Device and method for operating a driving function on a driving travel to a signal unit

Abstract

The invention relates to a device for operating a driving function for the automatic longitudinal and / or lateral guidance of a vehicle on a driving lane towards a signal unit. The device is configured to determine a first assignment of a signal generator of the signal unit to a first lane traveled by the vehicle which travels towards the roadway. The device is further configured to ascertain a first confidence value of the first assigned confidence and to schedule a lane change of the vehicle to an adjacent second lane driving to the roadway as a function of the first confidence value.

Description

Field of the Invention

[0001] The present invention relates to a device and a corresponding method for controlling the approach of a motor vehicle towards a signal unit. Background Art

[0002] A vehicle can have one or more driving functions that support the vehicle driver in guiding, in particular longitudinally guiding and / or laterally guiding, the vehicle. An Adaptive Cruise Control (ACC) function is an exemplary driving function for assisting in the longitudinal guidance of a vehicle, which can be used to longitudinally guide the vehicle at a prescribed set driving speed and / or at a prescribed desired distance from a preceding vehicle traveling in front of the vehicle. The driving function can also be used in combination with a signal unit (in particular a traffic signal) at a traffic intersection (such as an intersection) in order to achieve automatic longitudinal guidance, such as automatic deceleration or an automatic turning maneuver, at the traffic signal.

[0003] The approach towards a signal unit at a traffic intersection can have different lanes for different driving directions at the traffic intersection. In addition, the signal unit can also have different signal generators, which can be at least partially assigned to different lanes and / or different driving directions. Summary of the Invention

[0004] This document relates to the technical task of improving the quality of a driving function for the automatic longitudinal and / or lateral guidance of a vehicle at a signal unit, which signal unit has different signal generators for different lanes and / or driving directions.

[0005] This task is solved by the respective independent claims. Advantageous embodiments are described in particular in the dependent claims. It should be noted that additional features of the dependent patent claims, if they do not contain the features of the independent patent claim or are only combined with some of the features of the independent patent claim, can form an invention independent of all combinations of features of the independent patent claim, which can be the subject of an independent claim, a divisional application or a subsequent application. This also applies to the technical teachings described in the specification, which can form an invention independent of the features of the independent patent claim.

[0006] According to one aspect, a device for operating a driving function is described, the driving function being for the automatic longitudinal and / or lateral guidance of a (motor) vehicle on a (multi-lane) approach carriageway towards a signal unit (in particular a traffic signal installation). The signal unit can be arranged at a traffic intersection, in particular an intersection. The signal unit can have different signal generators (such as traffic lights), which are assigned to different lanes and / or driving directions (such as left turn, straight ahead or right turn).

[0007] The driving function can be configured to automatically longitudinally and / or laterally guide the vehicle according to the signal state of the signal generator of the signal unit. Here, for example, it can be caused that if the signal generator (related to the lane and / or driving direction) is red, the vehicle automatically stops at the stop line of the signal unit. On the other hand, it can be caused that if the signal generator (related to the lane and / or driving direction) is green, the vehicle can be automatically guided to pass the signal unit while being longitudinally and / or laterally guided.

[0008] The signal generator related to the lane and / or the vehicle driving direction can be displayed by an assignment, where the assignment identifies one or more signal generators of the signal unit assigned to the corresponding lane and / or driving direction (related to the driving on the corresponding lane and / or the driving in the corresponding driving direction). For a roadway with multiple lanes and / or a signal unit with multiple signal generators, there may be multiple different assignments. These assignments can be previously determined based on the data detected in the category of previous driving on the roadway being approached. These assignments can be provided in the digital map of the roadway network traveled by the vehicle (for example, as a map attribute).

[0009] For each assignment, a confidence value of the confidence of the assignment can be determined separately. The confidence of the assignment can indicate the probability that the assignment is correct. The confidence value can be determined based on the data of previous driving. The confidence value can be normalized to a determined value range (for example, 0 indicates a confidence of 0% to 1 indicates a confidence of 100%).

[0010] Therefore, a digital map can be provided that displays, for different lanes of the roadway being approached, the assignment of at least one signal generator of the signal unit to the corresponding lane, as well as the confidence value of the corresponding assignment. The digital map can be received by the vehicle through a wireless communication connection.

