Method for determining the roadway type of a roadway, computer program product and assistance system

Abstract

Method for determining the type of roadway (21) of a roadway (7) on which a motor vehicle (1) is located, by means of an assistance system (2) of the motor vehicle (1), in which environmental data of an environment (8) of the motor vehicle (1) are received by means of a receiving device of the assistance system (2) and, to determine the type of roadway (21), the received environmental data are evaluated by means of an electronic computing device (3) of the assistance system (2), wherein the environmental data are transmitted as swarm data (5) from an electronic computing device (6) external to the receiving device designed as a swarm data receiving device (4) and, on the basis of the received swarm data (5), the type of roadway (21) is determined, and wherein the type of roadway (21) is determined to be a motorway or a motorway-like roadway, characterized in thatthat when a motorway is designated as the road type (21) or a motorway-like road as the road type (21), a digital environment model (10) of the surroundings (8) is activated and / or displayed on a display device (11) of the assistance system (2), wherein the environment model (10) indicates the multi-lane nature, at least two lanes, on the display device (11) and wherein other motor vehicles and objects are also displayed on the display device (11) in the environment model (10).

Description

[0001] The invention relates to a method for determining the road surface type of a roadway on which a motor vehicle is located, using an assistance system of the motor vehicle. In this method, environmental data from the motor vehicle's surroundings are received by an electronic computing device external to the motor vehicle via a receiving device of the assistance system, and the received environmental data are evaluated by an electronic computing device of the assistance system to determine the road surface type. The invention further relates to a computer program and an assistance system.

[0002] It is already known from the prior art that road types can be determined based on the vehicle's environmental perception. For example, the vehicle can have a detection device that then detects the surroundings and, based on this detection, can also determine the road type. The detection device can be, for example, a camera, radar sensor, lidar sensor, and / or ultrasonic sensor. Based on the detected environment and the determined road type, at least partially autonomous or fully autonomous operation of the vehicle can then be implemented.

[0003] Furthermore, it is known from the prior art that a detected environment can be displayed as an environment model on a vehicle's display device. In particular, the environment model is displayed on a display device when, for example, a multi-lane road is present. In this case, other vehicles or objects characterizing the environment, such as guardrails, can also be displayed in the environment model.

[0004] Currently, the environment model is only displayed if a motorway or motorway-like roadway has been identified as a roadway based on the detection devices.

[0005] DE 10 2013 019 112 A1 relates to a method for operating a driver assistance system for a motor vehicle. The driver assistance system comprises a monitoring device designed to receive data packets containing position data from other vehicles traveling on a road, and, based on the position data contained in the data packets, to determine the lane path for at least one lane of the road, and, based on the lane path, to determine at least one geometric property of the road. Depending on this determined geometric property, the system then outputs a control signal to at least one device in the motor vehicle that provides assistance in driving the vehicle. The driver assistance system can be located in the motor vehicle or in an infrastructure element of the road.

[0006] DE 10 2016 212 688 A1 relates to a method for determining the environment of a vehicle, comprising the following steps: providing initial environment data obtained with an environment sensor of a first vehicle, wherein the initial environment data includes at least object data of other road users and / or obstacles in the environment of the first vehicle; transmitting the initial environment data to a second vehicle; processing the initial environment data by the second vehicle, thereby determining the environment of the second vehicle.

[0007] DE 10 2017 200 602 A1 relates to a method for operating a start-stop system for a motor vehicle. To enable greater driving comfort for the motor vehicle compared to the prior art, the following steps are provided: - Detecting when the motor vehicle is stationary, - Retrieving status data, including traffic data, route data, and / or environmental data, - Predicting the expected dwell time based on the status data, - Commanding an engine stop for the motor vehicle's engine only if the expected dwell time exceeds a predetermined limit.

[0008] DE 10 2007 049 638 A1 discloses a motor vehicle comprising a display device for the optical presentation of information on or from vehicle-side operating systems and a device for determining data classifying a road travelled, wherein the type and / or the quantity and / or the form of presentation and / or the content of the displayed information is changeable depending on the data classifying the road travelled.

[0009] The object of the present invention is to create a method, a computer program product and an assistance system by means of which a road type can be determined in a cost-effective manner.

[0010] This problem is solved by a method, a computer program product, and an assistance system according to the independent patent claims. Advantageous embodiments are specified in the dependent claims.

[0011] One aspect of the invention relates to a method for determining the type of roadway on which a motor vehicle is located, by means of an assistance system of the motor vehicle, in which environmental data of an environment of the motor vehicle are received by means of a receiving device of the assistance system from an electronic computing device external to the motor vehicle and the received environmental data are evaluated by means of an electronic computing device of the assistance system in order to determine the type of roadway.

