Quality index-dependent control of a driver assistance system

Abstract

Driver assistance system (100) for a vehicle, wherein the driver assistance system (100) is configured to provide several different assistance functions, and wherein the driver assistance system (100) comprises: - a positioning unit (103) that is configured to determine a first object (201) from a set of geodata that is associated with a first position of the vehicle; - an environment sensor (101) configured to acquire initial environment data relating to the vehicle's environment at the first position, the initial environment data being used to provide the assistance functions; - a control unit (102) configured to determine from the initial environmental data a first attribute (202) relevant for each assistance function; wherein the first attribute for each assistance function comprises a quality index regarding the quality of the respective assistance function when using the initial environmental data; and - a storage unit (104) that is set up to store the first attributes (202) for the several different assistance functions in association with the first object (201).

Description

[0001] The invention relates to driver assistance systems for vehicles. In particular, the invention relates to a driver assistance system that is configured to take into account the quality of environmental information when providing an assistance function.

[0002] Driver assistance systems typically use environmental sensors, such as cameras, radar, and / or ultrasound, designed to detect the immediate surroundings of a vehicle. For example, cameras at the front of the vehicle can be used to detect the lane markings of a roadway on which the vehicle is traveling. The captured lane information can then be used, for example, to assist the driver in keeping the vehicle within the current lane.

[0003] The reliability or performance of a driver assistance system (e.g., the reliability with which the vehicle can be kept in a predetermined lane) typically depends on the quality of the environmental information it receives (e.g., the quality of the lane markings, lane width, curve radii, any roadside structures, etc.). However, the quality of this environmental information (also called environmental data) can only be determined when the driver assistance system is operating, and usually only after a driver assistance function has been executed. Therefore, it is currently impossible to predict whether and under what environmental conditions a driver assistance system will function adequately. In particular, the driver cannot be informed in advance that a specific driver assistance system (e.g.,The lane assist system will not function with sufficient reliability due to the poor quality of the environmental information it receives.

[0004] DE 10 2008 046 683 A1 describes a method for determining the quality of a digital map. DE 10 2005 057 251 A1 describes a method for increasing the reliability of a lane keeping assist system. DE 10 2009 027 613 A1 describes a method for operating a driver assistance system that can be automatically deactivated.

[0005] The present invention addresses the aforementioned technical problems. In particular, the present invention describes a driver assistance system which is configured to determine the expected quality of acquired environmental information in advance. This expected quality can then be taken into account when controlling the driver assistance system.

[0006] According to one aspect, a driver assistance system for a vehicle (e.g., a motor vehicle or automobile) is described. The driver assistance system is designed to provide an assistance function for the driver of the vehicle. Examples of assistance functions include, for example, lane change assist, adaptive cruise control, parking assist, traffic sign recognition, etc.

[0007] The driver assistance system can include a positioning unit configured to determine a first object from a set of geodata, where the first object is associated with an initial position of the vehicle. The geodata can include, for example, a digital map used for vehicle navigation. The first object can, for example, be a segment of a road on which the vehicle is traveling. For instance, the first object can describe a segment of a road at the initial position. The initial position can be identified, for example, by GPS coordinates. To determine the vehicle's position (e.g., to determine the initial position), the positioning unit can include a GPS receiver, an accelerometer, a yaw rate sensor, a wheel speed sensor, and / or a steering angle sensor.

[0008] The driver assistance system may further include an environmental sensor configured to capture initial environmental data relating to the vehicle's surroundings. Examples of environmental sensors include a camera configured to capture visual information of the vehicle's surroundings, an ultrasonic sensor, and / or a radar sensor. This initial environmental data can be used by the vehicle assistance system to provide assistance functions. For example, the environmental data may consist of camera images of the vehicle's surroundings, which can be used, among other things, to provide a lane-change function or traffic sign recognition.

[0009] The driver assistance system can further include a control unit configured to determine a first attribute relevant to the assistance function from the initial environmental data. This first attribute can, for example, include a quality index regarding the quality of the assistance function when using the initial environmental data. In other words, the first attribute can indicate the quality or reliability with which the assistance function can be provided at the vehicle's initial position. This quality index can be used when the initial position is repeatedly traversed to proactively control the assistance function.

