Method for teleoperated driving of an at least partially automated motor vehicle, computer program product, computer-readable storage medium and driving assistance system

Abstract

The invention relates to a method for teleoperated driving of an at least partially automated motor vehicle (3), comprising the steps of: detecting an environment of the motor vehicle (3); determining a current situation for the motor vehicle (3) as a function of the detected environment; and adapting at least one driving dynamics parameter for the teleoperated operation of the motor vehicle (3) as a function of the determined current situation. Furthermore, the invention relates to a computer program product, a computer-readable storage medium, and a driving assistance system (1).

Description

[0001] The invention relates to a method for teleoperated driving of an at least partially automated motor vehicle according to the applicable patent claim 1. Furthermore, the invention relates to a computer program product, a computer-readable storage medium and a driving assistance system.

[0002] Teleoperated driving for motor vehicles is already known from the prior art. For example, in essentially automated motor vehicles, if an error occurs in the essentially automated operation, the driving task can be transferred to a teleoperator. This teleoperator is located remotely from the motor vehicle and can assume appropriate controls for the motor vehicle remotely and, for example, bring the motor vehicle into a safe state. Furthermore, teleoperated driving is also known in so-called valid parking. In this case, a user can drop off the motor vehicle at a drop-off location, the motor vehicle can be teleoperated to a parking space, the motor vehicle can be teleoperated from the parking space to a pick-up location, and then picked up by the user.

[0003] In this teleoperated operation, it is known that, for example, corresponding environments are recorded by cameras in the surroundings or by cameras of the motor vehicle and are in turn transmitted to the teleoperator so that the teleoperator can, for example, record the corresponding recorded environment with the motor vehicle or of the motor vehicle on a screen and can thus carry out the teleoperated operation accordingly.

[0004] The problem here is that, for example, the teleoperator can misjudge the situation, which can lead to critical driving situations in the surrounding area.

[0005] US 11731615 B2 describes a vehicle computing unit and method for collision avoidance.The method comprises calculating a dynamic trajectory of a vehicle, wherein the dynamic trajectory of the vehicle indicates a projected path of travel of the vehicle; determining whether at least one risk location is within the dynamic trajectory of the vehicle; operating the vehicle based on a driving decision selected from a first driving decision and a second driving decision if at least one hazard location is within the dynamic trajectory of the vehicle, wherein the first driving decision is determined based on inputs from an operator of the vehicle, wherein the second driving decision is determined by a vehicle computing unit of the vehicle; and operating the vehicle based on the inputs from the operator of the vehicle if no hazard location is within the dynamic trajectory of the vehicle.

[0006] The object of the present invention is to provide a method, a computer program product, a computer-readable storage medium and a driving assistance system by means of which an improved teleoperated driving operation of the at least partially automated motor vehicle can be realized.

[0007] This object is achieved by a method, a computer program product, a computer-readable storage medium, and a driving assistance system according to the independent patent claims. Advantageous embodiments are specified in the subclaims.

[0008] One aspect of the invention relates to a method for teleoperated driving of an at least partially automated motor vehicle. The surroundings of the motor vehicle are detected. A current situation for the motor vehicle is determined based on the detected surroundings. At least one driving dynamics parameter for the teleoperated operation of the motor vehicle is adapted based on the determined current situation.

[0009] In particular, improved teleoperated driving can be provided, as the current situation, particularly on the vehicle side, can be recorded, particularly based on various sensors. A driving dynamics parameter of the vehicle is then adapted or, for example, limited based on the currently determined situation. For example, a maximum speed for teleoperated driving can be limited on the vehicle side, so that a teleoperator can only use the maximum set speed.

[0010] For example, the surroundings of the motor vehicle can be detected using a LIDAR sensor device, a radar sensor device, an ultrasonic sensor device, and / or a camera. Appropriate evaluation algorithms can then evaluate the environmental detection and determine the corresponding driving situation. For this purpose, the motor vehicle can in turn be equipped with a corresponding electronic computing device that performs the environmental analysis. Based on the environmental analysis, the current situation can be determined, for example, whether there is heavy traffic, what the weather conditions are, or similar.Based on the current situation, the driving dynamics parameter can now be adjusted so that even the teleoperator, who is not on site and, in particular, is remote, cannot exceed the corresponding limit values for the teleoperated driving operation, which can eliminate corresponding critical situations for the teleoperated driving operation.

