Method for infrastructure-supported assistance of motor vehicle

Abstract

The invention relates to a method for assistance supported by an infrastructure when a motor vehicle travels through the infrastructure, comprising the following steps: determining whether the motor vehicle needs assistance supported by the infrastructure for its travel through the infrastructure; wherein, if the motor vehicle requires assistance supported by the infrastructure for its driving through the infrastructure, the method comprises the following steps: determining infrastructure assistance data for the driving of the motor vehicle through the infrastructure, generating a heartbeat message comprising the determined infrastructure assistance data, and sending a heartbeat message comprising the determined infrastructure assistance data to the motor vehicle, the method comprising the following steps: generating a heartbeat message without infrastructure assistance data if the motor vehicle does not require assistance supported by the infrastructure for its driving through the infrastructure, and transmitting the heartbeat message without the infrastructure assistance data to the motor vehicle. The invention relates to a device, a system, a computer program and a machine-readable storage medium.

Description

Technical Field

[0001] The invention relates to a method and a system for infrastructure-assisted assistance of a motor vehicle when driving through an infrastructure, a device, a computer program and a machine-readable storage medium. Background Art

[0002] The published document DE 10 2015 219 785 A1 discloses a method for configuring data transmission via a transmission channel of a wireless communication system.

[0003] Publication KR 10 2016 048 020 A discloses a method for vehicle-to-vehicle communication.

[0004] Patent document US Pat. No. 6,604,036 B1 discloses a method for establishing a remote data connection to a vehicle.

[0005] Patent document US Pat. No. 9,429,985 B2 discloses a method for reducing computing power in vehicle communications.

[0006] Publication US2020 / 0367104 A1 discloses a method for controlling a user device using a resource control server in a first network.

[0007] Publication WO 2015 / 025056 A1 discloses a method for filtering infrastructure description messages. Summary of the invention

[0008] The object of the present invention is to provide a concept for efficient infrastructure-assisted assistance of a motor vehicle when driving through an infrastructure.

[0009] This object is achieved by means of the respective subject matter of the independent claims. Advantageous embodiments of the invention are the subject matter of the respective dependent claims.

[0010] According to a first aspect, a method for infrastructure-assisted assistance of a motor vehicle when driving through an infrastructure is provided, comprising the following steps:

[0011] determining whether the motor vehicle requires assistance supported by the infrastructure for its travel through the infrastructure,

[0012] If the motor vehicle requires assistance for its travel through the infrastructure, which is supported by the infrastructure, the method comprises the following steps:

[0013] For vehicles traveling through infrastructure to determine infrastructure auxiliary data,

[0014] generating a heartbeat message including the determined infrastructure assistance data, and

[0015] sending a heartbeat message including the determined infrastructure assistance data to the motor vehicle,

[0016] If the motor vehicle does not require infrastructure-supported assistance for its travel through the infrastructure, the method comprises the following steps:

[0017] Generates heartbeat messages with no infrastructure-assisted data, and

[0018] A heartbeat message without infrastructure assistance data is sent to the vehicle.

[0019] According to a second aspect there is provided an apparatus arranged to carry out all the steps of the method according to the first aspect.

[0020] According to a third aspect, a system for infrastructure-assisted assistance of a motor vehicle when driving through an infrastructure is provided, comprising:

[0021] at least one environment sensor arranged in the infrastructure, the at least one environment sensor being configured to detect an environment surrounding the motor vehicle and to output an environment signal based on the detection, the environment signal being representative of an environment surrounding the motor vehicle; and

[0022] The device according to the second aspect.

[0023] According to a fourth aspect there is provided a computer program comprising instructions which, when the computer program is executed by a computer, for example by an apparatus according to the second aspect and / or by a system according to the third aspect, cause them to carry out the method according to the first aspect.

[0024] According to a fifth aspect there is provided a machine-readable storage medium on which the computer program according to the fourth aspect is stored.

[0025] The invention is based on and includes the recognition that the aforementioned object is achieved in that a heartbeat message is sent to a motor vehicle at predetermined, in particular regular, time intervals. The sent heartbeat message includes infrastructure assistance data, based on which the motor vehicle can drive through the infrastructure. Alternatively, the heartbeat message does not include infrastructure assistance data, i.e. is free of infrastructure assistance data or is devoid of infrastructure assistance data.

[0026] This means that before each heartbeat message is sent, it is first determined whether there is a need or necessity at all for the motor vehicle to travel through the infrastructure and for the infrastructure to assist the motor vehicle.

[0027] That is to say, in particular, it is provided that the infrastructure determines whether the motor vehicle needs assistance from the infrastructure for its travel through the infrastructure. Thus, the decision as to whether the motor vehicle needs to be assisted by the infrastructure or whether the motor vehicle should or must be assisted by the infrastructure is made in particular by the infrastructure.

[0028] If a positive decision is made in this regard, the infrastructure assistance data are determined. In this case, the heartbeat message includes these determined infrastructure assistance data. If a negative decision is made in this regard, i.e. if no infrastructure assistance is required, the heartbeat message is still sent to the motor vehicle, only in this case the heartbeat message does not include the infrastructure assistance data.

[0029] This means that a heartbeat message is always sent to the motor vehicle. Depending on the need for infrastructure assistance, the heartbeat message includes infrastructure assistance data or does not include infrastructure assistance data. That is, in particular, a heartbeat message is regularly sent by the infrastructure to the motor vehicle, wherein the heartbeat message includes infrastructure assistance data or does not include infrastructure assistance data depending on whether there is a need for infrastructure assistance.

[0030] This means in particular that a heartbeat message is sent on the infrastructure side regardless of whether a request from a motor vehicle for infrastructure assistance or a request from a motor vehicle for remote control by the infrastructure is received on the infrastructure side, for example.

[0031] This advantageously enables less data to be sent to the motor vehicle in the case where there is no need for infrastructure assistance, in which case only a heartbeat message without infrastructure assistance data is sent, in contrast to the case where the heartbeat message always contains infrastructure assistance data, regardless of whether there is actually a need for infrastructure assistance.

[0032] The technical advantage achieved in particular by using heartbeat messages sent to motor vehicles at predetermined time intervals, in particular at predetermined regular time intervals, is that the motor vehicle can be efficiently informed that the communication with the infrastructure is still operating normally. Because the concept of the heartbeat message is particularly based on sending the message to the motor vehicle at an interval that can be expected by the motor vehicle, in order to especially inform the motor vehicle that communication is still possible and the infrastructure is still operating normally, that is, it can be said that it is still alive. If the motor vehicle does not receive the expected heartbeat message at a predetermined time point, this may indicate to the motor vehicle that the communication with the infrastructure has failed and / or the infrastructure itself has failed, for example, which may result in the current inability to provide infrastructure assistance through the infrastructure. The motor vehicle can use this information in an efficient manner for its own driving planning. For example, in at least partially automated driving of a motor vehicle, the motor vehicle can ask the driver to take over the control of the motor vehicle again in this case, because the infrastructure assistance required for at least partially automated driving cannot be provided at present. For example, the motor vehicle can reduce its speed and / or, for example, increase the distance to traffic participants in its surroundings and / or, for example, perform a safe emergency stop.

