Method for providing displayable path

Abstract

The invention relates to a method (120) for providing a path (126) for a vehicle (100), comprising the following steps: providing (S1) a trajectory (122) containing a plurality of data sets (124), each data set indicating a three-dimensional position; detecting (S2) an actual position, in particular a three-dimensional position, of the vehicle (100); determining (S5) a three-dimensional path (126) from the actual position along the trajectory (122); and outputting (S7) the path to a display (108, 118).

Description

Technical Field

[0001] The present invention relates to a method for providing a displayable path for a vehicle. The present invention also relates to a computer program product, a control device, and a vehicle. Background Art

[0002] DE 10 2017 115 991 A1 discloses a conventional method for navigating a vehicle in a garage, a parking garage, etc. The method includes a training phase during which a driver manually maneuvers a vehicle along a trajectory, stores the trajectory, and stores object features describing objects near the vehicle based on at least one image from a camera. In operation, based on the stored trajectory and the stored object features, a motor vehicle is semi-autonomously maneuvered along the recorded trajectory. Assigning the identified object features to the stored object features can be achieved by a visual simultaneous localization and mapping (VSLAM) method, a structure from motion technique, and / or bundle adjustment.

[0003] DE 10 2013 215 960 A1 discloses a method for determining position information of a vehicle, including: a step of detecting vehicle motion information, a step of determining a vehicle motion path based on the motion information, and a step of automatically determining floor information of a parking level or a parking ramp of a parking garage where the vehicle is located based on the motion path.

[0004] US 9 026 263 B2 discloses a navigation method for correctly displaying a vehicle position in a map representation. An inertial navigation system estimates positions in all six degrees of freedom. The position estimates are matched with path data, intersection data, and polygon data from a map database. This data is used for display such that a user can detect the relationship between a vehicle profile, the arrangement of a navigation system in the vehicle, and objects around the vehicle.

[0005] WO 77 / 74976 A1 discloses methods and devices for lane visualization, in which an expected travel path of a vehicle with an unchanged steering angle is shown in a display, and at least a part of a rear driving space of the vehicle is shown. A driver is informed of the expected travel path so that they can adjust the steering angle to accommodate obstacles that can be seen in the rear driving space.

[0006] Finally, US 2012 / 0 173 069 A1 discloses methods for navigating a vehicle using a graphical projection display. The method includes: monitoring a navigation status graphic representing a navigation intention displayed on the graphical projection display, monitoring user input to an area designated to the graphical projection display, initiating a user-defined navigation command based on the monitored navigation status graphic and the monitored user input, and operating the vehicle according to the user-defined navigation command.

[0007] In known methods and technologies for generating path displays, such as in navigation systems, it is typically the case that paths calculated in a horizontal plane can clearly be seen to deviate from inclined roads or roads that are steeper or flatter. As a result, users who notice such deviations may have little confidence in the calculated path. This ultimately leads to an undesired reduction in the acceptance of the vehicle and / or driver assistance system. Summary of the Invention

[0008] Against this background, an object of the present invention is to provide a method, a computer program product, a control device, and / or a vehicle for determining a path based on the observation of a road by a vehicle driver.

[0009] Accordingly, a method for generating a displayable path for a vehicle is proposed, the method comprising the steps of: providing a trajectory comprising a plurality of data sets, each data set indicating a position in at least three dimensions; detecting an actual position of the vehicle, in particular a position in at least three dimensions; determining a three-dimensional path from the actual position along the trajectory; and outputting the path to a display, in particular a display of the vehicle.

[0010] A "trajectory" is a preferably structured collection of data sets. Each data set specifies a position in at least three dimensions. For example, the position can be specified in three spatial directions. In addition, the roll and / or pitch and / or yaw angle of the vehicle can be specified for each position. The trajectory is preferably adapted to display the route of a driving path, such as a road, by means of the data sets. Typically, the trajectory is selected by a user, an automatic route finding method, etc. before being provided to the method. Such a data set can be referred to as a key frame or a positioning key frame.

[0011] A "path" can be defined as a part of the trajectory along which the vehicle is to travel. Alternatively or additionally, the path can be defined as a part of the trajectory that the vehicle has not yet traveled. Alternatively or additionally, the path can be defined as a part of the trajectory that connects the actual position to the vehicle in the driving direction of the vehicle. In all these cases, if the vehicle is at the starting point or origin of the trajectory, the "part of the trajectory" can refer to the entire trajectory. There are cases where the multiple definitions correspond to each other.

