Activation of a driving function for automated driving with longitudinal and lateral guidance via another driving function for automated driving with a low degree of automation

Abstract

Driving system for a motor vehicle, comprising a first driving function for automated driving with automated longitudinal and lateral guidance and a second driving function for automated driving - with at least automated longitudinal guidance or - with at least automated lateral guidance and a lower degree of automation than the first driving function, wherein the first driving function operates within a permissible range of a driving parameter (v ist , Δt) is available, and the driving system is set up, - starting from a driving condition with an active second driving function and a value of the driving parameter (v ist , Δt) outside the permissible range, with an active second driving function, the value of the driving parameter (v ist , Δt) in the direction of the permissible range by means of automated longitudinal guidance or by means of automated lateral guidance, and - to determine that the driving parameter (v ist, Δt) fulfills a criterion with regard to the admissibility range, - to activate the first driving function or to signal its activation to the driver after it has been determined that the driving parameter (v ist , Δt) fulfills the criterion.

Description

[0001] The invention relates to a driving system for a motor vehicle, in particular for a passenger car, which supports a first driving function for automated driving with automated longitudinal and lateral guidance. Furthermore, the invention relates to a method for activating the first driving function.

[0002] For the purposes of this document, the term "automated driving" can be understood as driving with automated longitudinal or lateral guidance, or autonomous driving with automated longitudinal and lateral guidance. Automated driving, for example, involves driving on the highway. The term "automated driving" encompasses automated driving with any degree of automation. Examples of levels of automation include assisted, partially automated, highly automated, or fully automated driving. These levels of automation were defined by the Federal Highway Research Institute (BASt) (see the BASt publication "Research Compact," issue 11 / 2012). In assisted driving, the driver continuously performs longitudinal or lateral guidance, while the system assumes the other function within certain limits. This includes, for example, adaptive cruise control (ACC).In partially automated driving (TAF), the system assumes longitudinal and lateral guidance for a certain period of time and / or in specific situations, whereby the driver must continuously monitor the system, as in assisted driving. In highly automated driving (HAF), the system assumes longitudinal and lateral guidance for a certain period of time without the driver having to continuously monitor the system; however, the driver must be able to assume control of the vehicle after a certain time. In fully automated driving (VAF), the system can automatically handle driving in all situations for a specific application; for this application, a driver is no longer required. The four levels of automation mentioned above correspond to SAE Levels 1 to 4 of the SAE J3016 standard (SAE - Society of Automotive Engineering). For example, highly automated driving (HAF) corresponds to Level 3 of the SAE J3016 standard.Furthermore, SAE J3016 also specifies SAE Level 5 as the highest level of automation, which is not included in the BASt definition. SAE Level 5 corresponds to driverless driving, where the system can automatically handle all situations like a human driver throughout the entire journey; a driver is generally no longer required.

[0003] In a driving system with a highly automated driving (HAD) function, the highly automated driving function is generally not available for activation in all driving situations. Instead, its availability is linked to the fulfillment of one or more driving parameter-specific conditions.

[0004] For example, the activation of HAF may require that the vehicle speed be within a specific speed range, e.g., a speed range of 60 km / h to 130 km / h. This may be due to technical restrictions (e.g., a speed limit of 60 km / h for an HAF driving function for the essential use case of traffic jams or a speed limit of 130 km / h for a motorway pilot), legal speed limits (e.g., a maximum permissible speed on a specific stretch of road), or environmental restrictions such as poor visibility.

[0005] Additionally or alternatively, in order to activate HAF, it may be required that the distance to the vehicle in front is large enough, i.e. greater than or equal to a certain lower distance limit.

[0006] Additionally or alternatively, in order to activate HAF, it may be required that the lateral position of the vehicle in the lane lies within a certain range so that the lateral position is reasonably central.

[0007] When the driver wants to activate the HAF driving function, he or she is often unaware of whether the vehicle's driving parameters relevant for activation comply with the respective conditions for the individual driving parameters in order to be able to activate the HAF driving function.

[0008] If, for example, the driver attempts to activate a driving function for highly automated driving by means of a corresponding operating action (e.g. pressing a button in the vehicle cockpit) at a speed greater than an upper limit speed, the driver receives feedback, for example via a screen in the vehicle cockpit, that this can only be done at a lower speed (e.g. "Activation of HAF not possible, please drive slower"). After the driver has reduced the vehicle speed, the driver must attempt again to activate the HAF driving function by means of an operating action. If the driving speed has not been reduced sufficiently, the driving speed may have to be reduced further until the driving speed is finally low enough for the HAF function to be activated by the driver.This results in one or more unnecessary, unsuccessful operating actions on the part of the driver to activate the HAF driving function, whereby the failed attempts can cause frustration for the driver.

