Method for operating a driver assistance device for a motor vehicle, driver assistance device for a motor vehicle and computer program product

Abstract

The invention relates to a method for operating a driver assistance system of a motor vehicle (1), wherein environment data describing an environment of the motor vehicle (1) are acquired at least temporarily by means of an environment detection device of the motor vehicle (1), wherein an at least semi-automated driving operation of the motor vehicle (1) is executed at least temporarily using the environment data and an assistance parameter data set, until an operating action of a user of the motor vehicle (1) on an operating element configured for influencing the driving operation is recognized. It is provided here that the autonomous driving operation is ended upon recognition of the operating action and a user input of the user describing a reason for the operating action is requested, wherein driving operation data describing the driving operation of the motor vehicle (1) are recorded and used together with the user input for adapting the assistance parameter data set. Furthermore, the invention relates to a driver assistance system for a motor vehicle (1) and to a computer program product.

Description

Technical Field

[0001] This invention relates to a method for a driver assistance device for operating a motor vehicle, wherein environmental data describing the environment of the motor vehicle is acquired at least temporarily / short-term using an environmental detection device of the motor vehicle, and at least semi-automatic driving operation of the motor vehicle is performed at least temporarily using the environmental data and an auxiliary parameter dataset until an operation action performed by the user of the motor vehicle on an operating element configured to influence the driving operation is detected. Furthermore, this invention relates to a driver assistance device for a motor vehicle and a computer program product. Background Technology

[0002] The prior art, for example, is known in document DE 10 2021 123 597 A1. This document describes a method for an automated driving assistance system, wherein the driver assistance system is configured to perform multiple automated driving functions, each of which is equipped with at least one application parameter. Each application parameter is pre-set by factory settings, and a corresponding parameter range is determined according to safety-related regulations. Each application parameter can be changed within this parameter range. In a further embodiment, after performing a corresponding automated driving function during normal driving operation, the performance of the corresponding automated driving function is evaluated using an objective scoring model when the controller identifies the relevant driving scenario. At least one correspondingly assigned application parameter is adjusted as an optimization result based on the evaluation of the performance of the corresponding executed automated driving function.

[0003] Furthermore, document DE 10 2014 013 960 A1 describes a method for operating at least one driver assistance device for a car, the method comprising the steps of: performing at least one at least semi-automatic driving operation of the car by means of the driver assistance device based on at least one characteristic curve that determines the driving operation; obtaining an evaluation of the driving operation performed by the car driver; determining, based on the obtained driver evaluation, whether the driver wishes to perform the driving operation in a modified manner; if, based on the obtained driver evaluation, it is determined that the driver wishes to perform the driving operation in a modified manner: changing the characteristic curve accordingly to the obtained driver evaluation.

[0004] Furthermore, document DE 10 2022 003 429 A1 discloses a method for evaluating the applicability of autonomous driving functions, wherein the method includes the following steps: during the execution of autonomous driving functions, collecting data on intervention responses triggered by users and the environment in response to autonomous driving functions; and examining the degree of matching between autonomous driving functions and user habits and geographical areas based on the intervention data. Summary of the Invention

[0005] The purpose of this invention is to provide a method for operating driver assistance devices that has advantages over known methods, particularly in that it can reliably analyze faults in driver assistance devices and adjust the data defining the functions of driver assistance devices.

[0006] According to the present invention, the objective is achieved by means of a method for a driver assistance device for operating a motor vehicle having the features of claim 1. Herein, autonomous driving operation is terminated upon detection of an operational action, and user input describing the reason for the operational action is requested. Driving operation data describing the driving operation of the motor vehicle is recorded, and this driving operation data, together with the user input, is used to adjust the auxiliary parameter dataset.

[0007] Advantageous designs with suitable improvements to the invention are given in the dependent claims. It should be noted that the embodiments described in the specification are not limiting; rather, any variations of the features disclosed in the specification, claims, and drawings are possible.

[0008] This method is used to operate a driver assistance device. The driver assistance device, or the controller of the driver assistance device for executing this method, is preferably an integral part of the motor vehicle; however, it can also be separate from the motor vehicle, particularly until the driver assistance device or controller is mounted on or within the motor vehicle. The driver assistance device is used to assist the motor vehicle user and / or at least temporarily and autonomously perform motor vehicle driving operations, in which case the motor vehicle driving operation is at least semi-automatic.