[0012] The three "dimensions" are preferably understood as at least three approximately linearly independent directions, such as the vehicle lateral direction, the vehicle longitudinal direction, and the vehicle vertical direction and / or longitude, latitude, and altitude and / or a first horizontal direction, a second horizontal direction perpendicular to the first horizontal direction, and the vertical direction.

[0013] A "position" is preferably a location defined in at least three-dimensional space.

[0014] The above method prevents a) bends in the road, for example at the start or end of a ramp, and / or b) roads that slope upwards or downwards, such as ramps or mountain roads, from causing a significant deviation between the displayed path and the road. This ultimately improves driving comfort and the acceptance of the navigation system.

[0015] Optionally, it may be stipulated that the trajectory is a training trajectory. A "training trajectory" includes driving a vehicle manually along a trajectory and storing the trajectory.

[0016] Optionally, it may be stipulated that the output of the path occurs during and / or shortly before the automatic rediscovery of the training trajectory. The "automatic rediscovery" of a trajectory is also referred to as the replay of a trajectory. The automatic rediscovery of a trajectory is performed based on the training trajectory. The vehicle undertakes the lateral guidance of the vehicle, especially the longitudinal guidance.

[0017] Optionally, it is stipulated that the trajectory can be trained and / or automatically rediscovered by at least one optical sensor. The VSLAM method is preferably used. For example, the optical sensor includes a camera or lidar. For example, training is performed by a camera, where a map with features is provided, especially a map from an image sequence. During the rediscovery of the trajectory, a comparison with the features is performed based on the images recorded during the rediscovery, and thus the position of the vehicle relative to the training trajectory is determined. This enables the vehicle to be guided along the training trajectory. For example, especially with the help of a reverse assist system, the trajectory is rediscovered backwards. Alternatively, the rediscovery occurs in the same direction as during the training of the trajectory.

[0018] Alternatively or additionally, the trajectory can be trained and / or automatically rediscovered by means of at least one radar sensor and / or ultrasonic sensor. During the training of the trajectory, a point cloud is created from the received reflections. This point cloud can be compared with the currently detected point cloud during the rediscovery of the trajectory in order to automatically guide the vehicle on the training trajectory.

[0019] Optionally, it is stipulated that the output path includes at least one change in direction around the vehicle's transverse axis. For example, the path can have an upward or downward bend.

[0020] The method may optionally include: determining the actual orientation of the vehicle with respect to the vehicle's longitudinal axis and the vehicle's transverse axis, where a three-dimensional path is determined such that the starting point of the path is parallel to the actual orientation.

[0021] "Orientation" is preferably understood as a vector defined by at least one angle around the vehicle's vertical axis and an angle around the vehicle's transverse axis. The orientation is preferably also defined by an angle around the vehicle's longitudinal axis. For example, if no angle around the vehicle's longitudinal axis is detected, it can be assumed that the vehicle is horizontally aligned around the vehicle's longitudinal axis.

[0022] The detection of the actual position preferably includes: (a) detecting at least one signal of a position determination system, in particular a satellite-based position determination system, and / or detecting an inclination signal indicating the inclination of the vehicle, and (b) determining the actual position in the vertical dimension based on the detected signals. Since this option provides altitude information determined based on sensors, the actual position is determined very precisely.

[0023] A network of radio wave transmitters, such as multiple WLAN routers and / or corresponding receivers, can also be used as a position determination system. The receiver is configured, for example, to distinguish multiple radio wave transmitters and determine its position relative to the radio wave transmitters.

[0024] It can further be provided that, in addition to the inclination of the vehicle, the movement of the vehicle is detected, and the inclination of the road is calculated based on the inclination and movement of the vehicle. This allows for eliminating the influence of load changes and / or traction surface effects and / or load effects. Therefore, the accuracy of the actual position is further improved.

[0025] According to a further option, the detection of the actual position can include detecting an inclination signal indicating the inclination of the vehicle, wherein the actual orientation of the vehicle around the vehicle's transverse axis is determined based on the detected inclination. In this way, the actual inclination of the vehicle and / or the road can be used to improve the output path.

