segment 302 when currently crossing the adjacent area 320 , and only on the third segment 303 when crossing the adjacent area 320 next time.

[0091] It is possible to highlight the (second) segment 302 identified as relevant or more relevant compared to the (third) segment 303 identified as irrelevant or less relevant. This can be achieved in particular by at least partially or completely hiding the third segment 303 (and / or transparently showing it) and / or partially or completely hiding one or more arrows 502 on the third segment 302 (and / or transparently showing it). Thus, the second segment 302 can be highlighted by optically resetting (e.g., partially or completely hiding) the third segment 303.

[0092] Figure 5b Display trajectory 310 is shown, in which vehicle 100 performs a change of direction within a proximity region 320 (e.g., within the scope of a corrective movement). Vehicle 100 can be guided from actual position 300 on first segment 301 of display trajectory 210 in a first driving direction (e.g., backward) to identified proximity region 320. Within proximity region 320, vehicle 100 first drives further in the first driving direction on second segment 302 of display trajectory 210 to point 515 where a change of driving direction occurs. From this point, vehicle 100 drives through proximity region 320 on third segment 303 in a (opposite) second driving direction (e.g., forward) and further out of proximity region 320.

[0093] In the adjacent area 320 , the second and third segments 302 , 303 extend close to each other, in particular directly side by side near the point 515 where the driving direction changes, so that it may not be clear to the user of the vehicle 100 which segment 302 , 303 the vehicle 100 will travel on.

[0094] Segments 302 of displayed trajectory 210 that are (later) relevant to second travel 213 can be identified in adjacent area 320. Relevant segment 302 can be a segment that will be subsequently traveled through starting from actual position 300. Relevant segment 302 can then be highlighted relative to one or more further segments 303 in adjacent area 320. This can be achieved, in particular, by displaying one or more further segments 303 and / or arrows 502 on one or more segments 303 at least partially transparently (while relevant segment 302 and / or arrows 502 on relevant segment 302 are displayed opaquely).

[0095] As long as the vehicle 100 is on the segment 301 preceding the relevant segment 302 and / or on the relevant segment 302, the relevant segment 302 may be highlighted and / or the irrelevant segment 303 may be faded. Once the vehicle 100 leaves the relevant segment 302, the highlighting of the relevant segment 302 and / or the fading of the irrelevant segment 303 may be terminated.

[0096] It is thus possible to display only the currently relevant path information when two trajectories overlap, in particular when two different segments 302, 303 of a trajectory 210 overlap. Paths or path sections 303 that are subsequently left behind can be displayed visually differently (transparently and / or in a different color and / or in a different shape) or not displayed at all. This can be done for all paths or segments 302 that follow the relevant path or relevant segment 302 (i.e., overlap), even when they are outside the adjacent area 310, 320 (e.g., in the case of a vehicle). Figure 5a and 5b exemplarily shown in FIG).

[0097] Overlapping paths may exist, for example, after a change of direction (e.g., Figure 5b In addition, for example, when driving in circles, there may be overlap of paths in the same direction of travel, as in Figure 5a Path overlap may also exist at intersection 505.

[0098] Figure 5c Shown with Figure 5a A similar driving situation occurs in which displayed trajectory 210 for second driving 213 forms a loop, so that displayed trajectory 210 intersects or crosses in adjacent region 320. Here, in adjacent region 320, there is an overlap between second segment 302 and third segment 303. Therefore, adjacent region 320 (at least partially) corresponds to the overlapping region.

[0099] Figure 5d Shown with Figure 5b A similar driving situation occurs in which the second and third subsections 302 , 303 overlap, so that the adjacent region 320 (at least partially) corresponds to the overlapping region.

[0100] The portion of the third (ie irrelevant) segment 303 that overlaps with the second (ie relevant) segment 302 may be shown at least partially hidden and / or transparently. Alternatively or additionally, the direction symbol 502 of the overlapping portion of the third segment 303 may be shown at least partially hidden and / or transparently.

[0101] Figure 4 A flow chart of a (possibly computer-implemented) method 400 is shown for providing driving assistance during a second journey 213 along a trajectory 200 recorded during a first journey 203 by displaying a displayed trajectory 210 corresponding to the recorded trajectory 200 on a display unit 105. Display unit 105 can be part of vehicle 100 and / or part of a user device of the driver of vehicle 100. The second journey can be at least partially carried out automatically by vehicle 100 (in particular with regard to lateral guidance).

[0102] The method 400 includes, during the second drive 213, identifying 401 that the vehicle 100, starting from the (respective) actual position, is approaching a neighborhood 310, 320 of the recorded trajectory 200, in which a plurality of different segments 302, 303 of the recorded trajectory 200 intersect, overlap, and / or are close to one another. In other words, it can be identified that the vehicle 100 is approaching a neighborhood 310, 320 of the recorded trajectory 200, in which a plurality of different segments 302, 303 of the recorded trajectory 200 must be displayed on the display unit 105 (because the segments 302, 303 intersect or because the segments 302, 303 are relatively close to one another).