[0011] The device is set to determine a first assignment of the signal generator of the signal unit to the first lane traveled by the vehicle. The device is also set to determine a first confidence value of the confidence of the first assignment. For example, the first confidence value of the confidence of the first assignment can be determined based on the digital map of the roadway network traveled by the vehicle. The first assignment can be determined based on the digital map and / or the sensor data of one or more environmental sensors of the vehicle (such as cameras, radar sensors, lidar sensors, etc.).

[0012] The device is also set to arrange for the vehicle to change lanes to an adjacent second lane leading to the carriageway, based on a first confidence value. Here, the second lane having the same driving direction as that of the first lane on the signal unit can be selected. If necessary, an automatic lane change of the vehicle to the second lane leading to the carriageway can be caused (within the scope of the driving function). Alternatively, the driver of the vehicle can be prompted to manually perform a lane change of the vehicle to the second lane leading to the carriageway by outputting a prompt.

[0013] The device can also be set to determine the signal state of the signal generator of the signal unit assigned to the lane (in particular the first lane or the second lane) traveled by the vehicle (e.g., based on sensor data of one or more environmental sensors of the vehicle). The driving function of the vehicle for automatic longitudinal and / or lateral guidance can be operated according to the determined signal state (e.g., so that the vehicle automatically brakes at the signal unit or so that it is automatically guided past the signal unit).

[0014] By performing a lane change to another lane, the comfort and / or safety of the driving function can be improved in an efficient and reliable manner during the approach to the signal unit (especially when there is an increased confidence in the signal generator-lane assignment for the second lane).

[0015] The device can be set to determine the planned driving direction of the vehicle at the signal unit. The driving direction can be determined based on the route planned for the vehicle in the navigation system and / or based on the driving direction associated with the first lane. Then, the set of lanes leading to the carriageway for the planned driving direction of the vehicle at the signal unit can be determined (e.g., based on a digital map of the road network traveled by the vehicle), where the determined set of lanes typically includes the first lane. In other words, one or more lanes leading to the carriageway that can achieve the determined driving direction of the vehicle at the signal unit can be determined. Then, the second lane can be selected from the determined set of lanes. Thus, the quality of the driving function can be further improved.

[0016] The device can be set to determine a second assignment of the signal generator of the signal unit to an adjacent second lane leading to the carriageway, and a second confidence value for the second assignment (e.g., based on a digital map).

[0017] The first confidence value can be compared with the second confidence value, and the vehicle can be arranged to change lanes to a second lane leading to the carriageway based on the comparison. Herein, if it is obtained in the scope of the comparison of the confidence values that the confidence of the second allocation is higher than that of the first allocation, the vehicle can be arranged to change lanes to the second lane. On the other hand, the device can be set such that if it is obtained in the scope of the comparison of the confidence values that the confidence of the first allocation is higher than that of the second allocation, the vehicle may not be arranged to change lanes to the second lane (and the vehicle remains in the first lane). Therefore, the quality of the driving function can be further improved.

[0018] The device can be set such that, especially when the first confidence value indicates that the confidence of the first allocation is less than the confidence threshold, allocation information regarding the first allocation can be output to the driver of the vehicle. Therefore, in the case of a relatively uncertain first allocation, a query can be sent to the driver to obtain the driver's confirmation or adaptation of the first allocation. The first allocation can be adapted in response to a user input, and then the driving function can be run with the adapted allocation. Therefore, the quality of the driving function can be further improved.

[0019] According to another aspect, another device for running a driving function for the automatic longitudinal and / or lateral guidance of a (motor) vehicle on a carriageway leading to a signal unit is also described. The measures described herein can also be used for this device alone or in combination.

[0020] The device is set to determine an allocation of a signal generator of the signal unit to the lane traveled by the vehicle on the carriageway leading to the signal unit and / or the planned driving direction of the vehicle at the signal unit (e.g., based on a digital map).