[0026] Optionally, it can be provided that the individual and / or all steps of the method are continuously repeated. This preferably includes that the method can be started and / or stopped. Additionally or alternatively, it can be provided that the individual and / or all steps of the method are repeatedly executed, for example, in particular at a predetermined time, at predetermined time intervals, in a loop, and / or in an event-controlled manner. In particular, the approximation and / or matching of the actual position with the position specified by the data set of the trajectory, and / or the approximation with the points and / or parts of the trajectory where the inclination exceeds a preset threshold are considered as events. This option represents a preferably advantageous embodiment of the method for adjusting the path during vehicle travel.

[0027] In continuous and / or repeated method steps, the determination of the three-dimensional path preferably includes and / or is an update of the three-dimensional path. For example, this development can reduce the computational workload and thus reduce energy consumption.

[0028] As an alternative to repeated method steps, it can be provided that the proposed method is executed multiple times. For example, if the proposed method is implemented as a software method in a software library, it can be provided that the software method is called multiple times.

[0029] The method may optionally include: detecting an image that reproduces an area in front of the vehicle in the driving direction. In this option, the method preferably includes creating a superimposed image by superimposing a representation of the path on the detected image, where the output of the path includes and / or is the output of the superimposed image. For example, this option allows for easy identification of the intended trajectory in areas with low visibility such as intersections. The driving direction may change along the trajectory, for example, in order to stop and / or turn.

[0030] Furthermore, the method may be designed such that the detection of the actual orientation of the vehicle about the vehicle's vertical axis includes and / or is an evaluation of sensor signals, an evaluation of the last traveled section, and / or an evaluation of the trajectory at the actual position. These variants can improve the detection of the actual orientation individually or in combination. As a result, a high degree of consistency between the path and the actual route of the road can be achieved, thereby further enhancing user acceptance.

[0031] Optionally, the path may be determined to reach at most a preset maximum length. Thereby, for example, a cluttered representation of a winding road route can be reduced. This enables the vehicle driver to quickly identify the path to be traveled even in a complex environment.

[0032] Optionally, the path may be determined to reach at most a preset maximum angular deviation from the actual orientation of the vehicle about the vehicle's vertical axis. The maximum angular deviation is determined, for example, by means of the driver's field of view, a camera, etc., preferably with a safety margin of, for example, up to 45°, preferably up to 20°, preferably up to 10°.

[0033] Optionally, the path may be determined to reach at most a preset maximum deviation from the actual position of the vehicle in the height dimension. This means that the maximum vertical deviation between the path and the current position can be set. For example, in a multi-story parking garage, this option makes it possible to avoid a cluttered representation of the path under the ceiling and / or floor or road. This enables the driver to quickly and clearly identify the path to be traveled.

[0034] Optionally, the method may be designed to determine the actual orientation of the vehicle based on the orientation of a camera arranged and / or provided for recording in the driving direction of the vehicle. In this way, for example, the path can be superimposed on the image captured by the camera particularly precisely.

[0035] Optionally, the method may be configured such that the actual orientation of the vehicle is determined based on the orientation of the driver's field of view through a head-up display. The orientation of the driver's field of view may be a default value, or preferably detected at least once per trip by a sensor. In this way, for example, the path can be displayed particularly precisely in a so-called head-up display.

[0036] The method may further include: estimating the accuracy of the determined actual position and / or the accuracy of the determined path. For example, the estimation may be performed based on the type and amount of data used. The longer the elevation is determined based only on tilt information, the less accurate the elevation of the actual position becomes. This option allows for an assessment of quantifying such inaccuracy. The method may also output the estimated accuracy of the path in the output step. For example, the estimated accuracy may be output as a color value, transparency value, and / or line thickness, such that the lower the estimated accuracy, the greater the transparency, color difference, thickness, and / or fineness of the path. Thus, fading out or blurring can easily inform the user of the estimated accuracy.

[0037] To achieve the object determined at the beginning, a computer program product including commands is also proposed, which, when executed by a computer, causes the computer to perform the above method.

[0038] The computer program product (e.g., a computer program device) may be provided or supplied, for example, in the form of a storage medium (e.g., a memory card, USB stick, CD-ROM, DVD) or as a file downloadable from a server in a network. This may be performed, for example, in a wireless communication network by transmitting the corresponding file containing the computer program product or the computer program device.

[0039] To achieve the above object, a control device for a vehicle is also proposed, which is configured to perform the method.