[0033] In particular, the technical advantage achieved thereby is that the motor vehicle can be efficiently supported when driving through the infrastructure or the motor vehicle can be efficiently assisted when driving through the infrastructure.

[0034] Overall, the technical advantage achieved thereby is, in particular, that a concept is provided for efficient infrastructure-assisted assistance of a motor vehicle when driving through infrastructure.

[0035] The terms "assist" and "support" may be used synonymously.

[0036] The driving of the motor vehicle through the infrastructure is, for example, at least partially automated driving, ie the driving of the motor vehicle is at least partially automated driving.

[0037] The expression "at least partially automated driving" includes one or more of the following: assisted driving, partially automated driving, highly automated driving, fully automated driving. Therefore, the expression "at least partially automated" includes one or more of the following: assisted, partially automated, highly automated, fully automated.

[0038] Assisted driving means that the driver of the motor vehicle always guides the motor vehicle laterally or longitudinally. The corresponding other driving tasks (i.e. controlling the longitudinal or lateral guidance of the motor vehicle) are performed automatically. This also means that during assisted driving of the motor vehicle, the lateral or longitudinal guidance is automatically controlled.

[0039] Partially automated driving means that the longitudinal and lateral guidance of the motor vehicle is automatically controlled in certain situations (e.g. driving on a motorway, driving in a parking lot, overtaking an object, driving in a lane defined by lane markings) and / or for a certain period of time. The driver of the motor vehicle does not have to manually control the longitudinal and lateral guidance of the motor vehicle himself. However, the driver must constantly monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary. The driver must be ready to fully take over the driving of the vehicle at any time.

[0040] Highly automated driving means the automatic control of the longitudinal and lateral guidance of a motor vehicle for a certain period of time and in certain situations (e.g. driving on a motorway, driving in a parking lot, overtaking an object, driving in a lane defined by lane markings). The driver of the motor vehicle does not have to manually control the longitudinal and lateral guidance of the motor vehicle himself. The driver does not have to constantly monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary. When necessary, a takeover request is automatically made to the driver to take over control of the longitudinal and lateral guidance, in particular if there is sufficient time reserve. The driver must therefore potentially be able to take over control of the longitudinal and lateral guidance. The limits of the automatic control of lateral and longitudinal guidance are automatically identified. With highly automated driving, it is not possible to automatically achieve the state of minimal risk in every initial situation.

[0041] Fully automated driving means that the longitudinal and lateral guidance of the motor vehicle is automatically controlled in certain situations (e.g. driving on a motorway, driving in a parking lot, overtaking an object, driving in a lane defined by lane markings). The driver of the motor vehicle does not have to manually control the longitudinal and lateral guidance of the motor vehicle himself. The driver does not have to monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary. Before the automatic control of the lateral and longitudinal guidance ends, the driver is automatically requested to take over the driving task (control of the lateral and longitudinal guidance of the motor vehicle), in particular with sufficient time reserve. If the driver does not take over the driving task, there is an automatic return to the state with the lowest risk. The limits of the automatic control of the lateral and longitudinal guidance are automatically identified. In all situations, an automatic return to the system state with the lowest risk is possible.

[0042] If the singular form is used in the description of the motor vehicle, this is always to be understood as also including the plural form and vice versa. This means, for example, that it is provided that a plurality of motor vehicles can be supported by the infrastructure when driving through the infrastructure. In this case, for example, it is provided that for each motor vehicle it is determined individually whether the respective motor vehicle requires assistance supported by the infrastructure when the motor vehicle drives through the infrastructure. This means, in particular, that in this case, it is provided, for example, that depending on the result of the determination, a heartbeat message including infrastructure assistance data is sent to the respective motor vehicle or a heartbeat message without infrastructure assistance data is sent to the motor vehicle.

[0043] In this way, in the case where multiple motor vehicles are supported by the infrastructure when driving through the infrastructure, the existing communication infrastructure with the motor vehicles can be efficiently utilized. This means, for example, that the existing transmission capacity or communication capacity in general can be efficiently utilized. The available bandwidth can thus be efficiently utilized.

[0044] This is particularly true in relation to the case where infrastructure auxiliary data are always determined for all motor vehicles within the range of the infrastructure, regardless of whether they are required or not, and these determined infrastructure auxiliary data are always sent to the motor vehicle. In this case, more data is transmitted to the motor vehicle overall compared to the concept described here. This applies similarly to the processing capacity available in the infrastructure for the determination step, which can also be used in an efficient manner according to the concept described here. This is particularly true in relation to the case where infrastructure auxiliary data are always determined for the motor vehicle, regardless of whether they are required or not.

[0045] For example, the infrastructure includes one of the following infrastructure elements: nodes, such as intersections, forks, roundabouts, highway entrances, highway exits, highways, national roads, national road entrances, national road exits, tunnels, tunnel entrances, tunnel exits, construction sites, construction site entrances, construction site exits, parking lots, in particular parking buildings, underground parking lots, streets, one-way streets, bridges.

[0046] “Sending” in the sense of the specification includes, for example, sending via a wireless network. A wireless network includes, for example, a wireless local area network (WLAN) network and / or a mobile phone network.

[0047] In one specific embodiment, the method comprises the step of receiving an environment signal, which represents the surroundings of the motor vehicle.

[0048] This achieves the technical advantage that, for example, information about the surroundings of the motor vehicle can be efficiently acquired, wherein this information can be used in an advantageous manner, in particular as a basis for one or more subsequent method steps.

[0049] In one specific embodiment of the method, it is provided that the infrastructure assistance data are determined based on the environmental signal.

[0050] This achieves, for example, the technical advantage that the determination can be carried out efficiently.

[0051] In one embodiment, the method comprises the step of receiving an environment signal, which is representative of the surroundings of the motor vehicle, wherein the infrastructure assistance data are determined based on the environment signal.

[0052] This achieves, for example, the technical advantage that the determination can be carried out efficiently.

[0053] In one specific embodiment of the method, it is provided that, based on the surroundings signal, it is determined whether the motor vehicle requires infrastructure-supported assistance for its travel through the infrastructure.

[0054] This achieves, for example, the technical advantage that the determination can be carried out efficiently.