[0021] The device is also set to output allocation information regarding the determined allocation to the driver of the vehicle (e.g., displayed on the screen of the vehicle). In this case, a confidence value of the confidence of the allocation can be determined (e.g., based on a digital map). If the confidence value indicates that the confidence of the allocation is less than the confidence threshold, the allocation information regarding the determined allocation can be output to the driver of the vehicle (only if necessary). On the other hand, if the confidence value indicates that the confidence of the allocation is greater than the confidence threshold, the output of the allocation information can be blocked if necessary.

[0022] Furthermore, the device is set to adapt the allocation in response to a (driver's) user input, and then run the driving function according to the adapted allocation.

[0023] The device can, for example, be set to detect a user input (via the vehicle's user interface) and determine whether the allocation displayed by the allocation information is confirmed or adapted by the user input. If the allocation is confirmed by the user input, the driving function can be run according to the allocation displayed by the allocation information. On the other hand, if the allocation displayed by the allocation information is adapted by the user input, the driving function can be run according to the adapted allocation.

[0024] Therefore, in particular in the case of relatively low confidence, the inclusion of the driver can cause the confirmation or adaptation of the allocation information (displayed by the digital map). Thus, the quality of the driving function can be improved in a particularly effective and reliable manner.

[0025] The device can be set such that if no user input for adapting and / or for confirming the allocation is recognized within a predetermined period of time in response to the output of the allocation information, the running of the driving function can be cancelled and / or a handover to the vehicle driver can be caused. Thus, the safety of the driving function can be further improved.

[0026] The device can be set to output an optical representation (e.g., on a touch-sensitive display screen), which shows a plurality of different signal generators of a signal unit, and these signal generators can be assigned to the lanes driven by the vehicle on the carriageway approaching the signal unit and / or the planned driving direction of the vehicle at the signal unit. Here, the signal generator from the sought allocation can be highlighted in the optical display.

[0027] Then, a user input regarding the selection of one of the signal generators displayed by the driver can be sought. For example, the driver can be enabled to touch the symbol of the signal generator in the optical display to select the signal generator. The allocation (used by the driving function) can be adapted in a particularly effective and reliable manner based on the selected signal generator.

[0028] According to another aspect, a (road) motor vehicle (in particular a passenger car, a truck, a bus or a motorcycle) is described, which includes one or more devices described herein.

[0029] According to another aspect, a method for running a driving function is described, which is used for automatically longitudinally and / or laterally guiding a (motor) vehicle on a (multi-lane) carriageway approaching a signal unit. The method includes seeking a first allocation of a signal generator of the signal unit to a first lane of the carriageway driven by the vehicle. In addition, the method further includes seeking a first confidence value of the confidence of the first allocation. The method further includes arranging for the vehicle to change lanes to an adjacent second lane according to the first confidence value.

[0030] According to another aspect, a method for operating a driving function is described, which is used to automatically longitudinally and / or laterally guide (maneuver) a vehicle on a roadway approaching a signal unit. The method includes determining the assignment of the signal generator of the signal unit to the lane traveled by the vehicle on the roadway approaching the signal unit and / or the planned driving direction of the vehicle at the signal unit. The method further includes outputting assignment information related to the determined assignment to the vehicle driver. In addition, the method further includes adapting the assignment in response to a user input, and operating the driving function according to the adapted assignment.

[0031] According to another aspect, a software (SW) program is described. The software program can be configured to be executed on a processor (such as a vehicle controller), and thereby execute one or more methods described herein.

[0032] According to another aspect, a storage medium is described. The storage medium can include an SW program that is configured to be executed on a processor, and thereby execute one or more methods described herein.

[0033] It should be noted that the methods, devices, and systems described herein can not only be used alone, but also in combination with other methods, devices, and systems described herein. In addition, any aspects of the methods, devices, and systems described herein can be combined with each other in various ways. In particular, the features of the claims can be combined in various ways. In addition, the features listed in parentheses should be understood as optional features. Description of the Drawings

[0034] The present invention will be described in more detail below with reference to embodiments. It is shown herein:

[0035] Figure 1 Exemplary components of a vehicle;

[0036] Figure 2a Exemplary signal units, in particular traffic light facilities;

[0037] Figure 2b Exemplary approach towards a traffic intersection;

[0038] Figure 2c Exemplary graphical output of the driving direction / lane signal generator assignment;