[0011] For teleoperated driving, it can be provided, in particular, that corresponding communication devices are present on the teleoperator and on the motor vehicle, which communicate with each other. The teleoperator can, for example, enter corresponding driving commands or control commands into an electronic computing device or control unit, which are then sent to the motor vehicle via the communication device. The motor vehicle, in particular, has corresponding longitudinal acceleration devices and / or lateral acceleration devices, which are controlled based on the transmitted control commands. This allows teleoperated steering or acceleration of the motor vehicle to be initiated.

[0012] In particular, the invention utilizes driver assistance systems already installed in motor vehicles, such as the so-called ADAS (Advanced Driver Assistance System), to support teleoperated driving. Based on the environmental analysis via the corresponding assistance system in the motor vehicle, the driving dynamics parameters can be adapted, allowing the teleoperator to prevent critical situations based on the environmental analysis.

[0013] According to an advantageous embodiment, a maximum speed for teleoperated driving is limited depending on the specific situation. In particular, the speed is thus limited accordingly. For example, in congested traffic situations, a lower speed can be specified as the maximum speed. Furthermore, in certain weather conditions, such as snow, a correspondingly reduced speed can be provided as the maximum speed. This can prevent a critical situation for the motor vehicle or the surroundings, such as people in the vicinity, from arising due to excessive speed.

[0014] It is also advantageous if, depending on the specific situation, a minimum distance to be maintained from an object in the surrounding area is adapted. For example, the distances to be maintained can be adjusted accordingly. For example, in a snowy situation or in very confined spaces, the distance to an object that must be maintained can be increased. This allows for earlier braking or a warning to the teleoperator that earlier braking is necessary. This enables safer operation of the vehicle.

[0015] A further advantageous embodiment provides that the maximum speed is limited depending on the specific minimum distance to be maintained. For example, if a higher minimum distance is set, the maximum permitted speed can also be reduced, especially since the situation is more complex. This allows both the minimum distance and the speed to be reliably adjusted accordingly.

[0016] In a further advantageous embodiment, it is provided that a network quality for communication between the motor vehicle and a teleoperation service is additionally taken into account when adapting the driving dynamics parameter. If, for example, the network quality is poor, in particular if there are correspondingly high latencies in the signal transmission from the teleoperation service to the motor vehicle, corresponding driving dynamics parameters, such as the maximum speed or minimum distances, can also be adapted. Thus, a latency between the control signal input and the actual execution of the driving command between the teleoperation service and the motor vehicle can be taken into account accordingly, thereby enabling improved teleoperated driving of the motor vehicle.

[0017] It has also proven advantageous to adapt the driving dynamics parameter depending on the distance of the vehicle to a lateral object. If, for example, the distance between lateral objects and the vehicle is very small, for example due to a confined space, the corresponding speed can also be reduced. This allows the environment, especially the lateral distances, to be taken into account accordingly, enabling improved teleoperated driving of the vehicle.

[0018] It has also proven advantageous to consider a type of environment when determining the current situation. For example, a parking environment, an open road, appropriate terrain, and appropriate weather conditions can be considered. Based on the different types of environments, the current situation can be reliably determined, allowing appropriate parameters for the dependency of the environment type to be taken into account. This allows for reliable operation of the motor vehicle.

[0019] A further advantageous embodiment provides for a maximum steering angle to be limited for teleoperated driving. In particular, this allows for the maximum steering angle to be restricted accordingly, in addition to the speed and distance, so that critical driving situations can be prevented based on appropriate steering input. This increases safety for teleoperated driving.

[0020] A further advantageous embodiment provides for an emergency stop function to be provided in the motor vehicle, independent of any input during teleoperated driving. This allows an emergency stop to be implemented independently of any input from a teleoperator. In other words, the motor vehicle has an emergency stop function on the vehicle side, so that, for example, appropriate braking maneuvers to avoid collisions with objects can be performed automatically. This allows an automated emergency stop function to be provided even during teleoperated driving, further increasing road safety.