[0009] Semi-automatic driving operation can be understood as driver assistance equipment at least temporarily and independently taking over the longitudinal and / or lateral control of the motor vehicle. Longitudinal control can be understood, in particular, as adjusting the vehicle's speed, for example, by correspondingly manipulating the vehicle's drive unit and / or braking system. The drive unit is used to drive the motor vehicle and therefore provides drive torque for this purpose. To provide drive torque, the drive unit preferably has at least one drive unit, which can be designed as an internal combustion engine or a power motor. Conversely, the braking system is used to brake or decelerate the motor vehicle. This braking system specifically includes a service brake, which generates braking force on one or more wheels of the motor vehicle to brake it.

[0010] Assistance provided to the user during driving operations corresponds to assisted driving operations according to SAE Level 1. "At least semi-automatic driving operations" specifically refers to semi-automatic operation according to SAE Level 2, limited automation according to SAE Level 3, high automation according to SAE Level 4, or full automation according to SAE Level 5. Whenever autonomous driving operations are mentioned within the scope of this specification, they always refer to at least semi-automatic driving operations as defined above.

[0011] Motor vehicles, especially driver assistance devices, have environmental detection devices for detecting the environment surrounding the vehicle. When the environment is detected using these devices, environmental data describing the environment of the vehicle is generated. To detect the environment or to provide environmental data, the environmental detection device has one or more environmental detection sensors. These sensors may include, for example, one or more sensors from the following categories: radar sensors, sonar sensors, lidar sensors, image sensors or cameras, and sound sensors or microphones.

[0012] Radar sensors use electromagnetic waves, sonar sensors use sound waves, and lidar sensors use light to detect the environment, particularly to identify objects within it. Sonar sensors, for example, are designed as ultrasonic sensors, meaning they use sound waves within the ultrasonic range. Radar, sonar, and lidar sensors are reflective sensors, i.e., active sensors, that emit output signals into the environment and then receive the reflected output signals as input signals. Sound sensors or microphones are used to collect sound waves present in the environment.

[0013] For example, regulations may stipulate that driver assistance devices temporarily perform assisted driving operations based on environmental data. However, regardless, driver assistance devices must at least temporarily perform autonomous driving operations. This means assessing environmental data, particularly regarding one or more objects present in the vehicle's environment. Based on this, assistance prompts are displayed to the vehicle user during assisted driving operations, or longitudinal and / or lateral control is performed during autonomous driving operations. Within the scope of autonomous driving operations, adherence to general traffic rules is preferred. This includes, for example, driving in a designated lane, following lane markings, and obeying traffic signs or light signals. This ensures the safe operation of road traffic.

[0014] Autonomous driving is performed based on an auxiliary parameter dataset, which ultimately describes the behavior of the driver assistance device in response to environmental data. This auxiliary parameter dataset is typically set at the factory, i.e., stored in the driver assistance device's data memory. The auxiliary parameter dataset is read from the data memory for autonomous driving and subsequently used as the basis for performing autonomous driving operations, for example, in the following manner: the auxiliary parameter dataset is used to determine the operating parameters for performing autonomous driving operations. In other words, when using the auxiliary parameter dataset, the operating parameters are determined from the environmental data, and then autonomous driving is performed based on these operating parameters.

[0015] For example, it is stipulated that object data is determined from environmental data, which describes at least one object located in the environment, taking into account an auxiliary parameter dataset. Autonomous driving operations are then performed based on this object data. If the environmental data describes, for example, a traffic sign with an abnormal orientation, such as being slightly rotated and / or contaminated, object recognition may fail to detect the traffic sign correctly; that is, the environmental data generates incorrect or inaccurate object data for that traffic sign. Accordingly, the operating parameters are incorrectly selected by the driver assistance device, and the user must intervene. This "incorrectly identified traffic sign" is then reflected in the user input. In this case, the auxiliary parameter dataset is adjusted so that object data is correctly determined from the environmental data for the traffic sign in the future.