[0103] Method 400 further comprises obtaining 402 at least one relevant segment 302 from a plurality of segments 302, 303, which is relevant to second travel 213 starting from actual position 300 of vehicle 100. Relevant segment 302 can in particular be a segment 302 via which vehicle 100 (subsequently) passes through neighboring area 310, 320 starting from the actual position.

[0104] Furthermore, the method 400 includes highlighting 403 the relevant segment 302 in the display trajectory 210 on the display unit 105 relative to one or more other segments 303 in the plurality of segments 302, 303. This can be achieved, for example, by using a specific color and / or intensity and / or line thickness for the relevant segment 302.

[0105] As described above, method 400 can be applied in a corresponding manner for general driving along a general (possibly planned) trajectory.

[0106] The measures described in this document can increase the comfort and reliability of driver assistance systems.

[0107] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and the accompanying drawings are intended only to illustrate the principles of the proposed methods, devices, and systems.

Claims

1. A driving assistance system (101), configured to support a driver of a vehicle (100) when driving (213) along a trajectory (200) by displaying a displayed trajectory (210) corresponding to the trajectory (200) on a display unit (105); wherein: The driver assistance system (101) is designed to, during the driving (213), - identifying that the vehicle (100) is moving from an actual position (300) toward a neighboring region (310, 320) of the trajectory (200), in which different segments (302, 303) of the trajectory (200) intersect, overlap, and / or are close to each other; - obtaining at least one relevant segment (302) from the plurality of segments (302, 303) that is relevant to the travel (213) starting from the actual position (300) of the vehicle (100); and - enabling the relevant segment (302) in the display trajectory (210) to be highlighted on the display unit (105) relative to one or more other segments (303) of the plurality of segments (302, 303).

2. The driving assistance system (101) according to claim 1, wherein - the trajectory (200) is a trajectory (200) recorded during the first drive (203); and - the travel (213) is a second travel; or - The trajectory (200) is the trajectory planned for the driving maneuver.

3. The driving assistance system (101) according to claim 1 or 2, wherein: The driving assistance system (101) is designed to obtain the following segment (302) from the plurality of segments (302, 303) as a relevant segment, on which the vehicle (100) should or will drive through the adjacent area (310, 320) and / or drive out of the adjacent area in order to follow the trajectory (200) during the driving (213).

4. The driving assistance system (101) according to claim 1 or 2, wherein: The driving assistance system (101) is designed to identify one or more segments (302) of the plurality of segments (302, 303) of the adjacent area (310, 320) as relevant segments that subsequently follow the actual position (300) of the vehicle (100) with respect to the driving direction of the vehicle (100) in the travel (213).

5. The driving assistance system (101) according to claim 1 or 2, wherein: The driving assistance system (101) is designed to: - obtaining the distance between two different segments (301, 302, 303) of the trajectory (200); and If the obtained distance is equal to or less than a predefined distance threshold, it is determined that the neighborhood of the trajectory (200) is formed by the two different segments (301, 302, 303).

6. The driving assistance system (101) according to claim 1 or 2, wherein: The driving assistance system (101) is designed to: - obtaining the angle (311) between two mutually intersecting segments (302, 303) of the adjacent region (310, 320) of the trajectory (200); and - obtaining and / or highlighting the relevant segment (302) for the adjacent area (310, 320) based on the angle (311) between the two mutually intersecting segments (302, 303).

7. The driving assistance system (101) according to claim 6, wherein: The driver assistance system (101) is designed to acquire and / or highlight the relevant segment (302) for the adjacent area (310, 320) only when the acquired angle (311) between the two intersecting segments (302, 303) is within a predefined angle range of approximately 0° or 180°.

8. The driving assistance system (101) according to claim 1 or 2, wherein: The driver assistance system (101) is designed to highlight the relevant segment (302) in the following manner: - other segments (303) in the plurality of segments (302, 303) are hidden or grayed out or shown transparently; - using a different color and / or shading for the relevant segment (302) than for the other segments (303) of the plurality of segments (302, 303); and / or - a symbol indicating the segment (302) associated with said travel (213) is shown.

9. The driving assistance system (101) according to claim 1 or 2, wherein: The driver assistance system (101) is designed to, during the driving (213), - acquiring image data (215) about the environment of the vehicle (100) in front of the vehicle (100) in the direction of travel by means of at least one camera (106) of the vehicle (100); and - Based on the image data (215), a graphic representation (205) is displayed on the display unit (105), which shows the surroundings of the vehicle (100) superimposed on the display trajectory (210).

10. The driving assistance system (101) according to claim 1 or 2, wherein: The driving assistance system (101) is designed to repeatedly - obtaining the corresponding actual position (300) of the vehicle (100); - determining whether, starting from the corresponding actual position (300), there is a neighboring region (310, 320) with a relevant segment (302) ahead of the trajectory (200) in the direction of travel; - updating the displayed trajectory (210) according to whether there is a neighboring area (310, 320) with a relevant segment (302) ahead of the trajectory (200) in the direction of travel; and - achieving the display of the respectively updated display trace (210) on the display unit (105).