[0040] To achieve the object described at the beginning, a vehicle is also proposed, which has the described control device.

[0041] According to a preferred option, the vehicle has a head-up display, in particular a head-up projection display, which is connected to the control device for displaying the path. A head-up display is a display that displays information such as the path in the field of view of a user, especially a vehicle driver.

[0042] Further possible embodiments of the invention also include combinations of features or embodiments not explicitly mentioned above or below with respect to the exemplary embodiments. In this case, a person skilled in the art will also add individual aspects as improvements or additions to the corresponding basic form of the invention.

[0043] Further advantageous designs and aspects of the invention form the subject matter of the dependent claims and the exemplary embodiments of the invention described below. The invention will be explained in more detail below with reference to the drawings based on preferred embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A front view of a vehicle configured to perform a method for providing a displayable path according to a first embodiment of the invention is schematically shown;

[0045] Figure 2 Schematically shows a side view of a vehicle on an upwardly inclined road Figure 1 ;

[0046] Figure 3 Schematically shows a flowchart of a method for providing a displayable path according to a first embodiment of the present invention;

[0047] Figure 4 Schematically shows a side view of a vehicle and a trajectory route in a global coordinate system according to a first embodiment;

[0048] Figure 5 Schematically shows a side view of a vehicle and a trajectory route in a local coordinate system according to a first embodiment; and

[0049] Figure 6 Schematically shows a side view of a vehicle and a trajectory route in a global coordinate system according to a first embodiment.

[0050] Unless otherwise specified, the same or functionally identical elements in the figures are denoted by the same reference numerals. Detailed description of the invention

[0051] Figure 1 Shows a vehicle 100. For example, the vehicle 100 is a car or a truck. For example, the vehicle can be any land vehicle, especially a road vehicle, especially a road driving vehicle. The vehicle 100 has a camera 102, a receiver 104, a control device 106, a head-up display 108 and a display screen 108.

[0052] The camera 102 is arranged, for example, in front of the vehicle 100. For example, the camera 102 is arranged, configured and / or interconnected such that it detects the road 110 in front of the vehicle 100 in the driving direction and provides a camera image of the road 110 or a part of the road 110 directly in front of the vehicle 100 to the control device 106. In this case, the term "directly in front of the vehicle" is preferably measured at the speed of the vehicle 100, such that the camera image of the camera arranged for easier parking can have a different perspective from that of the camera arranged for navigation and / or lane keeping in road traffic and / or parking garages. The perspective of the "directly in front of the vehicle" road section can also be adjusted according to the driving situation.

[0053] The receiver 104 is arranged, configured and / or interconnected for receiving at least one signal, such as a satellite-based positioning system, such as GPS, GLONASS and / or GALILEO.

[0054] The control device 106 is configured to at least perform the method for providing a displayable path described later. The control device 106 may represent a network of distributed control devices. Additionally, it is possible that a part of the method steps described later is executed on a remote server and transmitted to the vehicle 100 via a network not shown.

[0055] The control device 106 preferably includes an integrated tilt sensor that detects the tilt 112 of the vehicle 100 about the vehicle's lateral axis. The tilt sensor can also be implemented as a separate part and / or an evaluation function associated with other sensors.

[0056] As Figure 2 shown, the tilt 112 of the vehicle body 116 of the vehicle 100 may not be consistent with the tilt 114 of the road 110. For example, load distribution, longitudinal acceleration, and / or collisions and / or rebounds can cause an angular deviation between the tilts 112, 114. Preferably, the control device 106 is designed to determine the tilt 114 of the road by detecting the movement of the vehicle body 116 of the vehicle 100 with the control device 106 and compensating for the movement components of the vehicle body 116 in the signal indicating the tilt 112 of the vehicle body 116.

[0057] The control device 106 is preferably configured to determine altitude information of the vehicle based on tilt information. The altitude information can be part of the vehicle's position in an absolute reference system, such as "height (in meters) above the normal zero point". The altitude information can be part of the vehicle's position in a local coordinate system, such as "height (in meters) relative to the start point of the trajectory" or "height (in meters) relative to the start point of the journey".

[0058] To determine the altitude information, the control device 106 can additionally utilize at least one additional piece of information and combine it with the tilts 112, 114, such as travel distance, speed, wheel speed, steering angle, and / or the route and / or tilts 112, 114 of one of the above variables.