[0012] It is intended that the environmental data will be transmitted as swarm data from the vehicle-external electronic computing device to the receiving device designed as a swarm data receiving device, and that the road type will be determined on the basis of the received swarm data.

[0013] This allows for a more efficient determination of the road type. In particular, it is not necessary for the vehicle or the assistance system to have a navigation device, for example. The road type can therefore be determined independently of a navigation device. Even if, for example, a navigation device were to be omitted from the vehicle in the future, the road type could still be reliably and efficiently determined based on the received swarm data.

[0014] Swarm data can consist primarily of raw data. In other words, environmental data from other vehicles that have traveled on the same road in the past can be transmitted to an external electronic computing unit. This unit then collects this data as swarm data and can transmit it to the vehicle's electronic computing unit. Alternatively, the external electronic computing unit can process or pre-process the swarm data. This processed or pre-processed swarm data can then be transmitted back to the vehicle's electronic computing unit. Transmitting the processed or pre-processed swarm data can significantly reduce data capacity.

[0015] Preferably, the specific road type can then be verified, for example, based on a detection device of the vehicle or on a plurality of detection devices of the vehicle, such as a camera, a lidar sensor, a radar sensor, or an ultrasonic sensor. If the vehicle is also equipped with a navigation system, the information from the navigation system can likewise be used to verify the determination of the road type. In particular, the invention thus overcomes the problem that data fusion from, for example, a camera and a radar on, for example, a highway, is very time-consuming. Specifically, the time required to recognize a highway depends on how many objects, for example, overtake the vehicle or how many objects are overtaken by the vehicle.Furthermore, the invention overcomes the problem that the navigation device often uses alternative route data between vehicle detection attempts. However, this is only possible if the data within the navigation device is sufficiently up-to-date. Using the swarm data now employed according to the invention, which is based on the detection of many motor vehicles, particularly historical data, faster and more current information is transmitted, indicating whether the motor vehicle is on a highway.

[0016] Furthermore, it is intended that a motorway or motorway-like roadway is defined as the roadway. In particular, this allows, for example, the provision of an environmental model that can display the vehicle's surroundings on a display device. This is implemented specifically on motorways and motorway-like roads. Furthermore, corresponding autonomous movements, such as autonomous lane changes, can be performed on motorways and motorway-like roads, provided that the motorway or motorway-like roadway is reliably detected beforehand. This can now be done independently of a navigation device.

[0017] It is also provided that when a motorway or motorway-like road is identified as the road type, a digital environmental model of the surroundings is activated and / or displayed on a display unit of the assistance system. In particular, the display unit can be designed, for example, as a head-up display. Alternatively or additionally, it can be designed as a central display unit, for example, in the center console of the vehicle. The display unit can also be designed as a touch-sensitive display unit. The environmental model indicates, in particular, the presence of multiple lanes, at least two lanes, on the display unit. Furthermore, other vehicles and objects, such as roadway structures, can also be displayed on the display unit within the environmental model.This allows the environment to be intuitively displayed on the environmental model for the driver or user of the motor vehicle.

[0018] According to an advantageous embodiment, the swarm data is generated based on historical environmental data from a large number of other vehicles on the roadway. In particular, the historical swarm data, which is independent of vehicles directly ahead, is centrally transmitted to the vehicle-external electronic computing unit. This unit can then use information acquired in the past to generate the swarm data for the vehicle.In particular, historical data can be understood to mean that it is, for example, at least 20 minutes, at least 30 minutes, at least 45 minutes, at least one hour, at least five hours, at least ten hours, at least twelve hours, at least 24 hours, at least two days, at least five days, at least one week, at least two weeks, at least one month, at least two months, at least half a year, at least one year old.

[0019] It is further advantageous if the swarm data includes at least environmental data for at least two lanes of travel in the same direction and / or environmental data for an average speed on the road. In particular, a motorway has at least two lanes of travel in the same direction. A motorway can also have more than two lanes. Furthermore, motorway-like roads, such as expressways, can also have at least two lanes. These can then be reliably displayed. Based on the lanes to be traveled, the motorway or motorway-like road can then be reliably identified. Furthermore, an average speed on the road can also be used to evaluate the road type. In particular, speeds on a motorway are correspondingly higher than on a rural road.Furthermore, the average speed of a given lane can also be used. For example, the average speed in a right-hand lane on a motorway is lower than in a left-hand lane when traffic is on the right. This allows the road type to be reliably determined.

[0020] It is also advantageous if at least the environmental data for detected traffic signs is transmitted as swarm data. For example, a motorway or motorway-like roadway is equipped with corresponding traffic signs. A blue motorway sign, for instance, can be displayed or detected. This detected traffic sign can then be transmitted as swarm data. Based on this detected traffic sign, the type of roadway can then be reliably determined.