11. The driving assistance system (101) according to claim 1 or 2, wherein: The driving assistance system (101) is designed to: - starting from the actual position (300) of the vehicle (100), acquiring a plurality of adjacent areas (310, 320) of the trajectory (200) ahead of the vehicle (100) along the driving direction of the vehicle (100) during the driving, - acquiring a sequence (301, 302, 303, 304, 305, 306, 307) of consecutive segments of the trajectory (200), which are successively traveled through during driving, starting from the actual position (300); - identifying a first segment (305) from the sequence of segments (301, 302, 303, 304, 305, 306, 307), the first segment first forming a neighboring region (310, 320) of the trajectory (200) with a segment (304) preceding the first segment (305) from the sequence of segments (301, 302, 303, 304, 305, 306, 307); and - obtaining said at least one relevant segment (302) from a set of segments (301, 302, 303, 304) preceding said first segment (305) in said sequence of segments (301, 302, 303, 304, 305, 306, 307).

12. The driving assistance system (101) according to claim 1 or 2, wherein: The driver assistance system (101) is designed to guide the vehicle (100) laterally along the trajectory (200) at least partially or completely automatically during the travel (213).

13. The driving assistance system (101) according to claim 1 or 2, wherein: The driving assistance system (101) is designed to: - identifying that the trajectory (200) has a loop with two segments (302, 303) that intersect at an intersection (505) and / or overlap in an overlapping region; wherein the region around the intersection (505) and / or the overlapping region corresponds to the adjacent region (310, 320); and - From the two segments (302, 303) that intersect in the intersection point (505) and / or overlap in the overlap region, the segment (302) that is closest to the actual position (300) along the trajectory (200) is selected as the relevant segment (302).

14. The driving assistance system (101) according to claim 1 or 2, wherein: The driving assistance system (101) is designed to: - identifying that the trajectory (200) has two segments (302, 303) with opposite driving directions, and performing a driving direction change of the vehicle (100) at a driving direction change point (515) between the two segments (302, 303); wherein the area around the driving direction change point (515) corresponds to the adjacent area (310, 320); and - From these two segments (302, 303), the segment (302) that is closest to the actual position (300) along the trajectory (200) is selected as the relevant segment (302).

15. The driving assistance system (101) according to claim 1 or 2, wherein: The driving assistance system (101) is designed to: - showing at least partially or completely transparently and / or hiding at least partially or completely said one or more other segments (303) of said plurality of segments (302, 303); and / or - one or more direction symbols (502) at least partially or completely transparently shown and / or at least partially or completely hidden on one or more other segments (303) of the plurality of segments (302, 303); So as to highlight the relevant segment (302) in the display trajectory (210) relative to the one or more other segments (303) of the plurality of segments (302, 303) on the display unit (105).

16. The driving assistance system (101) according to claim 1 or 2, wherein: The driving assistance system (101) is designed to: - at least partially or completely transparently showing and / or at least partially or completely hiding one or more segments (303) of the trajectory (200) that follow the relevant segment (302); and / or - at least partially or completely transparently showing and / or at least partially or completely hiding one or more direction symbols (502) on one or more segments (303) of the trajectory (200) following the relevant segment (302).

17. The driving assistance system (101) according to claim 1 or 2, wherein: The driver assistance system (101) is designed to highlight the relevant segment (302) in the display trajectory (210) on the display unit (105) relative to the one or more other segments (303) of the plurality of segments (302, 303) as long as the vehicle (100) is arranged on a segment (301) preceding the relevant segment (302) in the driving direction or on the relevant segment (302).

18. The driving assistance system (101) according to claim 8, wherein: The symbol is a directional arrow.

19. The driving assistance system (101) according to claim 8, wherein: The symbol is a traffic sign.

20. The driving assistance system (101) according to claim 8, wherein: The symbols are pictograms.

21. The driving assistance system (101) according to claim 15, wherein: The directional symbol is an arrow.

22. The driving assistance system (101) according to claim 16, wherein: The directional symbol is an arrow.

23. The driving assistance system (101) according to claim 16, wherein: The segments (303) are all segments (303).

24. A method (400) for providing driving assistance when traveling (213) along a trajectory (200) by displaying a display trajectory (210) corresponding to the trajectory (200) on a display unit (105); wherein, The method (400) comprises, during the driving (213), - identifying (401) that the vehicle (100) is moving from the actual position (300) towards a neighbouring region (310, 320) of the trajectory (200), in which different segments (302, 303) of the trajectory (200) intersect, overlap and / or are close to each other; - obtaining (402) at least one relevant segment (302) from the plurality of segments (302, 303) of the neighboring area (310, 320) that is relevant to the travel (213) starting from the actual position (300) of the vehicle (100); and - achieving (403) highlighting of the relevant segment (302) in the display trajectory (210) relative to one or more other segments (303) of the plurality of segments (302, 303) of the adjacent area (310, 320) on the display unit (105).

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