[0039] Figure 3 Exemplary traffic conditions;

[0040] Figure 4a A flowchart of an exemplary method for operating a vehicle when approaching a signal unit; and

[0041] Figure 4bFlowchart of an exemplary method for adapting the assignment of the driving direction / lane signal generator in the approach process range of an oncoming signal unit. Detailed implementation

[0042] As mentioned at the beginning, this article is concerned with enabling particularly reliable operation of the vehicle when approaching a signal unit. In this context, Figure 1 Exemplary components of the vehicle 100 are shown. The vehicle 100 includes one or more environmental sensors 103 (for example, one or more image cameras, one or more radar sensors, one or more lidar sensors, one or more ultrasonic sensors, etc.), which are respectively arranged to detect environmental data regarding the environment of the vehicle 100 (especially the environment in front of the vehicle 100 along the driving direction). In addition, the vehicle 100 also includes one or more actuators 102, which are arranged to act on the longitudinal and / or lateral guidance of the vehicle 100. Exemplary actuators 102 are: braking devices, drive motors, steering devices, etc.

[0043] The (control) device 101 of the vehicle 100 can be arranged to provide driving functions, especially driving assistance functions, based on the sensor data of one or more environmental sensors 103 (i.e., based on environmental data). For example, obstacles on the driving trajectory of the vehicle 100 can be identified based on the sensor data. Then, the control unit 101 can control one or more actuators 102 (such as the braking device) to automatically decelerate the vehicle 100 and thereby prevent the vehicle 100 from colliding with the obstacle.

[0044] Especially in the context of the automatic longitudinal guidance of the vehicle 100, instead of or in addition to the vehicle in front, one or more traffic signal devices on the roadway or road traveled by the vehicle 100 can be considered. Here, especially the state of the traffic signal facility or traffic light facility can be considered, so that the vehicle 100 automatically causes deceleration to the stop line of the traffic light at a red light related to its own (planned) driving direction, and / or accelerates automatically at a green light (if necessary, accelerates again).

[0045] Figure 2a An exemplary traffic signal facility 200 (as an example of a signal unit) is shown. Figure 2aThe traffic signal light facility 200 shown in the figure has four different signal generators 201, which are arranged at different positions leading to the intersection. The left signal generator 201 has an arrow 202 to the left, and shows that the signal generator 201 is suitable for left-turning vehicles. The two middle signal generators 201 have upward arrows 202 (or no arrows 202) and thus show that the two signal generators 201 are suitable for straight driving. The individual traffic signals 203 of the two signal generators 201 constitute a signal group. In addition, the right signal generator 201 has an arrow 202 to the right and thus shows that the signal generator 201 is suitable for right-turning vehicles.

[0046] As exemplified in Figure 2b , the approaching lane 250 towards the intersection can have a plurality of lanes 251. Different signal generators 201 of the signal unit 200 can be assigned to different lanes 251. For example, in Figure 2b In the example shown in , the signal generator 201 for left turn can be allocated to the left lane 251. In addition, one or more signal generators 201 for straight driving can be allocated to the two middle lanes 251. In addition, the signal generator 201 for right turn can be allocated to the right lane 251 (and also possibly to the right lane 251 of the two middle lanes 251).

[0047] The assignment between the individual signal generators 201 and the different lanes 251 of the roadway 250 can be stored in a digital map of the roadway network traveled by the vehicle 100. In this case, the assignment can be created based on data provided by the vehicle 100 based on multiple crossings. An assignment created based on such vehicle data may be erroneous.

[0048] In the context of determining the assignment between signal generator 201 and lane 251, a confidence value 252 can be determined for each lane 251 of roadway 250, which confidence value (e.g., probability) indicates the confidence that the assignment of signal generator 201 displayed for the corresponding lane 251 is correct. Confidence value 252 of the signal generator-lane assignment can be taken into account in the context of operating a driving function of vehicle 100. The quality of the driving function can thus be improved.