[0009] Due to several driving parameter-specific conditions that must be met, several obstacles may arise when attempting to activate the HAF driving function. These obstacles must then all be resolved by the driver by adjusting their manual driving style (e.g., reducing speed, increasing the distance to the vehicle in front, driving in the center of the lane). This is cumbersome and results in interaction effort that could distract from the traffic situation.

[0010] From the publication DE 10 2016 220 313 B3, a method for operating a motor vehicle with multiple driver assistance systems is known. In this method, an assistance level parameter, which indicates the extent to which the driver is desired to receive support from the driver assistance systems, and an additional parameter relating to the driving operation of the motor vehicle are set via a user interface. An operating parameter for each driver assistance system, in accordance with which the respective driver assistance system is operated, is specified by a processing device depending on the assistance level parameter and the additional parameter.

[0011] The document DE 10 2012 002 304 A1 describes a device for the automated driving of a motor vehicle, which device comprises a control device for generating control signals for actuators of the motor vehicle designed to drive the motor vehicle. The control device forms a slave of a master-slave arrangement. An associated master is formed by a user interface of the device, in that the user interface is designed to receive an input from a user, which comprises a selection of a driving maneuver to be performed by the slave and / or a driving parameter value for a driving parameter for a driving maneuver currently being performed by the slave, and—after the input has been completed—to control the slave depending on the input.The user interface comprises a representation of the motor vehicle arranged in a field in which an edge represents a maximum permissible change in the driving parameter value.

[0012] It is an object of the invention to provide an improved driving system with a driving function for automated driving and a method for activating a driving function for automated driving, in each of which the driver comfort is improved when activating a driving function for automated driving, in particular for highly automated driving.

[0013] The problem is solved by the features of the independent patent claims. Advantageous embodiments are described in the dependent claims. It should be noted that additional features of a patent claim dependent on an independent patent claim, without the features of the independent patent claim or only in combination with a subset of the features of the independent patent claim, can form a separate invention independent of the combination of all features of the independent patent claim, which can be made the subject of an independent claim, a divisional application, or a subsequent application. This applies equally to technical teachings described in the description, which can form an invention independent of the features of the independent patent claims.

[0014] A first aspect of the invention relates to a driving system for a motor vehicle, comprising a first driving function (e.g., SAE Level 3 = HAF or higher) for automated driving with automated longitudinal and lateral guidance and a second driving function for automated driving with at least automated longitudinal guidance (e.g., ACC or TAF) or with at least automated lateral guidance (e.g., lane guidance assistant or TAF). The second driving function has a lower degree of automation than the first driving function. The first driving function is preferably a so-called highway pilot for highly automated driving on the highway.

[0015] The first driving function is available for activation within a permissible range (defined by a lower and / or upper limit) for a driving parameter, for example, when the driving speed is within a speed range of 60 km / h to 130 km / h. The driving function can preferably only be activated within this permissible range. Activation of the first driving function can, of course, also be linked to a driving parameter other than the aforementioned driving parameter (e.g., the time or distance-related distance to the vehicle in front) being within a corresponding permissible range (e.g., less than 3 s).

[0016] The permissible range may have a lower and an upper limit, or only a lower or only an upper limit. The upper and / or lower limit may be part of the permissible range (e.g., a speed range of less than or equal to 130 km / h) or may no longer be part of the permissible range (e.g., a speed range of less than 130 km / h).

[0017] The driving system is configured to perform various activities described below. This is typically done by means of an electronic control unit, which may also be distributed across multiple control devices. The control unit may comprise one or more computers with one or more processors that operate in the manner according to the invention, controlled by software.

[0018] Starting from a driving state with an active second driving function (e.g., an active TAF driving function or an active ACC driving function) and a driving parameter value outside the permissible range (e.g., a current vehicle speed greater than the maximum permissible vehicle speed for activating an HAF driving function), the driving system, with the second driving function active, changes the value of the driving parameter toward the permissible range. This can be achieved using automated longitudinal guidance (e.g., in the case of a driving parameter in the form of vehicle speed or the temporal or length-related distance to the vehicle in front) or using automated lateral guidance (e.g., in the case of a driving parameter relating to the lateral position in the lane). This means that both lateral guidance and longitudinal guidance can be used to change the driving parameter.For example, a cruise control of the second driving function attempts to reduce or increase the vehicle speed (depending on the initial speed).