[0055] In one embodiment of the method, it is provided that the method comprises the following steps:

[0056] determining an object list based on the surroundings signal, the object list indicating objects in the surroundings of the motor vehicle,

[0057] The corresponding relevance of the objects of the object list is determined with respect to the relevance for the motor vehicle traveling through the infrastructure,

[0058] Therein, it is determined based on the determined relevance whether the motor vehicle requires infrastructure-supported assistance for its travel through the infrastructure, wherein, if the motor vehicle requires infrastructure-supported assistance for its travel through the infrastructure, the determination of the infrastructure assistance data includes selecting a portion of objects from the object list based on the determined relevance in order to determine a reduced object list, the reduced object list indicating the selected objects, so that the infrastructure assistance data includes the reduced object list.

[0059] This achieves the technical advantage that, for example, existing transmission capacity can be used efficiently, since instead of a complete object list, only a reduced object list is sent to the motor vehicle based on the determined relevance, so that less data can be sent to the motor vehicle based on the relevance.

[0060] That is, according to this embodiment, object detection is performed based on the surrounding signal in order to detect objects in the surroundings of the motor vehicle. The detected objects are summarized in an object list. For example, the object list can indicate the following information about the detected objects: position, speed, direction of travel, acceleration, deceleration, object type, such as motor vehicle, motorcycle, two-wheeled vehicle, pedestrian, bicycle, animal, size, in particular length, height, width.

[0061] The technical advantage achieved in particular by transmitting the object list or the reduced object list is that the motor vehicle receives information about its surroundings in an efficient manner which would not be available solely on the basis of the vehicle's own surroundings sensors. This is because the surroundings sensors of the infrastructure can thus, for example, detect objects in the surroundings of the motor vehicle which could not be detected by the motor vehicle's own surroundings sensors, for example because they could be obscured by other objects in the surroundings of the motor vehicle.

[0062] In one embodiment of the method, it is provided that the method comprises the following steps:

[0063] Free space recognition is performed based on environmental signals in order to determine a free space recognition result, the free space recognition result indicating a corresponding occupancy state in the surroundings of the motor vehicle in at least one area related to the motor vehicle's travel through the infrastructure, wherein the occupancy state indicates one of the following states: free, occupied or unknown, wherein based on the corresponding occupancy state it is determined whether the motor vehicle requires assistance supported by the infrastructure for its travel through the infrastructure, wherein if the motor vehicle requires assistance supported by the infrastructure for its travel through the infrastructure, determining the infrastructure assistance data includes selecting an area that is either free or occupied and / or whose occupancy state is unknown in order to determine a reduced free space recognition result, the reduced free space recognition result indicating only free areas or occupied areas and / or areas with unknown occupancy states, so that the infrastructure assistance data includes the reduced free space recognition result.

[0064] The technical advantage achieved thereby is, for example, that, similar to the above-described embodiment with respect to the object list, existing transmission capacity or existing bandwidth can also be efficiently utilized. Similarly, if only the reduced free space identification results are sent to the motor vehicle, less data can be transmitted in an efficient manner. The above-described embodiments apply analogously in particular with respect to the advantages.

[0065] That is, according to this embodiment, provision is made for free space detection to be carried out based on the ambient signal. Within the framework of free space detection, provision is made in particular for at least one area to be compared with a correspondingly associated reference area, wherein the occupancy state of the reference area is known. This allows detection as to whether there is a difference with respect to the occupancy state or occupancy status, wherein the two terms: occupancy state or occupancy status can be used synonymously.

[0066] In the free space detection process, starting from a known reference world, this reference world is compared with the ambient signal in order to detect differences. A difference can therefore mean that the corresponding occupancy state of at least one area has changed. In the free space detection process, it is therefore not necessary to know what objects are in the area, but only to determine whether the area is occupied or not. However, in the free space detection process, situations may arise where the occupancy state cannot be clearly determined. In this case, the occupancy state is displayed as "unknown".

[0067] In one embodiment of the method, it is provided that the environmental signal includes one or more elements selected from the following signal groups: a weather signal, which indicates the weather in the surroundings of the motor vehicle; road condition data, which indicates the road conditions of one or more roads in the surroundings of the motor vehicle; a traffic condition signal, which indicates the traffic conditions in the surroundings of the motor vehicle; a map signal, which indicates a digital map of the surroundings of the motor vehicle; a traffic sign signal, which indicates what the traffic sign currently displays and / or will display in the future; a traffic light signal, which indicates the current and / or future signal state of the traffic light; a remaining time signal, which indicates the remaining time of the light signal of the traffic light, in particular a red light or a green light; an environmental model of the surroundings; object data describing at least one object in the surroundings; occupancy state data describing the occupancy state of at least one area in the surroundings; corresponding environmental sensor data based on the detection of the surrounding environment by means of at least one environmental sensor, in particular corresponding environmental sensor raw data; environmental sensor data fusion data based on multiple detections of the surrounding environment by means of multiple environmental sensors, in particular environmental sensor raw data fusion data.

[0068] This achieves the technical advantage that, for example, particularly suitable information about the surroundings of the motor vehicle is provided and can therefore be used, for example, to determine infrastructure assistance data and / or can be used, for example, to determine whether infrastructure assistance is required.

[0069] Environmental sensor data describes the environmental situation around the motor vehicle, in particular from the perspective of the corresponding environmental sensor. Environmental sensor data include, for example, environmental sensor raw data and / or processed environmental sensor raw data, which can be particularly referred to as preprocessed environmental sensor data. Environmental sensor data fusion data is fused environmental sensor data. Environmental sensor raw data fusion data is fused environmental sensor raw data.

[0070] In one embodiment of the method, it is provided that the information content of the information represented by the ambient signal is reduced, so that the infrastructure assistance data comprises the reduced information content.

[0071] This achieves the technical advantage, for example, that less data is transmitted to the motor vehicle than with an unreduced information content, so that, for example, the available bandwidth can be used more efficiently.

[0072] The occupancy state of a zone indicates, in particular, one of the following states: free, occupied or unknown.

[0073] In one specific embodiment of the method, it is provided that if the motor vehicle requires infrastructure-supported assistance for its travel through the infrastructure, meta-information about the content not included in the infrastructure assistance data due to the reduction is determined, so that the infrastructure assistance data includes the determined meta-information.

[0074] This achieves the technical advantage that, for example, the motor vehicle can efficiently know which information the motor vehicle has not received. The motor vehicle thus knows and can effectively take this into account in its own travel planning: it was not due to a transmission error that, for example, a complete list of objects or, for example, a complete free space identification result, i.e., the entire information content in general, was not sent to the motor vehicle, but only a shortened version thereof, i.e., a reduced information content in general, was sent.