[0010] Alternatively or additionally, the first attribute can describe a property of the first object determined based on the initial environmental data. Examples of an object property include a radius of curvature, a cross slope, a lane width, a line quality, and / or a degree of unevenness or roughness of the road surface. Alternatively or additionally, the first attribute can include an indicator for a traffic control device determined based on the initial environmental data. Examples of traffic control devices include road signs or roadside structures. The first attribute can include an indicator that specifies which traffic control devices are present at the first location.

[0011] The driver assistance system can also include a memory unit configured to store the first attribute in association with the first object. In particular, the first attribute can be stored in such a way that it can be retrieved at a later time in connection with the first object and thus used for predictive control of the assistance function.

[0012] The control unit can also be configured to send the first attribute to an external database, making it available to another external driver assistance system. This ensures that other vehicles can also use the determined attributes. In particular, it allows an attribute determined by another vehicle to be used for predictive control of the assistance function as soon as a vehicle first approaches a position.

[0013] The driver assistance system is thus configured to enrich geodata with attributes relevant to the assistance function. These attributes can be stored in a position-dependent manner (i.e., with reference to objects in the geodata). This allows the attribute to be used for predictive control of the assistance function if a position for which an attribute exists is approached by the same vehicle or possibly by a different vehicle.

[0014] It is assumed that the driver assistance system's storage unit has stored a second attribute relevant to the assistance function in association with a second object, where the second object is associated with a second position of the vehicle. This second attribute may have been determined by the driver assistance system's control unit from second environmental data acquired by the environmental sensor in relation to the vehicle's surroundings at the second position. This second environmental data (like the first environmental data) may have been used to provide the assistance function. Alternatively or additionally, the second attribute may have been sent to the storage unit from the external database.In particular, the second attribute may have been determined by another driver assistance system of another vehicle from second environmental data, which were captured by an environmental sensor of the other driver assistance system in relation to the environment of the other vehicle at the second position.

[0015] The control unit can be configured to control the assistance function at the vehicle's second position, taking the second attribute into account. In other words, when the control unit detects that the vehicle is moving to the second position, it can access the stored second attribute and consider it when controlling the assistance function. For example, the driver assistance system can include an output unit configured to generate visual and / or audible output for the vehicle's driver. Depending on the second attribute, the control unit can be configured to provide the driver with information regarding the assistance function via the output unit.

[0016] For example, the control unit can be configured to determine, based on the second attribute, that the assistance function at the second position can be provided with a quality that falls below a certain quality threshold. This can be determined even before the vehicle reaches the second position. Specifically, the control unit can be configured to determine the vehicle's route (e.g., using a navigation system) and determine that the second position lies along this route. This allows for early detection that the vehicle is approaching the second position. The control unit can then be configured to initiate one or more of the following actions: issuing a warning to the driver regarding the quality of the assistance function, deactivating the assistance function, and / or blocking the assistance function.

[0017] According to another aspect, a method for controlling a driver assistance function is described. The method involves determining a first object from a set of geodata, where the first object is associated with the first position of a vehicle. Furthermore, initial environmental data relating to the vehicle's surroundings at the first position is determined, and this environmental data is used to provide the driver assistance function. The method further includes determining a first attribute relevant to the driver assistance function based on the initial environmental data. This first attribute can be stored in association with the first object and is thus available for repeated execution of the driver assistance function at the first position. In particular, the driver assistance function can be controlled when the vehicle returns to the first position, taking the stored first attribute into account.

[0018] Another aspect described is a software (SW) program. The SW program can be configured to run on a processor and thereby execute the procedure described in this document.

[0019] Another aspect describes a storage medium. This storage medium can include a software program configured to run on a processor and thereby execute the procedure described in this document.

[0020] It should be noted that the methods, devices, and systems described in this document can be used both alone and in combination with other methods, devices, and systems described in this document. Furthermore, any aspect of the methods, devices, and systems described in this document can be combined with one another in a variety of ways. In particular, the features of the claims can be combined with one another in a variety of ways.

[0021] The invention will now be described in more detail using exemplary embodiments. Fig. 1 a block diagram of an example driver assistance system; Fig. 2. An exemplary data structure for storing environmental information; and Fig. 3 A flowchart of an exemplary procedure for providing and using historical contextual information.