[0059] The control device 106 is configured to, for example, couple the altitude information, that is, calculate the altitude information by recording and tracking.

[0060] Additionally or alternatively, the control device 106 is configured to, for example, correlate the altitude information, that is, estimate the altitude information by assigning characteristic driving operations to known road sections or points based on a stored map and / or trajectory.

[0061] Subsequently, a method 120 for providing a displayable path according to a first embodiment of the present invention will be described with reference to Figure 3 the following.

[0062] Method 120 starts first. Preferably, for example, the control device 106 is configured to start method 120 if a start condition exists. A preferred start condition is that the vehicle speed is at most equal to a threshold value, for example 30 km / h. Another start condition is that the vehicle is in a parking garage and / or outside a public road.

[0063] A trajectory 122 is provided in step S1.

[0064] The provided trajectory 122 is preferably a training trajectory. For example, a system of the vehicle, such as an assistance system, is configured to record and store a manually driven trajectory in a training mode. This involves, for example, recording various sensor signals as uniquely as possible, which characterize the driving situation of the vehicle, such as speed, position, steering angle, etc. In addition, the sensor signals are preferably recorded by the environmental sensors of the vehicle, which enables, for example, an image of the vehicle environment, in particular the position of obstacles in the environment. For example, by replaying the driving situation of the vehicle in a time-synchronized manner, i.e., by repeating it, the training trajectory can be retraced. In order to retrace a predefined trajectory, the current environmental sensor data needs to be considered. Therefore, the assistance system receives sensor signals indicating the environment. The assistance system can, for example, receive this signal directly from one or more environmental sensors of the vehicle and combine multiple sensor signals of different environmental sensors, or the assistance system receives sensor signals that are already in a preprocessed state, such as in the form of a digital environmental map, in which the detected obstacles in the environment are indicated. For example, the trajectory 122 can be an avoidance trajectory calculated by the vehicle along the training trajectory. In particular, the trajectory 122 can be a trajectory calculated by the vehicle to reach the training trajectory. In addition, the trajectory 122 can be a trajectory transmitted from a server to the vehicle 100.

[0065] The trajectory 122 contains a plurality of data sets 124. Each data set 124 specifies a three-dimensional position that the vehicle 100 will successively activate when following the trajectory 122. The data sets 124 are preferably discrete such that they indicate positions at discrete intervals from each other.

[0066] Preferably, the trajectory 122 is loaded once from a non-volatile memory or from a server into the working memory of the control device 106. If method 120 is repeated or continuously executed, this step can be omitted or skipped by referring to the already provided trajectory 122.

[0067] In another step S2, the actual position of the vehicle 100 is detected in three dimensions. In yet another step S3, the actual orientation of the vehicle 100 is determined, i.e., at least the actual orientation of the vehicle around the vehicle vertical axis and around the vehicle transverse axis.

[0068] For example, by means of the receiver 104, corresponding signals are received from a plurality of satellites, and the actual position in three dimensions is determined based on the time difference of transmission.

[0069] For example, the elevation of the actual position is determined by tilting one of 112, 114, preferably the tilt 114 of the road 110.

[0070] For example, based on the detected tilts 112, 114 and the provided trajectory 122, the actual position is determined in a plane, such as latitude and longitude.

[0071] For example, based on the detected tilts 112, 114, the actual orientation of the vehicle 100 about the vehicle's vertical axis is determined, for example, by means of the trajectory 122.

[0072] Preferably, the actual orientation about the vehicle's longitudinal axis is additionally determined.

[0073] Steps S2 and S3 can be combined, in whole or in part, into a single step. Steps S2 and S3 can be carried out, in whole or in part, in parallel. In particular, in the case of steps S2 and S3, the actual order may differ from the numbering of the steps.

[0074] In a further step S4, an image of the road 110 is detected by the camera 102. Due to the orientation of the camera 102 relative to the vehicle 100 and / or the arrangement of the camera 102 in the vehicle 100, the detected or recorded image reproduces a part of the road 110 located in front of the vehicle 100.

[0075] In the next step S5, a three-dimensional path 126 is determined, for example, by calculating the path 126 based on the trajectory 122 with the aid of the control device 106. The path 126 is determined such that the path 126 starts at the actual position and the path 126 extends along the trajectory 122. The starting point of the path 126 is parallel to the actual orientation. The starting point of the path 126 is a part of the path 126 starting from the actual position.