[0075] In one embodiment of the method, it is provided that the infrastructure assistance data is associated with a transmission capability which indicates an ability to transmit the infrastructure assistance data to the motor vehicle and / or that the infrastructure assistance data is determined by a processing capability which indicates an ability to determine the infrastructure assistance data.

[0076] This achieves, for example, the technical advantage that the infrastructure assistance data can be determined efficiently.

[0077] The processing capability indicates, for example, how much computing capability is provided for the determining step. The sending capability indicates, for example, how much bandwidth is provided for sending the heartbeat message.

[0078] In one embodiment of the method, it is provided that the step of determining the reduction is performed based on the transmission capacity and / or based on the processing capacity, so that depending on the transmission capacity and / or depending on the processing capacity, the infrastructure assistance data either includes unreduced content or includes reduced content.

[0079] This achieves the technical advantage that, for example, existing transmission capacity and / or existing processing capacity can be used efficiently, i.e., if, for example, the transmission capacity and / or processing capacity is not sufficient to transmit a complete list of objects and / or a complete free space identification result and / or a complete information content to the motor vehicle, for example, a reduced list of objects, a reduced free space identification result or a reduced information content is determined and transmitted to the motor vehicle.

[0080] For example, it is provided that if the processing capacity is less than or equal to a predetermined processing capacity threshold value, a reduced object list and / or a reduced free space recognition result and / or a reduced information content is determined and sent to the motor vehicle accordingly.

[0081] For example, it is provided that if the transmission capacity is less than or equal to a predetermined transmission capacity threshold value, a reduced object list and / or a reduced free space recognition result and / or a reduced information content is determined and transmitted accordingly to the motor vehicle.

[0082] In one embodiment of the method, it is provided that the step of reducing is performed based on a determined rhythm, so that based on the determined rhythm the infrastructure assistance data either include unreduced content or include reduced content.

[0083] This achieves, for example, the technical advantage that the infrastructure assistance data can be determined efficiently. In particular, this achieves the technical advantage that existing transmission capacities and / or existing processing capacities can be used efficiently.

[0084] That is, according to this embodiment, it is provided that either a reduced list of objects and / or a reduced free space identification result and / or a reduced information content is sent to the motor vehicle at a determined rhythm, or the unreduced content is sent to the motor vehicle. The determined rhythm is particularly related to the sending frequency of the heartbeat message. For example, it is provided that a reduced list of objects and / or a reduced free space identification result and / or a reduced information content is sent to the motor vehicle every nth time, wherein at other times the complete free space identification result and / or the complete list of objects and / or the complete information content is always sent to the motor vehicle. n is a natural number and is greater than 1.

[0085] This achieves the technical advantage, for example, that the motor vehicle always receives a complete list of objects and / or always receives a complete free space recognition result and / or always receives a complete information content at regular intervals.

[0086] As a result, the motor vehicle is always fully informed of its surroundings at defined intervals in an efficient manner.

[0087] As a result, the motor vehicle can plan its travel through the infrastructure in an efficient manner.

[0088] The expression “reduced content” includes, in particular, a reduced object list and / or a reduced free space identification result and / or a reduced information content.

[0089] The expression “unreduced content” includes, in particular, the complete object list and / or the complete free space identification result and / or the complete information content.

[0090] In one embodiment of the method, it is provided that a trajectory signal is received and / or determined, which represents a corresponding target trajectory of the motor vehicle and / or of at least one road user in the surroundings of the motor vehicle, wherein it is determined based on the trajectory signal whether the motor vehicle requires infrastructure-supported assistance for its travel through the infrastructure, and / or wherein the infrastructure assistance data are determined based on the trajectory signal.

[0091] For example, the technical advantage achieved thereby is that the infrastructure assistance data can be determined efficiently. In particular, the technical advantage achieved thereby is that it can be determined efficiently whether a motor vehicle requires infrastructure-supported assistance for its travel through an infrastructure.

[0092] That is, if, for example, the target trajectory indicates that the motor vehicle is not planning to change lanes, it can be determined, for example, that the motor vehicle does not require infrastructure assistance. Otherwise, it can be determined, for example, that the motor vehicle requires infrastructure assistance.

[0093] If, for example, the target trajectory of at least one road user in the surroundings of the motor vehicle indicates that at least one road user is planning to change lanes, it can be determined, for example, that the motor vehicle requires infrastructure assistance. Otherwise, it can be determined, for example, that the motor vehicle does not require infrastructure assistance.

[0094] For example, it is provided that if the target trajectory of the motor vehicle intersects or overlaps with the target trajectory of at least one road user, it is determined that the motor vehicle requires infrastructure assistance, otherwise it is not required.

[0095] In one embodiment of the method, it is provided that the step of reducing is performed on the basis of the trajectory signal, so that the infrastructure assistance data comprises either unreduced content or reduced content, depending on the trajectory signal.

[0096] This achieves, for example, the technical advantage that the reduction can be carried out efficiently.

[0097] In one specific embodiment of the method, it is provided that a traffic situation in the surroundings of the motor vehicle is determined based on the environmental signal, wherein it is determined based on the determined traffic situation whether the motor vehicle requires infrastructure-supported assistance for its travel through the infrastructure.

[0098] This achieves the technical advantage that, for example, it is possible to efficiently determine whether a motor vehicle requires infrastructure-assisted assistance for its travel through the infrastructure.

[0099] The traffic situation is, for example, an actual situation which indicates, for example, the density of motor vehicles and / or traffic obstacles and / or weather conditions in the surroundings of the motor vehicle.

[0100] In one specific embodiment of the method, it is provided that the step of reducing is performed based on the determined traffic situation, so that the infrastructure auxiliary data comprises either unreduced content or reduced content depending on the traffic situation.

[0101] In one specific embodiment of the method, it is provided that a check is made as to whether the motor vehicle has requested infrastructure-supported assistance for its travel through the infrastructure, wherein it is determined based on the result of the check whether the motor vehicle requires infrastructure-supported assistance for its travel through the infrastructure.

[0102] This achieves the technical advantage that, for example, it is possible to efficiently determine whether a motor vehicle requires infrastructure-assisted assistance for its travel through the infrastructure.

[0103] For example, it is provided that if the motor vehicle has requested infrastructure-supported assistance for its driving through the infrastructure, it is determined that the motor vehicle needs infrastructure-supported assistance for its driving through the infrastructure. Thus, for example, it is provided that only those motor vehicles that have requested infrastructure assistance can obtain infrastructure assistance.