[0021] It is also advantageous if object detection is performed using the motor vehicle and the vehicle-based object detection is made available for teleoperated driving. For this purpose, an object detection algorithm can be provided on the vehicle side, for example. Appropriate object detection can then be performed, which can then be provided to the teleoperator. This provides the teleoperator with additional information about the environment and enables improved teleoperated driving.

[0022] According to a further advantageous embodiment, the surroundings on the motor vehicle side are converted into a bird's-eye view and the bird's-eye view is made available for teleoperated driving. For example, the bird's-eye view can essentially be a panoramic view from a bird's-eye view. In particular, a 360-degree image of the motor vehicle or of the surroundings with the motor vehicle can thus be realized. The teleoperator thus receives a corresponding overview in order to realize improved operation of the motor vehicle. The teleoperator therefore does not have to rely solely on a camera image of the motor vehicle, but can also rely on the bird's-eye view, which allows for improved parking maneuvers, particularly in parking situations, for example.

[0023] It is also advantageous if the reaction time of a teleoperator is also taken into account when adapting the driving dynamics parameter. In particular, this allows corresponding reaction times of the teleoperator to be taken into account. For example, a maximum speed or a minimum distance can then also be adapted according to the reaction time. If, for example, the teleoperator has a high reaction time, the maximum permitted speed can be reduced or the minimum distance increased. For example, the reaction time can be recorded via cameras of the teleoperation service. This leads to safe driving of the teleoperated vehicle.

[0024] The method presented is, in particular, a computer-implemented method. Therefore, a further aspect of the invention relates to a computer program product with program code means that, when the program code means are processed by the electronic computing device, cause an electronic computing device to perform a method according to the preceding aspect.

[0025] The invention also relates to a computer-readable storage medium with at least one computer program product according to the preceding aspect.

[0026] A further aspect of the invention relates to a driver assistance system for teleoperated driving of an at least partially automated motor vehicle, wherein the driver assistance system is configured to perform a method according to the preceding aspect. In particular, the method is performed by means of the driver assistance system.

[0027] For example, the driving assistance system can have an electronic computing device and a communications device on the teleoperation service side. Furthermore, the driving assistance system can have a communications device and an electronic computing device on the motor vehicle side. Corresponding control commands from the teleoperator can then be recorded via the electronic computing device and transmitted via the communications device to the additional communications device of the motor vehicle. The additional electronic computing device can then be configured to initiate movements of the motor vehicle based on the received control commands.

[0028] Advantageous embodiments of the method are to be regarded as advantageous embodiments of the computer program product, the computer-readable storage medium, and the driving assistance system. The driving assistance system has material features for this purpose in order to be able to carry out corresponding method steps.

[0029] In the present disclosure, a computing unit / electronic computing device can be understood, for example, as a data processing device with processing circuits. A computing unit can therefore perform computing operations to process data. The computing operations can also include indexed accesses to a data structure, for example, a look-up table (LUT).

[0030] A computing unit can in particular comprise one or more computers, one or more microcontrollers and / or one or more integrated circuits, for example one or more application-specific integrated circuits (ASICs), one or more field-programmable gate arrays (FPGAs), and / or one or more single-chip systems (SoCs). The computing unit can also contain one or more processors, for example one or more microprocessors, one or more central processing units (CPUs), one or more graphics processing units (GPUs), and / or one or more signal processors, in particular one or more digital signal processors (DSPs). The computing unit can also comprise a physical or virtual cluster of computers or other of the aforementioned units.

[0031] A computing unit may also include one or more hardware and / or software interfaces and / or one or more memory units. A memory unit may be embodied as a volatile data memory, for example, a dynamic random access memory (DRAM) or a static random access memory (SRAM), or as a non-volatile data memory, for example, a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory or flash EEPROM, a ferroelectric random access memory (FRAM),a magnetoresistive random access memory (MRAM) or a phase-change random access memory (PCRAM).