[0021] In a further advantageous embodiment, at least environmental data for detected traffic signs are transmitted as swarm data, whereby a displayed speed limit on the roadway and / or a traffic sign describing the roadway type are recorded. For example, in Germany, it is only permitted to drive at speeds exceeding 100 km / h on motorways or expressways with two lanes. If, for example, a speed limit of 120 km / h is displayed, it can be reliably concluded that it is a motorway or a motorway-like roadway. Furthermore, traffic signs indicating a minimum or recommended speed can also be used for this purpose.Furthermore, traffic signs that describe the type of roadway, for example a blue motorway sign or a blue expressway sign, can also be used to reliably determine the type of roadway.

[0022] In a further advantageous embodiment, at least environmental data for a physical separation on the roadway and / or environmental data for a detected shoulder of the roadway are transmitted as swarm data. For example, the physical separation could be a guardrail or corresponding concrete blocks that separate the lanes traveling in the same direction from the lanes traveling in the opposite direction. This is particularly common on highways and similar roads. Furthermore, a shoulder, which is also found on highways and similar roads, can likewise be used to identify the corresponding roadway type.

[0023] The presented method is, in particular, a computer-implemented method. The invention further relates to a computer program product with program code means which, when executed by the electronic computing device, cause the electronic computing device to carry out a method according to the preceding aspect. A further aspect of the invention also relates to a computer-readable storage medium containing a computer program product.

[0024] A further aspect of the invention relates to an assistance system for a motor vehicle for determining a road type, comprising at least one electronic computing device and a swarm data receiving device, wherein the assistance system is configured to carry out a method according to the preceding aspect. In particular, the method is carried out by means of the assistance system.

[0025] A further aspect of the invention relates to a motor vehicle with an assistance system according to the preceding aspect. The motor vehicle can be either partially or fully assisted.

[0026] Advantageous embodiments of the process are to be regarded as advantageous embodiments of the computer program product, the assistance system, and the motor vehicle. The assistance system and the motor vehicle possess tangible features that enable the execution of the process or an advantageous embodiment thereof.

[0027] The invention also includes further developments of the assistance system and the motor vehicle according to the invention, which have features already described in connection with the further developments of the method according to the invention. For this reason, the corresponding further developments of the assistance system and the motor vehicle according to the invention are not described again here.

[0028] The invention also includes combinations of the features of the described embodiments.

[0029] The following describes exemplary embodiments of the invention. This is illustrated by: Fig. 1. A schematic top view of an embodiment of a motor vehicle with an embodiment of an assistance system; and Fig. 2 a schematic block diagram of an embodiment of a method according to the invention.

[0030] The embodiments described below are preferred embodiments of the invention. In these embodiments, the described components each represent individual features of the invention that can be considered independently of one another. Each of these features further develops the invention independently and can therefore be considered part of the invention individually or in a combination other than that shown. Furthermore, the described embodiments can also be supplemented by other features of the invention already described.

[0031] In the figures, functionally identical elements are each provided with the same reference symbols.

[0032] Fig. Figure 1 shows a schematic top view of an embodiment of a motor vehicle 1 with an embodiment of an assistance system 2. The assistance system 2 comprises at least one electronic computing unit 3 and a swarm data receiving unit 4. Swarm data 5 can be received by means of the swarm data receiving unit 4 from an electronic computing unit 6 located external to the motor vehicle. The electronic computing unit 6 located external to the motor vehicle can, for example, be configured as a central electronic computing unit. The motor vehicle 1 is configured, in particular, as at least partially or fully assisted. For this purpose, it can be provided, for example, that corresponding longitudinal or lateral control of the motor vehicle 1 can be carried out at least partially or fully assisted.In particular, this makes it possible to provide support to a user or driver of motor vehicle 1.

[0033] In the procedure for determining the road type of a roadway 7 on which the motor vehicle 1 is located, environmental data of an environment 8 of the motor vehicle 1 are received by the assistance system 2 by means of a receiving device of the assistance system 2 from the motor vehicle-external electronic computing device 6, and the roadway type 21 is determined by means of the assistance system 2. Fig. 2) The received environmental data is evaluated by means of the electronic computing unit 3 of the assistance system 2. The environmental data is transmitted as swarm data 5 from the vehicle-external electronic computing unit 6 to the swarm data receiving unit 4, and the road type 21 is determined on the basis of the received swarm data 5.

[0034] The swarm data 5 are, in particular, historical environmental data from a multitude of other motor vehicles, which are represented here by another motor vehicle 9. It is shown here that the other motor vehicle 9 is currently located in the environment 8. However, this is shown purely for clarity and to aid in understanding the invention. Specifically, the historical environmental data are environmental data that are independent of the current situation. In other words, the other motor vehicle 9 does not have to be in the immediate vicinity of the motor vehicle 1.