[0016] Additionally or alternatively, it may be specified that a driving operation is selected from multiple stored driving operations using environmental data and / or object data with the aid of an auxiliary parameter dataset, and then that driving operation is executed. A driving operation, for example, describes a curve of the change of operating parameters over time. For instance, a curve of the change of steering angle is stored in the driving operation, which causes the vehicle to change lanes when the driving operation is executed by the driver assistance device. If the driver assistance device executes an unwanted driving operation within the scope of autonomous driving operation or stops the driving operation that the user truly desires—that is, selects an incorrect driving operation—the auxiliary parameter dataset is adjusted such that the desired driving operation is derived from the environmental data and / or object data, taking into account the auxiliary parameter dataset.

[0017] Additionally or alternatively, it may be specified that the auxiliary parameter dataset is considered for evaluating at least one object parameter of at least one object, particularly for selecting a driving operation from multiple driving operations. Therefore, in the case of using the auxiliary parameter dataset, operating parameters are determined by at least one object parameter, and / or driving operations are selected, which then serve as the basis for autonomous driving operations. The object parameter specifically describes the outline or type of the object. Specifically, it is specified that the outline and / or type of the object describes whether the object is a traffic participant existing as a vehicle train, i.e., in particular, whether the traffic participant has a trailer. Additionally or alternatively, it may also be specified that the auxiliary parameter dataset is used to perform autonomous driving operations, i.e., to determine the operating parameters, based on the environmental conditions of the motor vehicle, particularly ambient temperature, precipitation, road surface conditions, etc.

[0018] Therefore, the auxiliary parameter dataset not only corresponds to theoretical values ​​(to which operating parameters are adjusted), but also influences the basic functions of the driver assistance device. Preferably, the auxiliary parameter dataset includes not only a single parameter, but multiple parameters that affect the functionality of the driver assistance device. At least one parameter serves as the basis for determining object data from environmental data, and at least one other parameter serves as the basis for determining operating parameters from environmental and / or object data. This working method enables significant adjustment of the driver assistance device and rapid elimination of potential errors.

[0019] Driver assistance parameter datasets are typically specified by vehicle manufacturers and stored in driver assistance devices. However, this can lead to driver assistance devices consistently responding in the same or at least similar ways—meaning they don't respond as expected from the driver's perspective, or they err and may repeat themselves. For example, if the vehicle's speed is selected and set based on an inaccurate driver assistance parameter dataset, the driver assistance device will misjudge environmental data, and the autonomous driving behavior performed by the driver assistance device based on the dataset will deviate from the behavior actually expected by the driver. This reduces user acceptance of the driver assistance device.

[0020] For this reason, within the scope of the method, there is a feasible approach where the user influences driving operations by interacting with an operating element. The operating element can, in principle, be any operating element of the motor vehicle, as long as it is configured to directly influence the driving operations of the vehicle. For example, the operating element is used for longitudinal and / or lateral control of the motor vehicle; specifically, the operating element is an accelerator pedal, brake pedal, gear selector lever, or steering wheel. The user directly intervenes in driving operations using the operating element. Here, the user influences driving operations in such a way as to produce the desired motor vehicle behavior.

[0021] If it is detected that the user has intervened in the driving operation while using the operating elements, the autonomous driving operation is terminated, and the driving operation is subsequently performed by the user, for example, with the assistance of a driver assistance device, particularly within the scope of assisted driving. In principle, it is desirable that the vehicle driving behavior achieved within the scope of autonomous driving, using an assistance parameter dataset, matches the driving behavior desired by the user, i.e., in particular, eliminating the aforementioned errors. However, if this adjustment is based on driving operations performed by the user, and thus the driver assistance device learns the user's behavior to subsequently use it as the basis for performing autonomous driving operations, the assistance parameter dataset may be incorrectly adjusted.

[0022] For example, this might happen if the user fails to accurately assess the traffic conditions and therefore does not perform driving optimally. This is particularly true if the user abruptly takes over driving from the driver assistance system, intervening with the driving operation only with a very short lead time and thus ending autonomous driving. To prevent erroneous adjustment of the assistance parameter dataset and / or to enable targeted adjustment of the assistance parameter dataset, it is stipulated here that an interaction with the user is performed upon recognition of a user-initiated action. Therefore, in such cases, the user is required to provide or input the reason for their action in the form of user input.