[0022] Fig. Figure 1 shows a block diagram of an exemplary driver assistance system (DAS) 100. The DAS 100 comprises a control unit 102, which is configured to support the driver of the vehicle and provide an assistance function based on environmental information (or environmental data) and / or position information. Examples of assistance functions include supporting the driver in driving within a predetermined lane, supporting the driver in stop-and-go traffic, maintaining a safe distance from a vehicle ahead, and assisting in avoiding rear-end collisions, etc. The control unit 102 can be configured to generate control signals for various components of the vehicle (e.g., brakes, acceleration, etc.) to provide the respective driver assistance function. Alternatively or additionally, the control unit 102 can be configured to generate prompts (e.g., warnings) for the driver.These instructions can be output to the driver via an output unit 105 (e.g. a screen and / or a speaker).

[0023] The FAS 100 further comprises one or more environmental sensors 101. These environmental sensors 101 can be, for example, cameras configured to capture visual information about the vehicle's surroundings. For instance, the FAS 100 can include front cameras 101 configured to capture the right and left front areas of the vehicle in order to record environmental data such as lane markings. Alternatively or additionally, the environmental sensors 101 can be ultrasonic sensors and / or radar sensors.

[0024] The FAS 100 further comprises a positioning unit 103, which is configured to determine the vehicle's position. For this purpose, the positioning unit 103 can, for example, use satellite-based positioning methods (e.g., GPS). In particular, the positioning unit 103 can include a GPS receiver. Alternatively or additionally, the positioning unit 103 can use inertial navigation methods to determine the vehicle's position. For this purpose, the positioning unit 103 can include one or more accelerometers and yaw rate sensors. Alternatively or additionally, the positioning unit 103 can use odometric methods to determine the vehicle's position. For this purpose, the positioning unit 103 can access data from the vehicle's chassis (e.g., wheel rotation), data from the yaw rate sensor, and / or the vehicle's steering. Using one or more of the abovePositioning methods can determine the absolute position of the vehicle with high accuracy (e.g., within a range of a few centimeters).

[0025] Furthermore, the FAS 100 includes a storage unit 104, which is configured to store geodata. This geodata can be stored, for example, as objects. Examples of such objects are 1D (one-dimensional) objects, which can be used, for instance, to represent a section of a road. The stored geodata can be used for vehicle navigation.

[0026] In particular, the geodata can include digital maps that can be used for navigation purposes. Furthermore, the geodata can include additional geodata determined by the FAS 100. The geodata determined by the FAS 100 can, for example, be data derived from environmental information determined by the environmental sensors 101. For instance, a quality rating regarding the quality of the road surface could be determined. This quality rating could be stored as an attribute associated with an object as geodata. Consequently, the FAS 100 can be configured to enrich the geodata stored in the storage unit 104 with FAS-relevant data based on the environmental information determined by the environmental sensors 101.

[0027] Furthermore, the FAS 100 can be configured to access a central database 110 (on a central server). The central database 110 can be configured to store the geodata acquired by an FAS 100. This allows the acquired geodata from numerous FAS 100s in numerous vehicles to be centrally collected and made available to these numerous FAS 100s. An FAS 100 can be configured to access the central database 110 and use the geodata collected in the database 110 to provide a driver assistance function.

[0028] For example, the FAS 100 can be configured to calculate a quality index when a road segment (e.g., an object stored in the geodata) is driven on for the first time. This is done by evaluating the environmental conditions determined by the surrounding sensors 101 (e.g., quality of markings, lane width, existing roadside buildings, etc.). A separate quality index can be determined for each FAS 100 of a vehicle or for each assistance function. In other words, the calculated quality index can depend on the assistance function provided by the FAS 100. The calculated quality index(s) can be linked to the object stored in the geodata (e.g., with the current GPS coordinates) and stored in the memory unit 103 (which is located, for example, in a control unit).In particular, a calculated quality index can be associated as an attribute with an object of the geodata to ensure that the attribute can be accessed by reference to the object (e.g., by reference to a specific section of the route).