[0049] Figure 3Exemplarily, vehicle 100 is shown moving on a roadway towards signal unit 200. One or more environmental sensors 103 of vehicle 100 may be arranged to detect sensor data (in particular image data) regarding signal unit 200. The sensor data may be analyzed (e.g. by means of an image analysis algorithm) in order to determine the characteristics of one or more features of signal unit 200. In particular, the (signal) state (e.g. color, such as red, yellow or green) of one or more signal generators 201 of signal unit 200 may be determined based on the sensor data. In addition, the distance 311 between signal unit 200 and vehicle 100 may also be determined.

[0050] The device 101 of vehicle 100 may be arranged to determine the lane 251 in which vehicle 100 is located from among a plurality of different lanes 251 of roadway 250 in the context of the approach towards signal unit 200. This may be determined based on the environmental data of one or more environmental sensors 103 of vehicle 100. The device 101 may also be arranged to identify signal unit 200 and / or the individual signal generators 201 of signal unit 200, for example based on the environmental data.

[0051] In addition, the device 101 may be arranged to determine different signal generator-lane assignments for the identified signal unit 200 based on a digital map. The signal generator 201 associated with the lane 251 in which vehicle 100 is located may then be identified based on the signal generator-lane assignment. In addition, a confidence value 252 for this signal generator-lane assignment may also be determined.

[0052] If the assigned confidence value 252 is relatively high, for example higher than a predefined confidence threshold, the driving function may be run taking this assignment into account. For this purpose, the signal state of the identified signal generator 201 may be determined (based on the environmental data). In addition, the automatic longitudinal and / or lateral guidance of vehicle 100 may be caused according to the signal state of the identified signal generator 201 (e.g. if the color of signal generator 201 is red, vehicle 100 automatically brakes).

[0053] The device 101 can be set to determine (e.g., based on a digital map) whether the carriageway 250 of the vehicle 100's planned driving direction at the upcoming traffic intersection has additional lanes 251 besides the currently traveled lane 251. For example, it can be determined that the carriageway 250 has directly adjacent lanes 251 besides the currently traveled lane 251 for going straight. Thus, the set of lanes 251 of the carriageway 250 can be determined, and these lanes can be used for the vehicle 100's planned driving direction. In addition, the confidence value 252 of the signal generator-lane assignment for each lane 251 can be determined from the set of lanes 251. Based on the confidence value, the lane 251 with the highest confidence in the correctness of the assigned signal generator 201 can be identified from the set of lanes 251.

[0054] In addition, the device 101 can cause (e.g., by outputting a prompt to the driver and / or by actuating one or more actuators 102) the vehicle 100 to change from the currently traveled lane 251 to the identified lane 251 in the context of approaching the signal unit 200. The automatic approach process of the vehicle 100 can be performed on the identified lane 251. Thus, the quality of the driving function can be further improved.

[0055] The device 101 of the vehicle 100 can be designed to output assignment information to the driver of the vehicle 100 regarding the assignment between the currently traveled lane 251 or the planned driving direction of the vehicle 100, which is determined and / or used by the vehicle 100, and the signal generator 201 of the signal unit 200. The assignment information can be output through the user interface of the vehicle 100, especially displayed on the (touch-sensitive) screen of the vehicle 100.

[0056] Figure 2c Shown Figure 2b An exemplary graphical representation 260 of the assignment information for the driving situation shown in. For example, the graphical representation 260 can include the representation 261 of each lane 251 and the representation 262 of each signal generator 201. In addition, the representation 265 of the vehicle 100 can also be displayed. Here, the lane 251 currently traveled by the vehicle 100 can also be displayed. In addition, the planned driving direction 264 of the vehicle 100 can be displayed.

[0057] The graphical representation 260 can further display one or more signal generators 201 assigned to the current lane 251 and / or the planned driving direction 264. This can be displayed, for example, by the visual highlighting 263 of one or more signal generators 201.

[0058] The driver of vehicle 100 enables the adaptation of the allocation used by vehicle 100. In particular, the driver is enabled to select one or more signal generators 201 that the driving functions of vehicle 100 should use. For example, the driver is enabled to touch the icon 262 of the signal generator 201 in the graphical representation 260 to select the signal generator 201. The allocation used by the driving function can be adapted according to the selected signal generator 201. Then, the signal state of the selected signal generator 201 can be used during the operation of the driving function of vehicle 100. Thus, the quality of the driving function can be further improved.