[0023] "Requesting user input" is achieved by demanding user input, particularly immediately after an action is detected. This demand may be made, for example, acoustically, particularly through prompts and / or voice output, and / or optically, for example, by means of a display device, particularly a screen. The user input is stored and subsequently considered for adjusting the auxiliary parameter dataset. In addition to the user input, driving operation data, which describes the driving operation of the motor vehicle, is also stored and recorded.

[0024] "Recording driving operation data" preferably begins from the moment the user recognizes the operation, that is, from the moment the user ends autonomous driving and manually performs driving operation. Driving operation data includes, for example, environmental data and / or object data determined by the environmental data. Additionally or alternatively, the driving operation data includes operating parameters describing the driving operation of the motor vehicle.

[0025] Driving operation data and user input are then considered to adjust the auxiliary parameter dataset. Adjustments may be made, for example, immediately after user input is provided, i.e., immediately after user feedback is received. However, it may also be stipulated that the auxiliary parameter dataset is adjusted outside the vehicle, and for this purpose, user input and driving operation data are transmitted to a central computing device outside the vehicle. In any case, the auxiliary parameter dataset is adjusted according to the user's request, particularly so that unknown traffic conditions, such as those not yet considered and / or not adequately described, are covered by the driver assistance equipment over time and can subsequently be considered within the scope of autonomous driving operations. Therefore, in particular, the auxiliary parameter dataset is adapted to traffic conditions for which it is not yet adequately datad.

[0026] An improved embodiment of the present invention proposes that, within the scope of autonomous driving operation, preset values ​​of operating parameters for performing driving operations are determined based on environmental data using an auxiliary parameter dataset. Driving operations are then performed using these preset values. When the actual values ​​of the operating parameters deviate from the preset values ​​due to operational actions, the actual values ​​are stored as part of the driving operation data. Therefore, it is stipulated that operating parameters, more precisely, preset values ​​of the operating parameters, are determined from environmental data. These preset values ​​are values ​​of the operating parameters that are considered for performing driving operations of the motor vehicle, i.e., within the scope of assisted driving operation or at least semi-automatic driving operation.

[0027] It can be specified that auxiliary prompts are displayed to the user and / or longitudinal and / or lateral control of the vehicle is performed based on preset values. "Determining preset values" is achieved when using an auxiliary parameter dataset. In this regard, the auxiliary parameter dataset describes the behavior of the driver assistance device and thus forms the parameterized configuration of the driver assistance device. The user determines the actual values ​​for the operating parameters using operating elements. In other words, the user influences driving operations in such a way that actual values ​​are derived for the operating parameters. Therefore, the actual values ​​should be understood as the current values ​​of the operating parameters obtained through user intervention in driving operations.

[0028] If a deviation between the actual and preset values ​​of operating parameters occurs due to user interaction with the operating elements, this situation is identified by the driver assistance device. The actual values ​​are stored as part of the driving operation data and thus subsequently serve as the basis for adjusting the auxiliary parameter dataset. For example, it is stipulated that, whenever user input is present, the auxiliary parameter dataset is adjusted in such a way that preset values ​​are derived based on environmental data using the adjusted auxiliary parameter dataset, and these preset values ​​are changed in the direction of the actual values, specifically corresponding to the actual values.

[0029] In other words, the auxiliary parameter dataset is adjusted in the presence of user input so that preset values ​​reproduce the vehicle driving behavior given in advance by the user. The adjusted auxiliary parameter dataset is preferably stored and subsequently used to determine the preset values. Using this mode of operation, the driver assistance device reliably adapts to the user's preset requirements; in particular, the driver assistance device learns or reproduces the user's behavior, or at least utilizes the user's behavior, in order to identify and eliminate errors in the auxiliary parameter dataset.

[0030] An improved embodiment of the present invention proposes transmitting user input and driving operation data to a central computing device, which adjusts an auxiliary parameter dataset based on the user input and driving operation data in such a way that, when using the adjusted auxiliary parameter dataset, predetermined preset values ​​are changed toward actual values. This means that the adjustment of the auxiliary parameter dataset is not performed by driver assistance devices within the vehicle, but rather by a computing device external to the vehicle, namely the central computing device, for safety reasons.