[0104] Checking whether the motor vehicle has requested infrastructure-supported assistance for its travel through the infrastructure includes, for example, checking whether a message sent by the motor vehicle is received, wherein the message includes a request for the motor vehicle to travel through the infrastructure. If the message is received, it is determined, for example, that the motor vehicle has requested infrastructure-supported assistance for its travel through the infrastructure.

[0105] In one embodiment of the method, it is provided that, based on environmental signals, it is determined whether the motor vehicle requires an operational suggestion from the infrastructure side that results in a change in its driving task, and if so, which operational suggestion it is, wherein the determination of whether the motor vehicle requires assistance supported by the infrastructure for its driving through the infrastructure is carried out based on the determination of whether the motor vehicle requires an operational suggestion from the infrastructure side that results in a change in its driving task, and therefore, if the motor vehicle requires assistance from the infrastructure side for its driving through the infrastructure, the infrastructure assistance data includes the operational suggestion for changing the driving task.

[0106] This achieves the technical advantage that, for example, a determination can be made efficiently as to whether a motor vehicle requires assistance for its travel through an infrastructure that is supported by the infrastructure.

[0107] That is, according to this embodiment, it is at least determined whether the motor vehicle needs an infrastructure-side operation suggestion that leads to a change in its driving task. The operation suggestion is, for example, a lane change suggestion, which leads to a change in the driving task of the motor vehicle, for example, continuing to drive in the same lane.

[0108] That is to say, if the maneuvering suggestion is required, it is determined, for example, that the motor vehicle requires assistance supported by the infrastructure. The infrastructure assistance data thus include, in particular, maneuvering suggestions for changing the driving task.

[0109] A further technical advantage may be that if only operational suggestions are sent, the algorithm for determining operational suggestions may be modified almost arbitrarily without having to change the interface to the motor vehicle (and thus also the application version in the motor vehicle). The corresponding interface may remain unchanged.

[0110] In one embodiment of the method, it is provided that if a motor vehicle requires infrastructure-supported assistance for its travel through the infrastructure, the infrastructure assistance data are determined for at least one area in the direction of travel of the motor vehicle, in particular a lane, a part of a lane, a driving lane, a part of a driving lane, and area-related infrastructure assistance data are determined based on the at least one area.

[0111] This achieves, for example, the technical advantage that the infrastructure assistance data can be determined efficiently.

[0112] In one specific embodiment of the method, a data signal is received which represents data of the motor vehicle and / or communication data communicated between the motor vehicle and the infrastructure, wherein it is determined based on the data signal whether the motor vehicle requires assistance supported by the infrastructure for its travel through the infrastructure.

[0113] This achieves the technical advantage, for example, that it can be determined efficiently whether infrastructure assistance is required.

[0114] The vehicle data include, for example, diagnostic data of vehicle systems, such as a drive system, a brake system, a steering system or a lighting system. The vehicle data include, for example, environmental data generated by the vehicle, which represent the surroundings of the vehicle.

[0115] The communication data include, for example, information about whether there are restrictions on the communication between the motor vehicle and the infrastructure. The communication data include, for example, information about whether a specific radio channel should or must be used for the communication between the infrastructure and the motor vehicle. The communication data include, for example, information about the available bandwidth. The communication data include, for example, information about the communication network to be used for the communication between the infrastructure and the motor vehicle.

[0116] In one specific embodiment of the method, it is provided that the method is carried out with the aid of the device according to the second aspect and / or with the aid of the system according to the third aspect.

[0117] According to one embodiment, the system according to the third aspect is, for example, configured to implement all steps of the method according to the first aspect.

[0118] The method features are derived similarly from the corresponding device features and system features and vice versa. The technical functions of the method are derived similarly from the corresponding technical functions of the system and the device and vice versa. The embodiments in conjunction with the method are similarly applicable to the device and the system and vice versa.

[0119] In one embodiment of the device, it is provided that the device is configured in terms of programming to execute the computer program according to the fourth aspect.

[0120] In one embodiment of the system, it is provided that the system is configured in terms of programming to execute the computer program according to the fourth aspect.

[0121] In one specific embodiment of the method, it is provided that the method is a computer-implemented method.

[0122] The expression "at least one" means "one or more".

[0123] In one embodiment of the method, it is provided that an environmental sensor is arranged in the infrastructure. The environmental sensor is, for example, configured to detect the surroundings of the motor vehicle and to output an environmental signal based on this detection, which represents the surroundings of the motor vehicle. For example, a plurality of environmental sensors are arranged in the infrastructure. Embodiments in connection with one environmental sensor apply analogously to a plurality of environmental sensors and vice versa.

[0124] The environment sensor is, for example, one of the following environment sensors: a radar sensor, a lidar sensor, an ultrasonic sensor, a magnetic field sensor, an infrared sensor and an image sensor, in particular an image sensor of a camera.

[0125] The embodiments and examples described here can be combined with one another in any desired manner, even if not specifically stated.

[0126] Infrastructure-assisted assistance of a motor vehicle means, in particular, that infrastructure assistance data is provided to the motor vehicle. The motor vehicle can, for example, independently derive operating instructions based on the infrastructure assistance data. The motor vehicle can, for example, independently decide on an action to be taken based on the infrastructure assistance data. For example, it is provided that control signals are generated and outputted within the motor vehicle based on the infrastructure assistance data for at least partially automatically controlling the lateral and / or longitudinal movement of the motor vehicle in order to at least partially automatically control the lateral and / or longitudinal movement of the motor vehicle.

[0127] The infrastructure auxiliary data include, for example, one or more of the following data elements: control instructions for at least partially automatically controlling the lateral and / or longitudinal movement of the motor vehicle, remote control instructions for at least partially automatically remotely controlling the lateral and / or longitudinal movement of the motor vehicle, permission instructions for allowing at least partially automated, in particular fully automated, movement of the motor vehicle within a certain time period within the infrastructure, target trajectory of the motor vehicle, target position within the infrastructure, environmental data representing the surroundings of the motor vehicle, regulations regarding what actions the motor vehicle should take, and operating recommendations. For example, a regulation can specify whether the motor vehicle is allowed to move or, for example, whether it must stop. The environmental data include, for example, a list of objects or a reduced list of objects and / or a free space recognition result or a reduced free space recognition result.

[0128] If the term "free space identification result" appears alone, ie without the additional word "reduced", it should always be understood to refer to the complete free space identification result.

[0129] The same applies to lists of objects. This means that if the term "list of objects" appears alone, i.e. without the additional word "reduced", it should always be understood to refer to the complete list of objects.

[0130] In one specific embodiment of the method, the method comprises the step of detecting the surroundings of the motor vehicle by using at least one surroundings sensor, wherein a surroundings signal based on this detection is respectively output by means of the at least one surroundings sensor, the surroundings signal representing the detected surroundings.