[0076] In the next step S6, the path 126 is superimposed on the image recorded by the camera 102 in step S4. Thus, a superimposed image is created in this step S6.

[0077] Finally, in step S7, the previously created path 126 is output to the display.

[0078] Since, in this example, the superimposed image containing the path 126 is created in step S6, the superimposed image is actually output in step S7. The display that outputs the superimposed image including the path 126 is, for example, the display screen 118 in and / or on the dashboard of the vehicle 100.

[0079] According to a variant, in order to display the path 126, the head-up display 108 is used to display the path 126 instead of the display screen 118 in and / or on the dashboard. For this purpose, it is not necessary to detect the image in step S4 and create an overlay image in step S6. For example, in step S7, only the path 126 is output to the head-up display 108 so as to be displayed in the driver's field of view by the head-up display 108.

[0080] Preferably, the field of view of the display, such as the field of view of the camera 102 or the driver's field of view, is captured by the head-up display 108. Preferably, the path 126 determined in step S5 is adapted to the field of view of the display. For example, in the first case, the path 126 is adapted to the field of view of the camera 102 on the road 110 such that in the overlay image, the path 126 deviates from the displayed road 110 by a particularly small amount. For example, in the second case, the head-up display 108 adapts the path 126 to the driver's field of view on the road 110 such that the path 126 displayed in the field of view deviates from the road 110 by a particularly small amount.

[0081] The trajectory 122 provided in step S1 and / or the path 126 determined in step S5 can be provided in a global coordinate system or a local coordinate system. For example, Figure 4 The vehicle 100 on the horizontal road 110 is shown in the global coordinate system, where the road 110 in front of the vehicle 100 bends upward. For example, Figure 5 The vehicle 100 on the downwardly inclined road 110 is shown in the local coordinate system, where the road 110 in front of the vehicle bends relative to the horizontal direction. For example, Figure 6 The vehicle 100 on the horizontal road 110 is shown in the global coordinate system, where the road 110 in front of the vehicle first bends downward and then horizontally. Therefore, the proposed method is applicable to both the use of the global coordinate system and the use of the local coordinate system.

[0082] Preferably, the method 120 is designed to determine the path 126 in step S5 up to a first termination condition.

[0083] For example, the maximum length of the path 126 starting from the vehicle 100 can be preset as a termination condition so as to make the display of the path 126 clear and quickly understandable by the user. For example, the maximum length can be up to 50 meters, preferably up to 30 meters, more preferably up to 10 meters. For example, the maximum length can be specified as a function of the speed of the vehicle 100 by a formula.

[0084] For example, the maximum lateral angular deviation of the path 126 from the optical axis of the display and / or the driver's field of view can be preset as a termination condition. Thus, the "disappearance and reappearance" of the path 126 within the display can be avoided so as to make the display of the path 126 clear and quickly understandable by the user.

[0085] For example, the maximum vertical angular deviation of the path 126 from the visual axis of the display and / or from the longitudinal axis of the vehicle can be preset as a termination condition. Thus, for example, in a parking garage, a display of the path "on the ceiling" can be avoided so that the display of the path 126 is clear and the user can quickly understand it.

[0086] For example, the maximum vertical deviation of the path 126 from the actual position altitude can be preset as a termination condition. Thus, for example, in a parking garage, a display of the path "on the ceiling" can be avoided so that the display of the path 126 is clear and the user can quickly understand it.

[0087] More than one of the above termination conditions can be combined. Of course, it is also possible to determine the path 126 up to the end of the trajectory 122.

[0088] For example, if the method is carried out continuously, these steps can be carried out individually, partially and / or all continuously and / or in parallel with each other. If the method is repeated, the method can be restarted or preferably executed again using step S2.

[0089] The description of the embodiment includes optional features and / or advantageous further developments. Using the described method, a path can be created and provided, the display of which corresponds to a road or a representation of a road. This allows the driver to easily and reliably understand the path to be traveled. This increases consumer acceptance and ultimately also improves safety.

[0090] Although the present invention has been described based on exemplary embodiments, it can be modified in various ways.