[0019] At some point, the driving system will then determine that the driving parameter (e.g., vehicle speed or distance to the vehicle in front) meets a criterion related to the permissible range. The criterion requires, for example, that the driving parameter be within the permissible range. Theoretically, it would also be conceivable that the criterion could be considered met even before the permissible range is reached (e.g., from 5 km / h above the upper speed limit of a speed-related permissible range). Preferably, however, the criterion would only be met when the driving parameter is within the permissible range.

[0020] The first driving function (e.g., HAF) is activated by the system once the driving parameter meets the criterion relating to the admissible range, for example, once the driving parameter has entered the admissible range. The first driving function is activated in particular in response to the admissible range being reached. Provision can be made for the first driving function to be activated automatically, without the driver having to perform any further operating action. Alternatively, provision can be made for the activatability of the first driving function to be signaled to the driver (in particular visually, acoustically, or haptically) once the driving parameter meets the criterion relating to the admissible range. The driver can then trigger the activation of the driving function through an additional operating action (e.g., operating a control element, releasing the steering wheel, or uttering a voice command).Preferably, the additional operating action is an operating action that requires less effort from the driver than an initial operating action for activating the first driving function, which is performed via the input component discussed below. The additional operating action is, for example, a confirmation action for confirming an activation of the first driving function suggested by the system after the driving parameter has reached the permissible range, for example by operating a control element or by releasing a steering wheel (which preferably includes a hands-on sensor system).

[0021] The inventive concept brings a significant increase in comfort and reduces the operating effort: The driving parameter can be transferred into the permissible range via the second driving function so that the first driving function can be activated.

[0022] It is advantageous if a driver-side operating action to activate the first driving function brings the vehicle via the second driving function into a state in which the first driving function can be activated, for example automatically without further operating action or only after a further operating action, for example to confirm the activation.

[0023] For this purpose, the driving function has a user interface that includes an input component for a driver-side operating action to activate the first driving function, for example, an operable control element (in particular a control button) for activating the first driving function. The input component can also be a voice recognition system that accepts a corresponding voice command to activate the first driving function.

[0024] The input component does not have to be exclusively directed at activating the first driving function. Instead, it would be conceivable for the input component to be a common input component for a plurality of driving functions for automated driving, in particular a common operating element (e.g., a button). The plurality of driving functions comprises the first driving function (e.g., HAF) and the second driving function (e.g., TAF); preferably, one or more further driving functions (e.g., ACC and / or a lane departure warning system without longitudinal guidance) are also provided. In the case of an input component that is common to a plurality of driving functions, an operating action via the input component signals to the system the driver's general desire for automated driving, without direct reference to the first driving function.The driving system is then configured to activate the available driving function from the plurality of driving functions that has the highest possible degree of automation after determining the desire for automated driving signaled via the input component. Such an operating concept with a common operating element is described in German patent application DE 10 2017 208 506 A1, entitled "Driving system with various driving functions for automated driving and a common operating element, as well as a method for activating a driving function via the common operating element," which was filed by the same applicant on May 19, 2017. This operating concept with a common operating element is hereby incorporated by reference into the disclosure of this application.

[0025] The driving system is configured to determine an operating action carried out via the input component to activate the first driving function, starting from a driving state without an active first and without an active second driving function (in particular starting from manual driving mode) and a value of the driving parameter outside the permissible range.

[0026] After the operator action to activate the first driving function has been detected, the system activates the second driving function. The first driving function cannot be activated initially because the driver parameter is initially still outside the permissible range for the first driving function. Activation of the second driving function may be subject to a driving parameter (e.g., vehicle speed) being within an optional permissible range for the second driving function. This permissible range for the second driving function (e.g., 40 km / h to 210 km / h) is – if it exists at all – generally larger than the permissible range (e.g., 60 km / h to 130 km / h) for the first driving function for the same driving parameter (e.g., vehicle speed) and often includes the permissible range for the first driving function.

[0027] The activation of the second driving function preferably occurs automatically without the need for any further operator action. However, it is conceivable that a further operator action might be required to activate the second driving function, in particular that the activation of the second driving function would require confirmation by the driver, as the driver may expect the immediate activation of the first driving function.