[0032] For applications or application situations that may arise in a method according to the invention and which are not explicitly described herein, it may be provided that, according to the method, an error message and / or a request to enter user feedback is output and / or a standard setting and / or a predetermined initial state is set.

[0033] Further features of the invention emerge from the claims, the figures and the description of the figures. The features and combinations of features mentioned above in the description as well as the features and combinations of features mentioned below in the description of the figures and / or shown in the figures can be encompassed by the invention not only in the respectively specified combination, but also in other combinations. In particular, the invention can also encompass embodiments and combinations of features that do not have all the features of an originally formulated claim. Furthermore, the invention can encompass embodiments and combinations of features that go beyond the combinations of features set out in the backreferences to the claims or deviate from them.

[0034] Showing: Fig. 1 is a schematic block diagram according to an embodiment of a driving assistance system; and Fig. 2 shows a further schematic block diagram according to an embodiment of a driving assistance system.

[0035] The invention is explained in more detail below with reference to specific embodiments and associated schematic drawings. In the figures, identical or functionally equivalent elements may be provided with the same reference numerals. The description of identical or functionally equivalent elements may not necessarily be repeated for different figures.

[0036] Fig. 1 shows a schematic block diagram according to one embodiment of a driving assistance system 1. The driving assistance system 1 has a teleoperation service 2 and a motor vehicle 3 configured for teleoperated driving. In the following exemplary embodiment, a teleoperator 4 is shown in particular. The teleoperator 4 can, for example, enter driving commands or control commands for the motor vehicle 3 via a corresponding operating device 5. The teleoperation service 2 has, for this purpose, an electronic computing device 6 which can, for example, process the corresponding driving commands. Furthermore, the teleoperation service 2 has a communication device 7. The communication device 7 can, in turn, communicate with a further communication device 8 of the motor vehicle 3. The motor vehicle 3 further has a further electronic computing device 9.Furthermore, the motor vehicle 3 in the present exemplary embodiment has an assistance system 10. The assistance system 10 is designed in particular for the at least partially automated operation of the motor vehicle 3. For this purpose, the assistance system 10 can, for example, intervene in a driving dynamics device 11. The driving dynamics device 11 can, for example, comprise a lateral acceleration device and / or a longitudinal acceleration device. Based on corresponding commands from the assistance system 10, an at least partially automated operation of the motor vehicle 3 can thus be initiated.

[0037] In particular, as shown here, the teleoperator 4 can now send driving commands accordingly to the motor vehicle 3, which can then in turn be implemented via the driving dynamics device 11.

[0038] Fig. 2 shows a further schematic block diagram according to an embodiment of a driving support system 1. In the present embodiment, the driving support system 1 is Fig. 1 is explained in more detail.

[0039] The motor vehicle 3 can, for example, have environment detection devices 12, 13, 14, 15. For example, a LIDAR sensor 12, a radar sensor 13, an ultrasonic sensor 14 or a camera 15 can be provided as the environment detection device 12, 13, 14, 15. Furthermore, the Fig. 2, the driving dynamics device 11, the assistance system 10, and at least the further electronic computing device 9 are shown. Furthermore, the electronic computing device 6 is shown on the side of the teleoperation service 2.

[0040] In particular, the Fig. 2 thus depicts the driving assistance system 1, which is designed to implement a method for the teleoperated driving of the motor vehicle 3. The surroundings of the motor vehicle 3 are detected, and a current situation for the motor vehicle 3 is determined based on the detected surroundings. At least one driving dynamics parameter for the teleoperated operation of the motor vehicle 3 is then adapted based on the determined current situation.

[0041] In particular, it can be provided that a maximum speed for teleoperated driving is limited depending on the specific situation. Furthermore, a minimum distance to be maintained from an object in the surroundings can be adapted depending on the specific situation. Furthermore, it can be provided that the maximum speed is limited depending on the specific minimum distance to be maintained. It can also be provided that a network quality for communication between the motor vehicle 3 and the teleoperation service 2 is additionally taken into account when adapting the driving dynamics parameter. Furthermore, it can be provided that the driving dynamics parameter is adapted depending on a distance of the motor vehicle 3 from a lateral object.