[0059] Therefore, in addition to the sensor information from vehicle 100, data from a fleet can also be used, which have completed the current driving relationship to be evaluated in the past (in manual or autonomous driving mode). Fleet data such as GPS data, timestamps, roadway and lane identifiers, driving direction, image data, radar data, lidar data, etc. can be collected, analyzed and evaluated on a central server and sent to vehicle 100.

[0060] Based on one or more confidence values 252 and / or by comparison with the current sensor information (of one or more environmental sensors 103 of vehicle 100), vehicle 100 can decide whether the allocation of traffic signals (i.e., the signal generator 201) to the lane 251 and the stop line is correct, and whether vehicle 100 can drive autonomously, or whether the driver has to take over the driving operation. Each lane 251 or each driving relationship can have a different confidence value 252 here. Here, a lane change can be recommended to the driver, or the lane can be automatically changed to a lane 251 with a higher confidence.

[0061] By an automatic method and / or by incorporating the driver's method, the confidence value 252 of the allocation of the driving relationship or lane 251 to the traffic signal facility and / or the stop line can be continuously improved. If the situation changes due to, for example, construction measures, etc., the confidence value 252 of the allocation can be reduced if necessary.

[0062] Due to the above measures, the crossing of intersections with traffic signal facilities 200 can be carried out with increased safety. In addition, the frequency of such a drive through without interruption can also be increased.

[0063] In one example, a driver in an autonomous vehicle 100, such as in SAE Level 2 (hands-off) or SAE Level 3 (eyes-off), is driving towards an intersection in an autonomous driving mode. There are three lanes 251 on road 250, a left-turn lane, a straight-ahead lane, and a separated straight + right-turn lane. Through the sensing mechanism 103 in the vehicle 100 and through positioning, it can be recognized by the vehicle 100 in which lane 251 (e.g., the rightmost lane) it is driving. Additionally, 5 traffic signals 201 are recognized. It is known from the planned route in the navigation system of the vehicle 100 that the driver wants to turn right. The turning process should be automatically executed without driver intervention to provide a continuous autonomous driving experience.

[0064] A query is sent from the vehicle 100 to the central server. In the response, the ID of the relevant traffic signal 201 and / or the exact position of the traffic signal 201 and a confidence value 252 will be provided for the current driving situation (i.e., the current lane 251). If there is a relatively high confidence value 252, the traffic signal 201 specified by the server can be selected, and the autonomous driving function can automatically accelerate and brake according to the phase of the traffic signal 201. Thus, the situation can be automatically passed through in a safe and comfortable manner.

[0065] In the case of a relatively low confidence, the vehicle can automatically change lanes to an adjacent and more suitable lane 251, or enable the driver to manually select the relevant traffic signal 201 before switching to the manual driving mode. In the case of manual selection, the driver can be given the possibility to select the currently valid traffic signal 201 by means of an operating element, such as a touch screen.

[0066] When passing through the intersection, the data of each vehicle 100 can be sent to the server. The credibility of each driving situation or lane 251 and traffic signal 201 can be further improved or updated by means of a learning method.

[0067] Figure 4a A flowchart showing an exemplary (possibly computer-implemented) method 400 for running a driving function for automatically longitudinally and / or laterally guiding the vehicle 100 on a (multi-lane) carriageway 250 towards a signal unit 200 (especially a traffic signal installation) is shown. The signal unit 200 can include a plurality of different signal generators 201.

[0068] Method 400 includes obtaining 401 a first allocation of the signal generator 201 of the signal unit 200 to the first lane 251 of the carriageway 250 traveled by the vehicle 100. The first lane 251 may be associated with the determined driving direction (e.g., left turn, straight, or right turn) of the vehicle 100 at the signal unit 200. The first allocation may be obtained based on a digital map of the carriageway network traveled by the vehicle 100 and / or based on sensor data of one or more environmental sensors 103 of the vehicle 100.

[0069] Method 400 further includes obtaining 402 a first confidence value 252 of the confidence of the first allocation. For example, the confidence of the allocation may indicate (or correspond to) the probability that the allocation is correct. The first confidence value may be obtained based on the digital map, where the digital map may display confidence values for different possible allocations between the lane 251 and the signal generator 201.