[0028] Starting from the driving state with the second driving function active and a driving parameter value outside the permissible range, the value of the driving parameter is changed toward the permissible range using automated longitudinal guidance or automated lateral guidance, as described above. The first driving function is activated, or its activatability is signaled to the driver after it has been determined that the driving parameter meets the criterion, as described above.

[0029] The first driving function is, for example, available in a permissible speed range defined by a lower (e.g. 60 km / h) and / or upper speed limit (e.g. 130 km / h). Then, the driving system is preferably set up, starting from a driving state with an active second driving function and a vehicle speed above the upper speed limit (e.g. 130 km / h), to reduce the vehicle speed to the upper speed limit or to a value below the upper speed limit when the second driving function is active. Alternatively or additionally, the driving system is set up, starting from a driving state with an active second driving function and a vehicle speed below the lower speed limit (e.g.60 km / h), when the second driving function is active, to increase the vehicle speed to the lower speed limit or to a value above the lower speed limit.

[0030] Preferably, a set speed for the vehicle speed can be specified by the driver, at least for the second driving function. For example, a control device that can be operated manually or by voice or gesture is provided for (particularly incrementally) increasing and decreasing the set speed. This control device can, for example, incrementally increase or decrease the set speed by a specific value (e.g., 10 km / h) with each individual control input and / or with continuous operation. For example, a manually operable control element can also be provided for adopting the (legally) permitted maximum speed on the route section as the set speed.

[0031] To reduce the vehicle speed, the set speed is preferably set by the system to the upper speed limit or to a value below the upper speed limit, preferably without requiring any further action by the driver. The resetting of the set speed may be subject to the condition that the driver agrees to a resetting of the set speed proposed by the system.

[0032] To increase the vehicle speed, the set speed can be set on the system side to the lower speed limit or to a value above the lower speed limit.

[0033] For example, if the vehicle is traveling too fast (e.g., 140 km / h with an upper activation limit of 130 km / h) to activate HAF, the driver's action to activate HAF will cause the vehicle to switch to partially automated driving mode (TAF), if it is not already in this mode. In this state, the set speed is set to a speed (e.g., 130 km / h) within the permissible range (specifically, the maximum speed of the permissible range), so that the vehicle decelerates to this set speed. Once the set speed is reached, HAF is preferentially activated, and responsibility for vehicle control is transferred to the vehicle.

[0034] It can also be provided that, starting from a driving state with an active second driving function (e.g., TAF) and a driving parameter value outside the permissible range for the first driving function, an operator action to activate the first driving function results in the set speed for controlling the vehicle speed being automatically set to a value within the permissible range. In this case, the vehicle speed is automatically adjusted via the second driving function so that the first driving function can be activated when the permissible range is reached.

[0035] The driving parameter can also be the temporal or longitudinal distance of the vehicle from the vehicle in front. In this case, the first driving function is preferably available within a permissible distance range defined by a lower distance limit (e.g., 3 s). Starting from a driving state with the second driving function active and a distance below the lower distance limit, the driving system is configured to increase the distance to the lower distance limit or a value above the lower distance limit when the second driving function is active.

[0036] For example, the distance to the vehicle in front is too small to activate HAF. An operator action to activate HAF first activates TAF, the distance is automatically increased, and – if this distance is large enough, in particular, greater than or equal to a threshold value for the distance – HAF is activated.

[0037] For example, in response to an operator action to activate the first driving function, a time- or distance-related target distance to the vehicle ahead is set by the system to the lower limit of the permissible range or to a value greater than the lower limit. It may be provided that a target distance to the vehicle ahead can generally be set via the operator control; when the target distance is set by the system, the target distance set by the driver is modified.

[0038] Preferably, the first driving function is a driving function without driver responsibility for continuously monitoring the driving function; this is the case, for example, in highly automated driving. The second driving function is preferably a driving function with driver responsibility for continuously monitoring the driving function, for example, partially automated driving (TAF) with automated longitudinal and lateral guidance, whereby the driver must continuously monitor the TAF driving function.

[0039] In this case, the driving system preferably has such a user interface that includes an output component (e.g. a display) that serves to signal to the driver whether or not the driver has responsibility for continuously monitoring the active driving function. One or more clear displays can show the driver whether the driver or the vehicle currently has responsibility. This can be done, for example, through a text or voice output: "You have assumed responsibility" or "You have assumed the driving task." The active driving mode, which the driver associates with assuming or relinquishing responsibility, can be indicated, for example, by a symbol, a characteristic color scheme, or graphic changes on a display such as the instrument cluster.