[0042] A further advantageous embodiment provides for a type of environment to be taken into account when determining the current situation. Furthermore, a maximum steering angle for teleoperated driving can also be limited.

[0043] It can also be provided that an emergency stop function 16 is provided in the motor vehicle 3, regardless of an input during teleoperated driving. Object detection can also be carried out by means of the motor vehicle 3, and the vehicle-side object detection can be provided for the teleoperated driving.

[0044] Furthermore, it can be provided that the environment is converted into a bird's-eye view on the vehicle side, and the bird's-eye view is provided for teleoperated driving. A reaction time of the teleoperator 4 can also be taken into account when adapting the driving dynamics parameter.

[0045] In particular, the invention proposes a driving assistance system 1 configured for 360-degree collision avoidance for teleoperated driving. The driving assistance system 1 connects, in particular, the assistance system 10 with the teleoperated operation of the motor vehicle 3, thus closely integrating various safety measures for collision avoidance and distributing the corresponding functions among the existing systems so that they complement each other.

[0046] By means of a perception device 20 (Perception), the current situation can be detected and, for example, it can be determined whether the motor vehicle 3 is in a parking environment without bicycles or on a public road environment with parking spaces with bicycles. A speed limit for the teleoperation service 2 can be dynamically set by analyzing the current situation and applying a corresponding algorithm. The current situation is then communicated to the teleoperation service 2, so that the teleoperator 4 is accordingly informed of the current situation.

[0047] Furthermore, it can be provided that, in the case of a correspondingly low latency or poor quality of the communication connection between the communication device 7 and the further communication device 8, a corresponding adaptation of the driving dynamics parameter can be carried out.

[0048] Furthermore, as already mentioned, in addition to the speed, a corresponding stopping distance, which is intended as a minimum distance, can also be set. For example, in the case of public lateral parking with bicycles, a correspondingly stricter scenario can be set than in parking environments without bicycles. In particular, since bicycles are not expected to appear suddenly, the corresponding stopping distance can be set accordingly. Furthermore, lateral objects, in particular the distances to lateral objects, can also be taken into account. In particular, the closer the motor vehicle 3 is to lateral objects, the lower the corresponding speed, which can be regarded as the maximum speed.

[0049] Furthermore, as already mentioned, the maximum steering angle can also be adjusted. In particular, if the teleoperator 4 steers with a large steering angle, the dynamic speed limit can be adjusted accordingly. In particular, even at large steering angles, the speed can be reduced accordingly to avoid a possible collision or to prevent the teleoperator 4 from becoming too nervous. The relationship between the speed limit and the change in the steering angle can, for example, be designed linearly with multiple turning points and with multiple gradients at an intersection point.

[0050] Furthermore, the corresponding parameter for dynamic speed limitation can be implemented, for example, taking into account the limitation of the obstacle detection of the assistance system 10. For example, if the sensor range is very short, for example, only 2.5 meters, and the driving scenario involves many other participants, the maximum stopping distance, in particular the minimum distance, can be set to 2.5 meters to ensure that the teleoperator 4 can stop the motor vehicle 3 before the collision as soon as the obstacle is detected at a distance of 2.5 meters. It can close the gap created by the limitation of the sensor range.

[0051] In particular, in order to reduce the so-called jitter of the speed limit, especially the speed limit based on the quality of the network connection, for example, based on a lost video stream, a mechanism can be used to quickly decrease the speed limit and slowly increase the speed limit by setting a different slope for the increasing and decreasing speed limit, for example, setting the slope for the increasing speed limit to 0.25 and the slope for the decreasing speed limit to 1.

[0052] Furthermore, it can be provided that a corresponding video stream of the surroundings of the motor vehicle 3 is also provided to the teleoperator 4 as augmented reality, so that, for example, dynamic driving paths, object boxes, and safety distances are displayed for the teleoperator 4. Furthermore, as already mentioned, a bird's-eye view is also offered, whereby a bird's-eye view can then also be displayed here. The teleoperator 4 can independently change the displayed view of the motor vehicle 3 or its surroundings. The corresponding information for the change can then be provided by the vehicle.