[0131] In one embodiment, learning is done over a period of time, for example, when one or more reduction steps should be performed. For example, it can be determined over a period of time, from which (difference) speed between the motor vehicle and another motor vehicle in the motor vehicle's surroundings the infrastructure assistance data should be sent.

[0132] The method steps are carried out in particular on the infrastructure side, ie by the infrastructure. BRIEF DESCRIPTION OF THE DRAWINGS

[0133] The present invention is described in detail below with the aid of preferred embodiments.

[0134] Figure 1 A flow chart showing a method according to the first aspect,

[0135] Figure 2 A device according to the second aspect is shown,

[0136] Figure 3 A system according to a third aspect is shown,

[0137] Figure 4 A machine-readable storage medium according to the fifth aspect is shown, and

[0138] Figure 5 and 6 The infrastructure is shown separately.

[0139] The same reference numerals may be used hereinafter for the same features. DETAILED DESCRIPTION

[0140] Figure 1 A flow chart of a method for infrastructure-assisted assistance of a motor vehicle when driving through an infrastructure is shown, which method comprises the following steps:

[0141] receiving 101 an environment signal, the environment signal representing the surroundings of the motor vehicle,

[0142] In particular, determining 103 based on the environmental signal whether the motor vehicle requires assistance supported by the infrastructure for its travel through the infrastructure,

[0143] If the motor vehicle requires assistance for its travel through the infrastructure, which is supported by the infrastructure, the method comprises the following steps:

[0144] For a motor vehicle traveling over an infrastructure, in particular infrastructure assistance data is determined 105 based on the surrounding signal, a heartbeat message is generated 107 which includes the determined infrastructure assistance data, and

[0145] sending 109 a heartbeat message including the determined infrastructure assistance data to the motor vehicle,

[0146] If the motor vehicle does not require infrastructure-supported assistance for its travel through the infrastructure, the method comprises the following steps:

[0147] Generates 111 heartbeat message with no infrastructure assistance data, and

[0148] A heartbeat message without infrastructure assistance data is sent 113 to the vehicle.

[0149] In one specific embodiment of the method, the method comprises the step of detecting the surroundings of the motor vehicle by using at least one surroundings sensor, wherein a surroundings signal based on this detection is respectively output by means of the at least one surroundings sensor, which represents the detected surroundings.

[0150] It should be noted that step 101 is an optional step. In an embodiment not shown, the method includes the following steps:

[0151] determining 103 whether the motor vehicle requires assistance supported by the infrastructure for its travel through the infrastructure,

[0152] If the motor vehicle requires assistance for its travel through the infrastructure, which is supported by the infrastructure, the method comprises the following steps:

[0153] For a motor vehicle traveling through an infrastructure, infrastructure auxiliary data is determined 105 ,

[0154] generating 107 a heartbeat message including the determined infrastructure assistance data, and

[0155] sending 109 a heartbeat message including the determined infrastructure assistance data to the motor vehicle,

[0156] If the motor vehicle does not require infrastructure-supported assistance for its travel through the infrastructure, the method comprises the following steps:

[0157] Generates 111 heartbeat message with no infrastructure assistance data, and

[0158] A heartbeat message without infrastructure assistance data is sent 113 to the vehicle.

[0159] The method steps are carried out in particular on the infrastructure side, ie by the infrastructure.

[0160] Figure 2 A device 201 is shown which is configured to carry out all steps of the method according to the first aspect.

[0161] Figure 3 A system 301 is shown for infrastructure-assisted assistance of a motor vehicle when traveling through an infrastructure.

[0162] System 301 includes at least one environment sensor 303 arranged in the infrastructure and configured to detect the surroundings of the motor vehicle and to output an environment signal based on the detection, which represents the surroundings of the motor vehicle.

[0163] The system 301 comprises a device 305, which is configured to carry out all steps of a method for infrastructure-supported assistance of a motor vehicle when driving through an infrastructure. The device 305 comprises a data processing device 307, which is configured to determine whether the motor vehicle requires infrastructure-supported assistance for its driving through the infrastructure. The data processing device 307 is further configured to determine corresponding infrastructure assistance data and to generate a corresponding heartbeat message. The data processing device 307 is further configured to generate a heartbeat message without infrastructure assistance data.

[0164] Device 305 comprises a wireless communication interface 309 which is configured to send the generated heartbeat messages, ie in particular the heartbeat messages including the determined infrastructure assistance data and the heartbeat messages without infrastructure assistance data, to the motor vehicle via a wireless communication network.

[0165] The device 305 optionally comprises a wired communication interface 311, which is, for example, an Ethernet interface. By means of the wired communication interface 311, for example, an environmental signal of the environmental sensor 303 can be received. Alternatively or additionally, it can be provided, for example, that the environmental signal is received by means of the wireless communication interface 309. Accordingly, the trajectory signal can be received, for example, by means of one of the two communication interfaces 309, 311 or by means of the two communication interfaces 309, 311.

[0166] Figure 4 A machine-readable storage medium 401 is shown, on which a computer program 403 is stored. The computer program 403 includes instructions which, when executed by a computer, cause the computer to carry out a method for infrastructure-assisted assistance of a motor vehicle when driving through an infrastructure.

[0167] Figure 5 Infrastructure 501 is shown, which comprises a three-lane highway 501. Highway 501 comprises a first lane 503, a second lane 505 and a third lane 507. The intended direction of travel of the motor vehicle is indicated by a first arrow with reference numeral 509.

[0168] With respect to driving direction 509 , first lane 503 is the left lane, second lane 505 is the center lane, and third lane 507 is the right lane.

[0169] A first motor vehicle 511 is traveling on a left lane 503 , a second motor vehicle 513 is traveling on a middle lane 505 , and a third motor vehicle 515 is traveling on a right lane 507 .

[0170] First motor vehicle 511 does not plan to change lanes, but continues to travel in first lane 503 . This is symbolically indicated by a second arrow with reference numeral 517 .

[0171] Second motor vehicle 513 also does not plan to change lanes, but continues to travel in center lane 505 . This is symbolically indicated by a third arrow with reference numeral 519 .

[0172] Third motor vehicle 515 also does not plan to change lanes, but continues to travel in right lane 507 . This is symbolically indicated by a fourth arrow with reference numeral 521 .

[0173] With respect to driving direction 509 , first camera 523 including first image sensor 525 is located to the left of left lane 503 . With respect to driving direction 509 , second camera 527 including second image sensor 529 is located to the right of right lane 507 .