[0031] Here, the adjustment of the auxiliary parameter dataset is preferably implemented in a monitored manner, meaning that the auxiliary parameter dataset is not only changed automatically, taking into account user input and driving operation data, but is also preferably manually verified by professionals. This ensures a high level of safety when adjusting the auxiliary parameter dataset. Furthermore, the connection to a central computing unit enables the transmission of the adjusted auxiliary parameter dataset not only to this driver assistance device, but also to at least one other driver assistance device, so that ultimately multiple driver assistance devices contribute to improving the accuracy of one or more auxiliary parameter datasets.

[0032] An improved embodiment of the present invention proposes determining object data describing objects existing in the motor vehicle environment within the scope of object recognition, using environmental data, and determining preset values ​​for operating parameters based on the object data. The driver assistance device operates based on the object data describing objects existing in the motor vehicle environment. As long as the term "object" is used in plural form within the scope of this specification, it is self-evident that the actual number of objects depends on the specific circumstances. In this regard, the number of objects existing in the motor vehicle environment, or the number of objects described by the object data, is arbitrary. Therefore, there may be no objects at all, only exactly one object, or multiple objects, or multiple objects that can be described by the object data.

[0033] Object data is determined within the scope of object recognition. During object recognition, environmental data provided by an environmental detection device is analyzed, and objects are inspected. If an object is identified, object data describing that object is generated and provided. For each object, the object data contains at least one object parameter describing the corresponding object. Object parameters may include, for example, one or more of the following: object position, object orientation, object contour, object direction of motion, object velocity, object acceleration direction, object acceleration, and object type.

[0034] The object type is determined, for example, within the scope of object classification. The object type preferably describes whether the object is a stationary object or a movable object. Stationary objects are, for example, structures, particularly buildings; or vegetation, particularly trees; or traffic signs. Movable objects are, for example, traffic participants different from the motor vehicle, i.e., particularly pedestrians or other vehicles, preferably other motor vehicles, bicycles, etc. Preferably, the object type also describes the model or category of other motor vehicles; EU vehicle categories are preferably considered here as a basis.

[0035] This regulation stipulates that environmental data is considered when determining preset values ​​for operating parameters. For example, environmental data may be directly incorporated into the preset values. However, it can also be stipulated that environmental data is considered only indirectly, i.e., by considering object data when determining preset values, where the object data is based on or determined by environmental data. In any case, this ensures particularly reliable execution of motor vehicle driving operations.

[0036] An improved embodiment of the invention proposes using at least one of the following parameters as operating parameters: speed, steering angle, braking force, and distance to an object located ahead in the direction of travel. Speed ​​should be understood as the speed recommended and / or set by driver assistance equipment for performing driving maneuvers. For example, the speed is displayed to the user within a suggested range, or the speed is set within the range of longitudinal control of the vehicle. Preferably, the speed is determined based on environmental data, particularly by means of traffic sign recognition. In this case, the speed specifically corresponds to the maximum permissible speed, which is allowed for the vehicle at its current position.

[0037] The steering angle describes the steering angle that is to be set or has been set on the vehicle's steering system. The steering angle may also be displayed as part of a prompt, for example, or it may be set within the range of lateral control. Preferably, the steering angle is considered in processes such as parking assistance. The braking force describes the braking force to be set on the braking system, which is determined based on environmental data and then displayed to the user and / or set within the range of longitudinal control.

[0038] The distance to an object ahead in the direction of travel should be understood as the distance to traffic participants in front of the vehicle, particularly the nearest traffic participant in that direction. Specifically, the distance is displayed to the user as part of a prompt, or the distance is set to a theoretical value through corresponding longitudinal control of the vehicle. This reliably assists the user or ensures reliable driving operation in any case.

[0039] An improved embodiment of the invention proposes requesting additional user input besides the stated user input, which describes the user's desire to adjust the auxiliary parameter dataset. For example, the user input is initially specified only regarding the reason for the action, i.e., a preliminary grading of the severity of the action. Specifically, the user input describes the safety relevance of the action at multiple levels, ranging from actions to avoid an impending collision to actions to improve comfort.

[0040] Conversely, with additional user input requested by the user, the user can describe in which direction the auxiliary parameter dataset should be adjusted, or in which direction preset values ​​determined using the auxiliary parameter dataset should be changed. For example, the user can use this to adjust the steering angle used by the driver assistance device and / or the braking force set by the driver assistance device. "Using multiple user inputs" allows for the adjustment of the auxiliary parameter dataset in a particularly targeted manner, thus better meeting the user's wishes.