[0091] List of reference signs

[0092] 100 Vehicle

[0093] 102 Camera

[0094] 104 Receiver

[0095] 106 Control device

[0096] 108 Head-up display

[0097] 110 Road

[0098] 112 Tilt

[0099] 114 Tilt

[0100] 116 Vehicle body

[0101] 118 Display screen

[0102] 120 Method

[0103] 122 Trajectory

[0104] 124 data set

[0105] 126 path

[0106] Step S1-7

Claims

1. A method (120) for providing a displayable path (126) for a vehicle (100), comprising the following steps: Providing (S1) a trajectory (122) comprising a plurality of data sets (124), each data set indicating a three-dimensional position; Detecting (S2) the actual position of the vehicle (100), in particular a three-dimensional position; Determining (S5) a three-dimensional path (126) from the actual position along the trajectory (122); and Outputting (S7) the path (126) to a display (108, 118).

2. The method according to claim 1, characterized in that, The trajectory (122) is a training trajectory.

3. The method according to claim 2, characterized in that, The output (S7) of the path (126) occurs during and / or shortly before the automatic rediscovery of the training trajectory.

4. The method according to claim 2 or 3, characterized in that, The trajectory (122) is trained and / or automatically rediscovered by at least one optical sensor.

5. The method according to any one of the preceding claims, characterized in that, The output path (126) comprises at least one direction change about the vehicle's lateral axis.

6. The method according to any one of the preceding claims, characterized in that Determining (S3) the actual orientation of the vehicle (100) with respect to the vehicle's vertical axis and with respect to the vehicle's lateral axis, wherein the three-dimensional path (126) is determined such that the starting point of the path (126) is parallel to the actual orientation.

7. The method according to any one of the preceding claims, characterized in that The detection (S2) of the actual position comprises: detecting at least one signal of a position determination system, in particular a satellite-based position determination system, and / or detecting an inclination signal indicating the inclination of the vehicle (100), and determining the altitude of the actual position based on the detected signals.

8. The method according to any one of the preceding claims, characterized in that, The detection (S2) of the actual position comprises the detection of an inclination signal indicating the inclination of the vehicle (100), wherein the actual orientation of the vehicle (100) about the vehicle's lateral axis is determined based on the detected inclination.

9. The method according to any one of the preceding claims, characterized in that The method steps (S1 - S7) are performed continuously or repeated a plurality of times, wherein the determination of the three-dimensional path (126) preferably comprises and / or is an update of the three-dimensional path (126).

10. The method according to any one of the preceding claims, characterized in that, The method (120) comprises the following steps: detecting (S4) an image that reproduces an area in front of the vehicle (100) in the driving direction, and creating (S6) a superimposed image by superimposing a representation of the path (126) on the detected image, wherein the output (S7) of the path comprises and / or is the output of the superimposed image.

11. The method according to any one of claims 6 to 10, characterized in that, The actual orientation of the vehicle is determined according to the orientation of a camera (102) arranged and / or provided for recording in the driving direction of the vehicle (100), and / or according to the orientation of the driver's field of view through a head-up display (108).

12. The method according to any one of claims 6 to 11, characterized in that, The detection (S3) of the actual orientation of the vehicle (100) about the vehicle's longitudinal axis comprises and / or is an evaluation of sensor signals, an evaluation of the last driving section, and / or an evaluation of the trajectory (122) at the actual position.

13. The method according to any one of the preceding claims, characterized in that, The path (126) is determined to reach at most a preset maximum length.

14. The method according to any one of the preceding claims, characterized in that, The path (126) is determined to reach at most a preset maximum angular deviation from the actual orientation of the vehicle (100) about the vehicle's longitudinal axis.

15. The method according to any one of the preceding claims, characterized in that, The path (126) is determined to reach at most a preset maximum angular deviation from the actual orientation of the vehicle (100) about the vehicle's lateral axis.

16. The method according to any one of the preceding claims, characterized in that, The path (126) is determined to reach at most a preset maximum deviation from the actual position of the vehicle (100) in the height dimension.

17. A computer program product comprising instructions which, when executed by a computer, cause the computer to perform the method (120) according to any one of claims 1 to 16.

18. A control device (106) for a vehicle (100), configured to perform the method (120) according to any one of claims 1 to 16.

19. Use of the method according to any one of claims 1 to 16 and / or the control device according to claim 16 in a vehicle (100), in particular a passenger car.

20. A vehicle (100) having a control device (106) according to claim 18.

21. The vehicle (100) according to claim 20, further having a head-up display (108) connected to the control device (106) for displaying the path (126).

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