[0040] Above, only the availability of the first driving function was discussed depending on the value of a driving parameter. However, the availability of the first driving function often depends on the respective value of various driving parameters, for example, whether the driving speed is within a certain speed range (first permissible range) and whether the distance to the vehicle in front is greater than or equal to a threshold value (second permissible range). In some cases, the availability may also depend on the value of one or more other driving parameters (e.g., the lateral position in the lane).

[0041] If the availability depends on at least two driving parameters, the first driving function is available, for example, if the driving parameter is in the permissible range of this driving parameter and - at the same time - a different, second driving parameter is in a second permissible range of the second driving parameter.

[0042] The driving function is then set up, in the event that a driving condition exists in which, when the second driving function is active, the value of the (first) driving parameter is outside the (first) permissible range and the value of the second driving parameter is outside the second permissible range, to change the value of the (first) driving parameter in the direction of the (first) permissible range and to change the value of the second driving parameter in the direction of the second permissible range by means of the active second driving function.

[0043] After the driving parameter is within the permissible range and the second driving parameter is within the second permissible range, the first driving function can then be activated automatically or its activatability can be signaled to the driver.

[0044] After detecting the driver's action to activate the first driving function, the first driving parameter can be changed first, for example, using the second driving function. Only after the permissible range for the first driving parameter has been reached can the second driving parameter be changed. Alternatively, both driving parameters can be changed simultaneously toward the respective permissible ranges.

[0045] A second aspect of the invention relates to a method for activating a first driving function for automated driving with automated longitudinal and lateral guidance, wherein a first driving function for automated driving with automated longitudinal and lateral guidance and a second driving function for automated driving with at least automated longitudinal guidance or with at least automated lateral guidance and a lower degree of automation than the first driving function are present. The first driving function is available for activation within a permissible range of a driving parameter. The method comprises the steps: - starting from a driving condition with an active second driving function and a value of the driving parameter outside the permissible range, changing the value of the driving parameter with the second driving function active in the direction of the permissible range by means of automated longitudinal guidance or by means of automated lateral guidance; - Determine that the driving parameter meets a criterion relating to the acceptance range; and - Activating the first driving function or signalling its activatability after it has been determined that the driving parameter meets the criterion.

[0046] The above statements regarding the driving system according to the first aspect of the invention also apply correspondingly to the method according to the second aspect of the invention. Advantageous embodiments of the method according to the invention not explicitly described here or in the claims correspond to the advantageous embodiments of the driving system according to the invention described above or in the claims.

[0047] A third aspect of the invention relates to software with program code for implementing the method according to the second aspect of the invention, when the software runs on a computer or on distributed computers. The computer or distributed computers are part of the driving system. The computer or computers are distributed, for example, across one or more control units.

[0048] The invention is described below using an exemplary embodiment with the aid of the accompanying drawings. In these drawings: Fig. 1 an example of activation of the HAF driving function after reducing the speed via the TAF driving function; and Fig. 2 an example of activation of the HAF driving function after increasing the time distance to the vehicle in front via the TAF driving function.

[0049] In Fig. 1 shows an example of activation of the HAF driving function after reducing the speed via the TAF driving function.

[0050] Starting from a driving state with manual operation, an operator action to activate the HAF driving function is detected by the driving system at time t0, for example, the actuation of a button directed to activate the HAF driving function. The driving system then checks whether the vehicle speed v ist is within a permissible range for activating the HAF driving function. The upper limit v HAF,max The permissible speed range is, for example, 130 km / h.

[0051] In the case of Fig. 1, at time t0 the current vehicle speed v ist above the upper limit v HAF,maxof the permissible range, meaning that the HAF driving function cannot be activated immediately. Instead, the TAF driving function is activated by the system in response to the operator action to activate the HAF driving function; activation of the TAF driving function is permitted at this speed.

[0052] In the driving state with active TAF driving function, the vehicle speed v ist by means of automated longitudinal guidance automatically towards the upper limit v HAF,max of the permissible range for the HAF driving function. To reduce the driving speed v ist For example, a setting speed of v setz (as target speed for cruise control) to v setz = v HAF,max set. If the vehicle detects that the vehicle speed v ist the upper limit v HAF,maxOnce the permissible range for the HAF driving function has been reached, the HAF driving function is activated by the system at time t1. The system-side activation of the HAF driving function may be subject to the driver's prior consent to the activation by means of a confirmation action.