[0029] The next time the same section of road is driven, the system can know in advance the quality with which the driver assistance system 100 will function. This means that the FAS 100 can be configured to access the geodata stored in the memory unit 104 and to consider a previously determined quality index when providing an assistance function. This increases the reliability with which the assistance function can be provided. In particular, the FAS 100 can determine in advance whether a specific assistance function can be provided with sufficient reliability. The driver can then be warned in advance of potential limitations of the assistance function.

[0030] To quickly and comprehensively determine and provide FAS-relevant attributes (e.g., quality indices) for a wide range of vehicles (e.g., an entire vehicle fleet of an automotive manufacturer), the attributes (e.g., quality indices) determined by the driver assistance systems of various vehicles can be transferred to a backend server and stored in the central database 110. The collected information can then be made available online to all vehicles equipped with the relevant driver assistance systems 100. Alternatively or additionally, during maintenance / service, the collected information (e.g., attributes) can be transferred from database 110 to the storage unit 104 of the FAS 100 in a vehicle.

[0031] By recording and storing attributes (such as quality indices related to assistance functions), drivers can be informed early about anticipated impairments of an assistance function. The assistance function can also be completely deactivated if its expected performance falls below a certain threshold. Alternatively or additionally, the activation of a driver assistance function can be offered to the customer only if its expected performance exceeds a certain threshold. These measures can increase driver satisfaction with an assistance function, as poor performance can be proactively prevented. Furthermore, they can potentially reduce accident risks, since drivers can be alerted early to anticipated reduced reliability of an assistance function.

[0032] Fig. Figure 2 shows an example data structure for storing geodata 200. One or more attributes 202 can be assigned to an object 201 of the geodata 200 (e.g., a route segment). The object 201 can be described, among other things, by GPS coordinates. An attribute 202 can be an attribute that is determined by the FAS 100 based on environmental data acquired by an environmental sensor 101. For example, the attribute 202 can be a quality index that indicates the degree to which a specific assistance function can be provided based on the available environmental data. Further examples of attributes 202 that can be determined and stored by the FAS 100 are: • the radius of curvature of a section of a path (i.e., of an object 201); • the cross slope of a section of track; • the gradient of a section of the route; • the track gauge of a section of track; • the line quality of the shoulders of a route section; • Traffic control devices, such as road signs on a section of the route; • an indicator regarding the unevenness or roughness of the road surface on a section of road.

[0033] Some or all of these attributes 202 can be stored in the storage unit 104 in connection with an object 201 (e.g., a section of road and / or GPS coordinates). This creates enriched geodata that can also be made available to other vehicles via the central database 110.

[0034] The enriched geodata can be used by the FAS 100 to provide an assistance function when driving on the section of road for which enriched geodata is available. In addition to informing the driver early about the reliability of the assistance function, the stored attributes 202 can also be used to improve the quality of the assistance function. For example, attributes 202 that provide information about the road's course (e.g., the radius of curvature) can be used to provide an assistance function even if, at a given time (e.g., due to poor image capture caused by snowfall or traffic jams), no reliable environmental information can be determined from the environmental sensors 101. The stored attributes 202 can then be used instead of or in addition to the currently determined environmental data.The stored attributes 202 thus also enable an improved provision of driver assistance functions.

[0035] Fig.Figure 3 shows an exemplary procedure 300 for determining and providing historical environmental information. Procedure 300 comprises determining 301 the position of a vehicle and acquiring 302 environmental data at the vehicle's position using an environmental sensor 101. Furthermore, procedure 300 comprises determining 303 at least one driver assistance system-relevant attribute 202 based on the acquired environmental data. The determined driver assistance system-relevant attribute 202 is then stored in connection with the determined vehicle position (step 304), so that attribute 202 can be provided again by referencing the determined vehicle position. Procedure 300 can further include providing 305 a driver assistance function, taking into account the stored attribute 202, when the vehicle moves to the position associated with the stored attribute 202.

[0036] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and the figures are intended only to illustrate the principle of the proposed methods, devices, and systems.