[0174] The two image sensors 525, 529 detect the three motor vehicles 511, 513 and 515 and the corresponding surroundings. Based on this detection, the two cameras 523, 527 output corresponding video images, which are then further processed. Based on the video images, it can be determined, for example, whether one of the motor vehicles 511, 513, 515 needs assistance supported by the infrastructure for driving on the highway 501.

[0175] The video images may, for example, be output to a device according to the second aspect (not shown) and / or a system according to the third aspect (not shown) in order to perform further method steps.

[0176] exist Figure 5 In the exemplary embodiment shown in , all three motor vehicles 511, 513, 515 travel in the same way and at similar speeds on their respective lanes 503, 505, 507. Based on the evaluation of the video images, it can be estimated, for example, that no motor vehicle 511, 513, 515 requires infrastructure assistance data, i.e. assistance supported by the infrastructure, due to the current situation. It is thus concluded or determined that no motor vehicle 511, 513, 515 requires infrastructure assistance. In this case, infrastructure assistance data is not determined. A heartbeat message without infrastructure assistance data is generated and sent to the three motor vehicles 511, 513, 515.

[0177] Figure 6 An infrastructure 501 is shown, which includes three motor vehicles 511, 513, 515. Figure 5 In contrast to the situation shown in FIG. 5 , fourth motor vehicle 601 is traveling in right lane 507 . Fourth motor vehicle 601 intends to change lanes into center lane 505 , which is symbolically indicated by a curved arrow with reference numeral 603 .

[0178] The planned lane change can be detected, for example, by detecting a correspondingly activated turn signal (not shown) of fourth motor vehicle 601 by evaluating corresponding video images.

[0179] For example, provision may be made for fourth motor vehicle 601 to communicate its planned lane change, ie, for example, to an infrastructure, ie, for example, to a device according to the second aspect and / or to a system according to the third aspect.

[0180] Due to this lane change, second motor vehicle 513 may have to brake. If necessary, the second motor vehicle may change to left lane 503 in front of first motor vehicle 511. In this case, first motor vehicle 511 may also brake. Third motor vehicle 515 is not involved in the lane change.

[0181] In this scenario, it is determined that at least first motor vehicle 511 and second motor vehicle 513 require assistance supported by the infrastructure. For example, it can be determined that fourth motor vehicle 601 also requires assistance supported by the infrastructure. On the other hand, it is determined that third motor vehicle 515 does not require assistance supported by the infrastructure.

[0182] Thus, infrastructure assistance data are determined only for the first motor vehicle 511, the second motor vehicle 513 and optionally for the fourth motor vehicle 601 and are sent to the motor vehicles using corresponding heartbeat messages. No infrastructure assistance data are determined for the third motor vehicle 515. Only a heartbeat message without infrastructure assistance data is generated and sent to the third motor vehicle 515.

[0183] In this scenario, less infrastructure assistance data is therefore sent to the motor vehicles than would be the case if infrastructure assistance data were sent to all four motor vehicles 511 , 513 , 515 , 601 .

[0184] Overall, the approach described here makes it possible, in particular, to reduce the large amount of data to be transmitted to the motor vehicle in an efficient manner and safely with regard to driving functions.

[0185] For example, it is provided that heartbeat messages are sent to the motor vehicle at regular or periodic time intervals.

[0186] This advantageously ensures that the recipient of the heartbeat message, in this case the motor vehicle, knows that the communication between the infrastructure and the vehicle is functioning properly.

[0187] If the heartbeat message is not sent, the recipient, in this case the motor vehicle, does not know whether the relevant data required for driving the motor vehicle are present or whether an error has occurred in the communication, which prevents the relevant data from being sent.

Claims

1. A method for infrastructure-assisted assistance of a motor vehicle (511, 513, 515, 601) when driving through an infrastructure (500), comprising the following steps: determining (103) whether the motor vehicle (511, 513, 515, 601) requires infrastructure-supported assistance for its travel through the infrastructure (500), If the motor vehicle (511, 513, 515, 601) requires infrastructure-supported assistance for its travel through the infrastructure (500), the method comprises the following steps: determining (105) infrastructure auxiliary data for the motor vehicle (511, 513, 515, 601) traveling through the infrastructure (500), generating (107) a heartbeat message including the determined infrastructure assistance data, and sending (109) a heartbeat message including the determined infrastructure assistance data to the motor vehicle (511, 513, 515, 601), If the motor vehicle (511, 513, 515, 601) does not require infrastructure-supported assistance for its travel through the infrastructure (500), the method comprises the following steps: generating (111) a heartbeat message without infrastructure assistance data, and A heartbeat message without infrastructure assistance data is sent (113) to the motor vehicle (511, 513, 515, 601).

2. The method according to claim 1, comprising the steps of: An environment signal is received (101), the environment signal representing the surroundings of the motor vehicle (511, 513, 515, 601), wherein the infrastructure assistance data is determined based on the environment signal.

3. The method according to claim 2, wherein: The environmental signal comprises one or more elements selected from the following signal groups: a weather signal, which indicates the weather in the surroundings of the motor vehicle; road condition data, which indicates the road conditions of one or more roads in the surroundings of the motor vehicle; a traffic condition signal, which indicates the traffic conditions in the surroundings of the motor vehicle; a map signal, which indicates a digital map of the surroundings of the motor vehicle; a traffic sign signal, which indicates what the traffic sign currently displays and / or will display in the future; a traffic light signal, which indicates the current and / or future signal state of the traffic light; a remaining time signal, which indicates the remaining time of the light signal of the traffic light, in particular a red light or a green light; an environmental model of the surroundings; object data describing at least one object in the surroundings; occupancy state data describing the occupancy state of at least one area in the surroundings; corresponding environmental sensor data based on the detection of the surrounding environment by means of at least one environmental sensor, in particular corresponding environmental sensor raw data; environmental sensor data fusion data based on multiple detections of the surrounding environment by means of multiple environmental sensors, in particular environmental sensor raw data fusion data.

4. The method according to claim 2 or 3, comprising the following steps: determining an object list based on the surrounding signal, the object list indicating objects in the surroundings of the motor vehicle (511, 513, 515, 601), determining a corresponding relevance of the objects of the object list with respect to the relevance for the motor vehicle (511, 513, 515, 601) traveling through the infrastructure (500), Wherein, based on the determined correlation, it is determined whether the motor vehicle (511, 513, 515, 601) requires assistance supported by the infrastructure for its travel through the infrastructure (500), wherein, if the motor vehicle (511, 513, 515, 601) requires assistance supported by the infrastructure for its travel through the infrastructure (500), determining the infrastructure assistance data includes selecting a portion of objects from the object list based on the determined correlation in order to determine a reduced object list, the reduced object list indicating the selected objects, so that the infrastructure assistance data includes the reduced object list.