[0035] Road type 21 is defined in particular as a motorway, as shown here, or a motorway-like roadway. In particular, when defining a motorway or a motorway-like roadway as road type 21, a digital environment model 10 of the surroundings 8 can be activated and / or displayed on a display device 11 of the assistance system 2.

[0036] Swarm data 5 includes, in particular, at least environmental data for at least two lanes that can be driven on in the same direction 12, 13 and / or environmental data for an average speed 14 ( Fig. 2) on the carriageway 7. Alternatively or additionally, the swarm data 5 can transmit at least environmental data for detected traffic signs 15. In particular, the environmental data for the detected traffic signs 15 can be transmitted as swarm data 5, whereby a displayed permitted speed on carriageway 7 is recorded and / or a traffic sign 15 describing the carriageway type 21 is recorded. Furthermore, at least environmental data for a physical separation 16 on carriageway 7 and / or environmental data for a detected shoulder 17 of carriageway 7 can be transmitted as swarm data 5. Furthermore, information regarding a traffic direction 18 ( Fig. 2) be transferred.

[0037] In particular, this shows that Fig. 1. For example, using swarm data 5, it is possible to determine an average speed 14, multiple lanes 12, 13, a physical separation 16, traffic signs 15, hard shoulders 17, or the direction of traffic flow 18. Furthermore, depending on the direction of traffic flow 18, it can also be determined that, for example, the average speed on a first lane 12, which corresponds to a right-hand lane, is lower than on a second lane 13, which in this case corresponds to a left-hand lane. This can be used to determine the road type 21. Furthermore, for example, a blue motorway sign can be recognized as a traffic sign 15 in Germany, and thus the road type 21 can be inferred.

[0038] Fig. Figure 2 shows a schematic block diagram according to one embodiment of the method. In the Fig.2. In particular, the swarm data 5 are combined in a sensor data fusion 19. Furthermore, information regarding the road type 21 can also be determined, for example, by a navigation device 20. Through an OR operation 22, the navigation device 20 can then decide, based on the swarm data 5 or the information on the road type 21, whether the vehicle 1 is on a motorway or a motorway-like road. If this is the case, the environment model 10 can then be enabled, for example.

Claims

[1] Method for determining the type of roadway (21) of a roadway (7) on which a motor vehicle (1) is located, using an assistance system (2) of the motor vehicle (1), wherein environmental data of an environment (8) of the motor vehicle (1) are received by means of a receiving device of the assistance system (2), and the received environmental data are evaluated by means of an electronic computing device (3) of the assistance system (2) to determine the type of roadway (21), wherein the environmental data are transmitted as swarm data (5) from an electronic computing device (6) external to the receiving device designed as a swarm data receiving device (4), and the type of roadway (21) is determined on the basis of the received swarm data (5), and wherein the type of roadway (21) is determined to be a motorway or a motorway-like roadway. characterized by, that when a motorway is determined as the road type (21) or a motorway-like road as the road type (21), a digital environment model (10) of the environment (8) is activated and / or displayed on a display device (11) of the assistance system (2), wherein the environment model (10) displays the multi-lane nature, at least two lanes, on the display device (11) and wherein other motor vehicles and objects are also displayed on the display device (11) in the environment model (10). [2] Method according to claim 1, characterized by , that the swarm data (5) are generated based on historical environmental data from a large number of other motor vehicles (9) on the roadway (7). [3] Method according to any one of the preceding claims, characterized by, that as swarm data (5) at least environmental data for at least two lanes (12, 13) that can be driven in the same direction and / or environmental data for an average speed (14) on the roadway (7) are transmitted. [4] Method according to any one of the preceding claims, characterized by , that at least environmental data for a recognized traffic sign (15) are transmitted as swarm data (5). [5] Method according to claim 4, characterized by , that as swarm data (5) at least environmental data for a detected traffic sign (15) are transmitted, whereby a displayed permitted speed on the roadway (7) is recorded and / or a traffic sign (15) describing the roadway type (7) is recorded. [6] Method according to any one of the preceding claims, characterized by, that as swarm data (5) at least environmental data for a structural separation (16) on the roadway (7) and / or environmental data for a detected shoulder (17) of the roadway (7) are transmitted. [7] Computer program product comprising program code means which cause an electronic computing device (3) to perform a method according to any one of claims 1 to 6 when the program code means are executed by the electronic computing device (3). [8] Assistance system (2) for a motor vehicle (1) for determining a road type (7), comprising at least one electronic computing device (3) and a swarm data receiving device (4), wherein the assistance system (2) is configured to perform a method according to any one of claims 1 to 6.

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