[0041] An improved embodiment of the invention proposes that user input is implemented via a voice interface and / or a manually operated input device. The voice interface is used, for example, for conversing with the user in natural language. Specifically, a large language model is used within the scope of the voice interface to ask the user questions using natural language, such as inquiring about the reason for an action. Additional user input can also be performed using the voice interface or input device. Further user input is requested based on this user input, for example, asking the user a question selected based on the user input. The manually operated input device is, for example, a switch, lever, button, or touchscreen. In any case, user input or further user input can be reliably retrieved.

[0042] An improvement of the invention proposes outputting a prompt to the user, particularly when adjusting the auxiliary parameter dataset via a central computing device. This means that the user receives direct feedback on whether the auxiliary parameter dataset was adjusted due to their user input. This is especially meaningful if the auxiliary parameter dataset is adjusted via a central computing device, because in this case, a relatively long period, such as a day or more, can exist between the user input and the transmission of the adjusted auxiliary parameter dataset to the driver assistance device. This prompt further reminds the user of their desire to adjust the auxiliary parameter dataset, thus providing the user with a successful experience due to positive feedback. This further improves the acceptability of the driver assistance device.

[0043] An improvement of the invention proposes that the prompts output to the user include a summary of the user's input and / or additional user input. Therefore, especially when adjustments are made using a central computing device, the user's desire to adjust the auxiliary parameter dataset is reminded again. Here, the user's input and / or additional user input are preferably rewritten, particularly summarized, in natural language. For this purpose, the user's input and / or additional user input are preferably used as input values ​​to a large language model that provides a summary as the output value. This further improves the acceptability of the driver assistance device.

[0044] Furthermore, the present invention relates to a driver assistance device for a motor vehicle, specifically for performing the method described in accordance with the description within the scope of the specification, wherein the driver assistance device is configured to, at least temporarily acquire environmental data describing the environment of the motor vehicle using an environmental detection device of the motor vehicle, and at least temporarily perform at least semi-automatic driving operation of the motor vehicle using the environmental data and an auxiliary parameter dataset, until an operation action performed by the user of the motor vehicle on an operating element configured to influence the driving operation is detected.

[0045] The driver assistance device is also configured to terminate autonomous driving operation when an operation is detected and request user input describing the reason for the operation, wherein driving operation data describing the driving operation of the motor vehicle is recorded and used together with the user input to adjust the auxiliary parameter dataset.

[0046] The advantages of this design or operating method of the driver assistance device have been pointed out. The driver assistance device and the method for operating it can be improved based on the description within the scope of this specification, and reference is made to this description in this regard.

[0047] Furthermore, the present invention relates to a computer program product comprising instructions that cause a driver assistance device according to an embodiment of the specification to perform the method. Advantages and possible advantageous modifications are fully described in the specification.

[0048] The features and combinations thereof described in the specification, and particularly those described and / or shown in the accompanying drawings, can be applied not only to the given combinations, but also to other combinations or individually, without departing from the scope of the invention, and in particular the scope of the claims. Therefore, these embodiments can also be considered as encompassed by the invention, which are not shown or described in detail in the specification and / or drawings, but are derived from or can be inferred from the described embodiments, particularly within the scope of the claims. Attached Figure Description

[0049] The present invention will now be described in detail with reference to embodiments shown in the accompanying drawings, but without limiting the scope of the invention. Here, only the accompanying drawings are provided:

[0050] Figure 1 A schematic diagram of a traffic situation involving motor vehicles is shown, which is used to illustrate a method for a driver assistance device for operating a motor vehicle.

[0051] List of reference numerals in the attached diagram:

[0052] 1 Motor vehicles

[0053] 2 driving lanes

[0054] 3 roundabouts

[0055] 4. Exit Detailed Implementation

[0056] Figure 1 This diagram illustrates a traffic situation for motor vehicle 1. Motor vehicle 1 is traveling in lane 2, which leads to a roundabout 3 with multiple exits 4. Motor vehicle 1 is equipped with driver assistance equipment, which enables autonomous driving. This means that, particularly when using environmental data acquired via environmental detection devices, the longitudinal and lateral control of motor vehicle 1 is autonomously performed by the driver assistance equipment.