[0053] Above, it was assumed that manual driving is in operation before time t0. However, if the TAF driving function is already active before time t0, the driver can perform an operation to activate the HAF driving function, whereupon the set speed v for the already active TAF driving function setz to the upper limit v HAF, max of the permissible range for the HAF driving function. In response, the driving speed is automatically set to the value v HAF,max reduced via the second driving function, so that when v HAF,maxThe HAF driving function is activated by the system. The system-side activation of the HAF driving function may be subject to the driver's prior consent to the activation by means of a confirmation action.

[0054] In Fig. Figure 2 shows an example of activation of the HAF driving function after increasing the time distance Δt to the vehicle in front via the TAF driving function.

[0055] Starting from a driving state with manual operation, an operator action to activate the HAF driving function is detected by the driving system at time t0, for example, the actuation of a button directed to activate the HAF driving function. The driving system then checks whether the time distance Δt to the vehicle ahead is within a permissible distance range for activating the HAF driving function. The permissible distance range has a lower limit Δt HAF,minAn upper limit for the permissible distance range is not defined here. The lower limit Δt HAF,min The permissible distance range is, for example, 3 s.

[0056] In the case of Fig. 2 At time t0 the distance Δt to the vehicle in front is below the lower limit Δt HAF,min of the permissible distance range, so that the HAF driving function cannot be activated immediately. Instead, the TAF driving function is activated by the system in response to the operator action to activate the HAF driving function.

[0057] In the driving state with active TAF driving function, the distance Δt to the vehicle in front is automatically adjusted towards the lower limit Δt by means of automated longitudinal guidance. HAF,min of the permissible distance range for the HAF driving function. To increase the distance Δt, for example, a target distance of Δt HAF,minset. If the vehicle detects that the vehicle speed v ist the lower limit Δt HAF,min Once the distance permissible range for the HAF driving function has been reached, the HAF driving function is activated by the system at time t1. The system-side activation of the HAF driving function may be subject to the driver's prior consent to activation by means of a confirmation action.