5. The method according to any one of claims 2 to 4, comprising the following steps: Based on the environmental signal, free space recognition is performed to determine a free space recognition result, wherein the free space recognition result indicates a corresponding occupancy state in at least one area in the surroundings of the motor vehicle (511, 513, 515, 601) related to the motor vehicle (511, 513, 515, 601) traveling through the infrastructure (500), wherein the occupancy state indicates one of the following states: free, occupied or unknown, wherein the motor vehicle (511, 513, 515, 601) is determined based on the corresponding occupancy state. (500) whether infrastructure-supported assistance is required, wherein, if the motor vehicle (511, 513, 515, 601) requires infrastructure-supported assistance for its travel through the infrastructure (500), determining the infrastructure assistance data includes selecting areas that are either vacant or occupied and / or whose occupancy status is unknown in order to determine a reduced free space identification result, the reduced free space identification result only indicating vacant areas or occupied areas and / or areas whose occupancy status is unknown, so that the infrastructure assistance data includes the reduced free space identification result.

6. The method according to claim 5, comprising the steps of: determining a corresponding relevance of the at least one area with respect to a relevance for the motor vehicle (511, 513, 515, 601) traveling through the infrastructure (500), the corresponding relevance being in particular related to the corresponding determined occupancy state, Therein, the selecting step is performed based on the determined correlation.

7. The method according to any one of claims 2 to 6, wherein: The information content of the information represented by the ambient signal is reduced, whereby the infrastructure assistance data comprises the reduced information content.

8. The method according to any one of claims 4 to 7, wherein: If the motor vehicle (511, 513, 515, 601) requires infrastructure-supported assistance for its travel through the infrastructure (500), meta-information about the content not included in the infrastructure assistance data due to the reduction is determined, so that the infrastructure assistance data includes the determined meta-information.

9. A method according to any one of the preceding claims, wherein: The infrastructure assistance data is related to a sending capability, which indicates the ability to send the infrastructure assistance data to the motor vehicle (511, 513, 515, 601), and / or the infrastructure assistance data is determined by a processing capability, which indicates the ability to determine the infrastructure assistance data.

10. The method according to claim 9, insofar as it refers back to any one of claims 4 to 8, wherein The step of reducing is performed based on the transmission capability and / or based on the processing capability, so that depending on the transmission capability and / or depending on the processing capability, the infrastructure assistance data either includes unreduced content or includes reduced content.

11. The method according to any of the preceding claims, insofar as it refers back to any of claims 4 to 8, wherein The step of reducing is performed based on a determined rhythm, so that based on the determined rhythm, the infrastructure assistance data either includes unreduced content or includes reduced content.

12. A method according to any one of the preceding claims, wherein: Determining and / or receiving a trajectory signal, which represents a corresponding target trajectory of the motor vehicle (511, 513, 515, 601) and / or at least one traffic participant in the surroundings of the motor vehicle (511, 513, 515, 601), wherein based on the trajectory signal it is determined whether the motor vehicle (511, 513, 515, 601) requires assistance supported by the infrastructure for its travel through the infrastructure (500), and / or wherein the infrastructure assistance data is determined based on the trajectory signal.

13. The method according to claim 12, insofar as it refers back to any one of claims 4 to 8, wherein The step of reducing is performed based on the trajectory signal, so that the infrastructure assistance data comprises either unreduced content or reduced content based on the trajectory signal.

14. A method according to any of the preceding claims, insofar as it refers back to claim 2, wherein: A traffic situation in the surroundings of the motor vehicle (511, 513, 515, 601) is determined based on the environmental signal, wherein it is determined based on the determined traffic situation whether the motor vehicle (511, 513, 515, 601) requires infrastructure-supported assistance for its travel through the infrastructure (500).

15. The method according to claim 14, insofar as it refers back to any one of claims 4 to 8, wherein: The step of reducing is performed based on the determined traffic situation, so that the infrastructure assistance data comprises either unreduced content or reduced content based on the traffic situation.

16. A method according to any one of the preceding claims, wherein: A check is made as to whether the motor vehicle (511, 513, 515, 601) has requested infrastructure-supported assistance for its travel through the infrastructure (500), wherein it is determined based on a result of the check whether the motor vehicle (511, 513, 515, 601) requires infrastructure-supported assistance for its travel through the infrastructure (500).

17. A method according to any of the preceding claims, insofar as it refers back to claim 2, wherein: Based on the environmental signal, it is determined whether the motor vehicle (511, 513, 515, 601) needs an operation suggestion from the infrastructure side that leads to a change in its driving task, and if so, which operation suggestion it is, wherein the determination of whether the motor vehicle (511, 513, 515, 601) needs assistance supported by the infrastructure for its travel through the infrastructure (500) is based on the determination of whether the motor vehicle (511, 513, 515, 601) needs an operation suggestion from the infrastructure side that leads to a change in its driving task, so that if the motor vehicle (511, 513, 515, 601) needs assistance from the infrastructure side for its travel through the infrastructure (500), the infrastructure assistance data includes the operation suggestion for changing the driving task.

18. A method according to any one of the preceding claims, wherein: If the motor vehicle (511, 513, 515, 601) requires assistance supported by the infrastructure for its travel through the infrastructure (500), the infrastructure assistance data are determined for at least one area in the travel direction of the motor vehicle (511, 513, 515, 601), in particular a lane, a part of a lane, a driving corridor, a part of a driving corridor, and area-related infrastructure assistance data are determined based on the at least one area.

19. A method according to any one of the preceding claims, wherein: A data signal is received, which represents motor vehicle data of the motor vehicle and / or communication data communicated between the motor vehicle and the infrastructure and / or user data and / or operating recommendations and / or operating regulations, wherein it is determined based on the data signal whether the motor vehicle (511, 513, 515, 601) requires assistance supported by the infrastructure for its travel through the infrastructure (500).

20. A device (201, 305) arranged to carry out all the steps of the method according to any of the preceding claims.

21. A system (301) for infrastructure-assisted assistance of a motor vehicle (511, 513, 515, 601) when driving through an infrastructure (500), comprising: at least one environmental sensor (303) arranged in the infrastructure (500), the at least one environmental sensor being configured to detect an environment surrounding the motor vehicle (511, 513, 515, 601) and output an environmental signal based on the detection, the environmental signal representing an environment surrounding the motor vehicle (511, 513, 515, 601); and According to the device (201, 305) of claim 20, the device is configured to implement all the steps of the method according to any one of claims 1 to 19 as long as they refer back to claim 2.

22. A computer program (403) comprising instructions which, when executed by a computer, cause the computer to carry out the method according to any one of claims 1 to 19.

23. A machine-readable storage medium (401) on which a computer program (403) according to claim 22 is stored.

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