[0057] Within the scope of autonomous driving operation, using the auxiliary parameter dataset stored in the driver assistance device and determining preset values ​​for operating parameters based on environmental data, the vehicle is operated in such a manner that the actual values ​​of the operating parameters equal the preset values. However, if the auxiliary parameter dataset is incorrectly selected, vehicle 1 will not respond as expected by the user of vehicle 1.

[0058] Therefore, if the user intervenes in the driving operation of vehicle 1 by operating the control elements and thus manually changing the actual values ​​of the operating parameters, the autonomous driving operation ends. Furthermore, upon requesting user input, the user should describe the reason for the operation using the user input. In other words, the user is asked about the context of the operation, such as whether the operation is due to an impending collision or simply to improve driving comfort.

[0059] Furthermore, driving operation data describing the driving operation of motor vehicle 1 is recorded. This recording preferably begins at least from the recognition of the driving action. Then, user input and driving operation data are used to adjust the auxiliary parameter dataset either directly on motor vehicle 1 or by transmitting user input and driving operation data to a computing device (also referred to as a central computing device) outside the vehicle. In any case, the behavior of the driver assistance device is reliably adapted according to the user's intentions, thereby improving user acceptance of the driver assistance device.

Claims

1. A method for using driver assistance equipment to operate a motor vehicle (1), wherein, Using an environmental detection device of the motor vehicle (1), environmental data describing the environment of the motor vehicle (1) is acquired at least temporarily. Using the environmental data and an auxiliary parameter dataset, at least semi-automatic driving operation of the motor vehicle (1) is performed at least temporarily until an operation by the user of the motor vehicle (1) on an operating element configured to influence the driving operation is detected. Its features are, When an operation is detected, the autonomous driving operation ends and the user input describing the reason for the operation is requested. Driving operation data describing the driving operation of the motor vehicle (1) is recorded and used together with the user input to adjust the auxiliary parameter dataset.

2. The method according to claim 1, characterized in that, Within the scope of autonomous driving operation, preset values ​​of operating parameters for performing driving operations are determined based on environmental data and using an auxiliary parameter dataset. Driving operations are then performed using these preset values. When the actual values ​​of the operating parameters deviate from the preset values ​​due to operational actions, the actual values ​​are stored as part of the driving operation data.

3. The method according to any one of the preceding claims, characterized in that, User input and driving operation data are transmitted to a central computing device, which adjusts the auxiliary parameter dataset based on the user input and driving operation data in such a way that, when using the adjusted auxiliary parameter dataset, the determined preset values ​​are changed toward the actual values.

4. The method according to any one of the preceding claims, characterized in that, Use at least one of the following parameters as operating parameters: speed, steering angle, braking force, and distance to an object ahead in the direction of travel.

5. The method according to any one of the preceding claims, characterized in that, In addition to the user input mentioned above, further user input is requested, which describes the user's desire to adjust the auxiliary parameter dataset.

6. The method according to any one of the preceding claims, characterized in that, User input is achieved through a voice interface and / or a manually operated input device.

7. The method according to any one of the preceding claims, characterized in that, Prompts are displayed to the user when adjusting the auxiliary parameter dataset.

8. The method according to any one of the preceding claims, characterized in that, The prompts displayed to the user contain a summary of the user's input and / or other user input.

9. A driver assistance device for a motor vehicle (1), said driver assistance device being particularly designed for performing the method according to one or more of the preceding claims, wherein, The driver assistance device is configured to, at least temporarily, acquire environmental data describing the environment of the vehicle (1) using an environmental detection device of the vehicle (1), and, using the environmental data and an auxiliary parameter dataset, at least temporarily perform at least semi-automatic driving operation of the vehicle (1) until an operation action performed by the user of the vehicle (1) on an operating element configured to influence the driving operation is detected. Its features are, The driver assistance device is also configured to terminate autonomous driving operation when an operation action is detected and request user input describing the reason for the operation action, wherein driving operation data describing the driving operation of the motor vehicle (1) is recorded and the driving operation data is used together with the user input to adjust the auxiliary parameter dataset.

10. A computer program product comprising instructions that cause the driver assistance device of claim 9 to perform the method of one or more of claims 1 to 8.

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