[0070] In addition, method 400 further includes arranging for the vehicle 100 to change lanes to an adjacent second lane 251 of the carriageway 250 traveled by the vehicle 100 (where the second lane 251 has the same driving direction as the first lane 251) according to the first confidence value 252.

[0071] Figure 4b A flowchart showing a method 410 (possibly implemented by a computer) for running a driving function for automatically longitudinally and / or laterally guiding (maneuvering) the vehicle 100 on the carriageway 250 toward the signal unit 200. The measures described herein can be applied separately or in combination to both methods 400 and 410.

[0072] Method 410 includes obtaining 411 an allocation of the signal generator 201 of the signal unit 200 to the lane 251 traveled by the vehicle 100 on the carriageway 250 and / or to the planned driving direction 264 of the vehicle 100 at the signal unit 200 (e.g., based on the digital map and / or based on sensor data of one or more environmental sensors 103).

[0073] Method 410 further includes outputting 412 allocation information about the obtained allocation to the driver of the vehicle 100 (e.g., on a screen of the vehicle 100).

[0074] In addition, method 410 further includes adapting 413 the allocation in response to a user input and running 414 the driving function according to the adapted allocation.

[0075] The measures described herein can be used to improve the comfort, safety, and / or reliability of the driving function.

[0076] The present invention is not limited to the illustrated embodiments. In particular, it should be noted that the description and the drawings are only used to illustrate the principles of the proposed methods, devices, and systems.

Claims

1. A device (101) for operating a driving function for automatically longitudinally and / or laterally guiding a vehicle (100) on a driving lane (250) towards a signal unit (200); wherein the device (101) is configured to, - Determine a first allocation of a signal generator (201) of the signal unit (200) to a first lane (251) of the driving lane (250) traveled by the vehicle (100); - Determine a first confidence value (252) of the confidence of the first allocation; and - Arrange for the vehicle (100) to change lanes to an adjacent second lane (251) of the driving lane (250) based on the first confidence value (252).

2. The device (101) according to claim 1, wherein the device (101) is configured to - Determine a second allocation of the signal generator (201) of the signal unit (200) to an adjacent second lane (251) of the driving lane (250); - Determine a second confidence value (252) of the confidence of the second allocation; - Compare the first confidence value with the second confidence value; and - Arrange for the vehicle (100) to change lanes to the second lane (251) of the driving lane (250) based on the comparison.

3. The device (101) according to claim 2, wherein the device (101) is configured to - If it is determined in the context of the comparison of the confidence values that the confidence of the second allocation is higher than the confidence of the first allocation, arrange for the vehicle (100) to change lanes to the second lane (251); and / or - If it is determined in the context of the comparison of the confidence values that the confidence of the first allocation is higher than the confidence of the second allocation, do not arrange for the vehicle (100) to change lanes to the second lane (251).

4. The device (101) according to any one of the preceding claims, wherein the device (101) is configured to - Determine a planned driving direction of the vehicle (100) at the signal unit (200), in particular based on a route planned for the vehicle (100) in a navigation system and / or based on a driving direction associated with the first lane (251); - Determine, in particular based on a digital map of the road network traveled by the vehicle (100), a set of lanes (251) of the driving lane (250) for the planned driving direction of the vehicle (100) at the signal unit (200); wherein the set of lanes (251) in particular includes the first lane (251); and - Select the second lane (251) from the determined set of lanes (251).

5. The device (101) according to any one of the preceding claims, wherein the device (101) is configured to, - Cause the vehicle (100) to automatically change lanes to the second lane (251) of the driving lane (250) based on the first confidence value (252); or - Based on the first confidence value (252), by outputting a prompt, arrange for the driver of the vehicle (100) to manually perform a lane change of the vehicle (100) to the second lane (251) of the oncoming lane (250).

6. The device (101) according to any one of the preceding claims, wherein the device (101) is configured to - in particular based on sensor data of one or more environmental sensors (103) of the vehicle (100), determine the signal state of the signal generator (201) of the signal unit (200), the signal state being assigned to the lane (251) traveled by the vehicle (100); and - Based on the determined signal state, run the driving function for automatic longitudinal and / or lateral guidance.