Claims

[1] Driving system for a motor vehicle, with a first driving function for automated driving with automated longitudinal and lateral guidance and a second driving function for automated driving - with at least automated longitudinal guidance or - with at least automated lateral guidance and a lower degree of automation than the first driving function, wherein the first driving function is within a permissible range of a driving parameter (v ist , Δt) is available and the driving system is set up, - starting from a driving state with an active second driving function and a value of the driving parameter (v ist , Δt) outside the permissible range, with the second driving function active, the value of the driving parameter (v ist , Δt) in the direction of the permissible area by means of automated longitudinal guidance or by means of automated lateral guidance, and - to determine that the driving parameter (v ist, Δt) meets a criterion relating to the range of admissibility, - to activate the first driving function or to signal its activatability to the driver after it has been determined that the driving parameter (v ist , Δt) meets the criterion. [2] Driving system according to claim 1, wherein the criterion is reaching the admissibility range. [3] Driving system according to one of the preceding claims, wherein - the driving system has a user interface that includes: • an input component for a driver-side operating action to activate the first driving function, and - the driving system is set up, • based on a driving state without active first and without active second driving function and a value of the driving parameter (v ist , Δt) outside the permissible range, to detect a driver action to activate the first driving function, • after determining the operating action to activate the first driving function, to activate the second driving function, • based on the driving state with active second driving function and a value of the driving parameter (v ist , Δt) outside the permissible range, with the second driving function active, the value of the driving parameter (v ist , Δt) in the direction of the permissible area by means of automated longitudinal guidance or by means of automated lateral guidance, and • to activate the first driving function or to signal its activatability to the driver after it has been determined that the driving parameter (v ist , Δt) meets the criterion. [4] Driving system according to one of the preceding claims, wherein - the first driving function is a driving function for highly automated driving and - the second driving function is a driving function for partially automated driving with longitudinal and lateral guidance or for assisted driving with longitudinal guidance or for assisted driving with lateral guidance. [5] Driving system according to one of the preceding claims, wherein the driving parameter relates to: - the vehicle speed (v ist ), - the distance of the vehicle (Δt) to the vehicle in front or - the transverse position of the vehicle in the lane. [6] Driving system according to one of the preceding claims, wherein - the driving parameter is the vehicle speed (v ist ) is, - the first driving function in a vehicle defined by a lower and / or upper speed limit (v HAF,max ) defined permissible speed range is available, and • the driving system is set up, starting from a driving state with an active second driving function and a vehicle speed (vist ) above the upper speed limit (v HAF,max ), when the second driving function is active, the vehicle speed (v ist ) to the upper speed limit (v HAF,max ) or to a value below the upper speed limit (v HAF,max ) and / or • the driving system is set up, starting from a driving state with an active second driving function and a vehicle speed (v ist ) below the lower speed limit, with the second driving function active the vehicle speed (v ist ) to the lower speed limit or to a value above the lower speed limit. [7] Driving system according to claim 6, wherein - a set speed for the vehicle speed can be specified by the driver at least for the second driving function, and - the driving system is set up, • to reduce the vehicle speed, set the system speed to the upper speed limit (v HAF,max ) or the value below the upper speed limit (v HAF,max ) and / or • To increase the vehicle speed, set the set speed on the system side to the lower speed limit or the value above the lower speed limit. [8] Driving system according to one of the preceding claims, wherein - the driving parameter is the vehicle speed (v ist ) is, - a set speed for the vehicle speed can be specified by the driver at least for the second driving function, - the driving system has a user interface that includes: • an input component for a driver-side operating action to activate the first driving function, and - the driving system is set up, • based on a driving condition with an active second driving function and a driving speed value (v ist ) outside the permissible range, to detect a driver-side operation to activate the first driving function, and • in response to this, to set the setting speed to a value within the permissible range. [9] Driving system according to one of the preceding claims, wherein - the driving parameter is the time distance (Δt) or the length-related distance of the vehicle to the vehicle in front, - the first driving function in a distance defined by a lower distance limit (Δt HAF,min ) defined permissible range for the distance is available, and - the driving system is set up, starting from a driving state with an active second driving function and a distance (Δt) below the lower distance limit (Δt HAF,min), with the second driving function active, the distance (Δt) to the lower distance limit (Δt HAF,min ) or a value above the lower distance limit (Δt HAF,min ) to increase. [10] Driving system according to one of the preceding claims, wherein - the first driving function is a driving function without driver responsibility for the permanent monitoring of the driving function, - the second driving function is a driving function with driver responsibility for permanent monitoring of the driving function, and - the driving system has a user interface that includes: • an output component to signal to the driver whether the driver currently has the responsibility for continuously monitoring the active driving function or not. [11] Driving system according to one of the preceding claims, wherein the first driving function is available when the driving parameter (v ist, Δt) in the permissible range of this driving parameter and a different, second driving parameter (v ist , Δt) is in a second permissible range of the second driving parameter, and the driving system is set up, - starting from a driving state with an active second driving function and a value of the driving parameter (v ist , Δt) outside the permissible range and a value of the second driving parameter (v ist , Δt) outside the second permissible range, with the second driving function active, the value of the driving parameter (v ist , Δt) towards the permissible range and the value of the second driving parameter (v ist , Δt) towards the second admissibility range, and - to activate the first driving function or to signal its activatability to the driver after it has been determined, • that the driving parameter (v ist, Δt) meets the criterion with regard to the range of admissibility, in particular lies within the range of admissibility, and • the second driving parameter (v ist , Δt) meets a criterion with respect to the second admissibility range, in particular lies within the second admissibility range. [12] Method for activating a first driving function for automated driving with automated longitudinal and lateral guidance, wherein a first driving function for automated driving with automated longitudinal and lateral guidance and a second driving function for automated driving - with at least automated longitudinal guidance or - with at least automated lateral guidance and a lower degree of automation than the first driving function, whereby the first driving function is within a permissible range of a driving parameter (v ist , Δt) is available, with the steps: - starting from a driving state with an active second driving function and a value of the driving parameter (v ist , Δt) outside the permissible range, changing the value of the driving parameter (v ist , Δt) with the second driving function active in the direction of the permissible area by means of automated longitudinal guidance or by means of automated lateral guidance; - Determine that the driving parameter (v ist , Δt) meets a criterion relating to the range of admissibility, - Activating the first driving function or signalling its activatability after it has been determined that the driving parameter meets the criterion. [13] Software comprising program code for carrying out the method according to claim 12, when the software runs on a computer or on distributed computers.

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