Claims

[1] Driver assistance system (100) for a vehicle, wherein the driver assistance system (100) is configured to provide several different assistance functions, and wherein the driver assistance system (100) comprises: - a positioning unit (103) that is configured to determine a first object (201) from a set of geodata that is associated with a first position of the vehicle; - an environment sensor (101) configured to acquire initial environment data relating to the vehicle's environment at the first position, the initial environment data being used to provide the assistance functions; - a control unit (102) configured to determine from the initial environmental data a first attribute (202) relevant for each assistance function; wherein the first attribute for each assistance function comprises a quality index regarding the quality of the respective assistance function when using the initial environmental data; and - a storage unit (104) that is set up to store the first attributes (202) for the several different assistance functions in association with the first object (201). [2] Driver assistance system (100) according to claim 1, wherein - the positioning unit (103) is set up to determine a second object (201) from a set of geodata that is associated with a second position of the vehicle; - in the storage unit (104) a second attribute (202) is stored for each of the several different assistance functions in association with the second object (201); wherein the second attribute for an assistance function comprises a quality index with respect to the quality of the respective assistance function when using second environmental data in relation to an environment of the vehicle at the second position; - the control unit (102) is set up to control a specific assistance function at the second position of the vehicle, taking into account the second attribute (202) for the specific assistance function. [3] Driver assistance system (100) according to claim 2, wherein the second attribute was determined by the control unit (102) from second environmental data acquired by the environmental sensor (101) in relation to the vehicle's environment at the second position; and wherein the second environmental data were used to provide the assistance functions. [4] Driver assistance system (100) according to claim 2, wherein - the control unit (102) is set up to receive data from an external database (110); - the second attribute (202) was sent from the external database (110) to the storage unit (104); and - the second attribute (202) was determined by an external driver assistance system (100) of another vehicle from second environmental data acquired by an environmental sensor (101) of the external driver assistance system (100) in relation to the environment of the other vehicle at the second position. [5] Driver assistance system (100) according to claim 4, wherein the control unit (102) is configured to send the first attributes (202) for the several different assistance functions to the external database (110) so that it can be made available to the external driver assistance system (100). [6] Driver assistance system (100) according to any one of claims 2 to 5, wherein the control unit (102) is configured - to determine, based on the second attribute, that the specific assistance function can be provided in the second position with a quality that is below a quality threshold; and - to initiate one or more of the following measures: issuing a warning to the driver of the vehicle regarding the quality of the specific assistance function, deactivating the specific assistance function, blocking the specific assistance function. [7] Driver assistance system (100) according to claim 6, wherein the control unit (102) is configured - to determine a route for the vehicle; - to determine that the second position lies on the vehicle's route; and - to determine, even before reaching the second position, based on the second attribute, that the specific assistance function can be provided at the second position with a quality that is below the quality threshold. [8] Driver assistance system (100) according to any one of the preceding claims, wherein - the geodata includes a digital map; and / or - the first object comprises a section of the route; and / or - the first attribute comprises a property of the first object determined on the basis of the first environmental data, wherein the property of the object comprises one or more of: a radius of curvature, a cross slope, a lane width, a line quality, a degree of unevenness or roughness of the road surface; and / or - the first attribute indicates a traffic facility determined based on the initial environmental data. [9] Driver assistance system (100) according to any one of the preceding claims, wherein - the environmental sensor (101) comprises one or more of: a camera configured to capture image information of the vehicle's surroundings; an ultrasonic sensor; a radar sensor; and / or - the positioning unit (103) comprising one or more of: a GPS receiver, an accelerometer, a yaw rate sensor, a wheel speed sensor, a steering angle sensor; and / or - the driver assistance system (100) further comprises an output unit (105) which is configured to produce an optical and / or acoustic output for a driver of the vehicle. [10] Method (300) for controlling multiple driver assistance functions, wherein the method (300) comprises, - Determining (301) a first object (201) from a set of geodata, where the first object (201) is associated with a first position of a vehicle; - Acquiring (302) initial environmental data relating to an environment of the vehicle at the first position, the initial environmental data being used to provide the driver assistance functions; - Determine (303) a first attribute (202) relevant for each driver assistance function based on the first environmental data; wherein the first attribute for each assistance function comprises a quality index regarding the quality of the respective assistance function when using the first environmental data; - Storing (304) the first attributes (202) for the several different assistant functions in association with the first object (201); and - Control (305) of a specific driver assistance function when the vehicle resumes the first position, taking into account the stored first attribute (202) for the specific driver assistance function.

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