7. The device (101) according to any one of the preceding claims, wherein - The device (101) is configured to determine the first confidence value (252) of the confidence of the first assignment based on a digital map of the road network traveled by the vehicle (100); and - The digital maps of different lanes (251) of the oncoming lane (250) respectively show the assignment of at least one signal generator (201) of the signal unit (200) to the corresponding lane and the confidence value (252) of the corresponding assignment.

8. The device (101) according to any one of the preceding claims, wherein the device (101) is configured to - output assignment information about the first assignment to the driver of the vehicle (100), in particular when the first confidence value (252) indicates that the confidence of the first assignment is less than a confidence threshold, output assignment information about the first assignment to the driver of the vehicle; and - Adapt the first assignment in response to a user input.

9. A device (101) for running a driving function for automatically longitudinally and / or laterally guiding a vehicle (100) on an oncoming lane (250) towards a signal unit (200); wherein the device (101) is configured to - determine the assignment of the signal generator (201) of the signal unit (200) to the lane (251) traveled by the vehicle (100) on the oncoming lane (250) and / or to the planned driving direction (264) of the vehicle (100) at the signal unit (200); - Output assignment information about the determined assignment to the driver of the vehicle (100); - Adapt the assignment in response to a user input; and - Run the driving function according to the adapted assignment.

10. The device (101) according to claim 9, wherein the device (101) is configured for - Determining a confidence value of the confidence of the assignment; and - If the confidence value (252) indicates that the confidence of the assignment is less than a confidence threshold, output assignment information about the determined assignment to the driver of the vehicle (100); and / or - If the confidence value (252) indicates that the assigned confidence is greater than the confidence threshold, suppress the output of the assignment information.

11. The apparatus (101) according to claim 10, wherein the apparatus (101) is configured to cancel the operation of the driving function and / or cause a handover to the driver of the vehicle if, in response to the output of the assignment information, no user input for adapting and / or confirming the assignment is recognized within a predetermined time period.

12. The apparatus (101) according to any one of claims 9 to 11, wherein the apparatus (101) is configured to - detect a user input; - determine whether the assignment indicated by the assignment information is confirmed or adapted by the user input; - if the assignment is confirmed by the user input, operate the driving function according to the assignment indicated by the assignment information; and - if the assignment indicated by the assignment information is adapted by the user input, operate the driving function according to the adapted assignment.

13. The apparatus (101) according to any one of claims 9 to 12, wherein the apparatus (101) is configured for - outputting a visual representation (260), wherein the visual representation shows a plurality of different signal generators (201) of the signal unit (200), the plurality of different signal generators being assignable to the lane (251) traveled by the vehicle (100) on the approach carriageway (250) and / or the planned driving direction (264) of the vehicle (100) at the signal unit (200); wherein a signal generator (201) especially from the sought assignment is visually highlighted in the visual representation (260); - soliciting a user input regarding the selection by the driver of one of the displayed signal generators (201); and - adapting the assignment based on the selected signal generator (201).

14. A method (400) for operating a driving function for automatically longitudinally and / or laterally guiding a vehicle (100) on an approach carriageway (250) towards a signal unit (200); the method (400) comprises: - determining (401) a first assignment of a signal generator (201) of the signal unit (200) to a first lane (251) of the approach carriageway (250) traveled by the vehicle (100); - determining (402) a first confidence value (252) of the first assignment; and - arranging (403) for the vehicle (100) to change lanes to an adjacent second lane (251) of the approach carriageway (250) according to the first confidence value (252).

15. A method (410) for operating a driving function for automatically longitudinally and / or laterally guiding the vehicle (100) on an approach carriageway (250) towards a signal unit (200); wherein the method (410) comprises: - Determine the allocation of the signal generator (201) of the signal unit (200) to the lane (251) traveled by the vehicle (100) towards the roadway (250) and / or to the planned driving direction (264) of the vehicle (100) at the signal unit (200); - Output (412) allocation information regarding the determined allocation to the driver of the vehicle (100); - Adapt the allocation (413) in response to a user input; and - Operate (414) the driving function according to the adapted allocation.

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