[0053] Furthermore, monitoring of the teleoperator 4 can also be implemented, so that, for example, distractions of the teleoperator 4 can be detected and, depending on a detected distraction, the driving dynamics parameter is adapted accordingly.

[0054] Furthermore, appropriate warning signals can be generated for the teleoperator 4, for example, if the motor vehicle 3 approaches too closely to an object. This allows the teleoperator 4 to be alerted to potential collisions at an early stage.

[0055] In particular, the invention proposes that the existing assistance system 10 for remote-controlled driving, in particular the teleoperation service 2, is provided, in particular with at least the camera 15, as well as the sensors and the perception or scenario identification and obstacle detection, the dynamic driving path display, the video processing and the 360-degree display, in order to develop a cost-effective and scenario-adaptive solution for remote-controlled driving.

[0056] The capabilities of the assistance system 10 are adapted by supporting adaptation measures, for example by refining algorithm parameters of the active safe motion control model for the teleoperation service 2, taking into account the limitations and performance of the obstacle detection of the assistance system 10, in order to close gaps created by the limitations of the assistance system 10.

[0057] The capabilities of the 360-degree collision protection of the assistance system 10 are supplemented by supporting, coordinated measures so that the teleoperation service 2 and the collision management of the motor vehicle 3 complement each other. The active, safe motion control model of the teleoperation service 2 preventively and gradually reduces the vehicle speed, for example, in order to reduce trigger times in the event of collisions with traffic behind. This allows an automated braking system of the assistance system 2 sufficient time to react. The emergency stop function 16 acts as a final safety measure if the teleoperation service 2 cannot stop the motor vehicle 3 in question in time.

[0058] Furthermore, redundant measures for active safe movement control of the assistance system 10 are proposed in order to achieve distributed, layered and step-by-step decision-making.

[0059] Furthermore, safety measures are added from the point of view of the human factor, for example, appropriate adjustment based on the video quality and the remote monitoring of the teleoperator 4 can be adjusted so that a more intuitive and clearer display and thus safe driving of the motor vehicle 3 can be realized.

[0060] The Fig. Figure 2 further shows that, for example, the vehicle dynamics device 11 can have a vehicle status device 17 as well as longitudinal and lateral acceleration devices 18. The assistance system 10 can have corresponding devices for this purpose. The assistance system 10 further has a video stream processing device 19, the perception device 20, and a driving path generation module 21. Furthermore, the collision avoidance system 22 and other functions 23 are shown in particular.

[0061] On the side of the further electronic computing device 9, a video transmission device 24 and a monitoring device 25 can be provided. Furthermore, a dynamic speed control device 26 and the emergency stop function 16 can be provided. Furthermore, in particular, a motion control adapter 27 and a motor vehicle status adapter 28 are provided.

[0062] On the teleoperation service side, for example, a screen device 29 is provided, which can display the surroundings of the motor vehicle 3 accordingly. Furthermore, the electronic computing device 6 also has a monitoring device 30, an emergency stop function 31, a dynamic speed limit display 32, and a collision warning 33. Furthermore, the control unit 5 and a motor vehicle status display 34 are shown. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] US 11731615 B2

[0005]

Claims

[1] Method for teleoperated driving of an at least partially automated motor vehicle (3), comprising the steps: - detecting an environment of the motor vehicle (3); - determining a current situation for the motor vehicle (3) depending on the detected environment; and - Adapting at least one driving dynamics parameter for the teleoperated driving of the motor vehicle (3) depending on the specific current situation. [2] Method according to claim 1, characterized by that, depending on the specific situation, a maximum speed for teleoperated driving is limited. [3] Method according to claim 1 or 2, characterized by that, depending on the specific situation, a minimum distance to be maintained from an object in the environment is adapted. [4] Method according to claim 3, characterized bythat the maximum speed is limited depending on the specific minimum distance to be maintained. [5] Method according to one of the preceding claims, characterized by that a network quality for communication between the motor vehicle (3) and a teleoperation service (2) is additionally taken into account when adapting the driving dynamics parameter. [6] Method according to one of the preceding claims, characterized by that the driving dynamics parameter is adapted depending on a distance of the motor vehicle (3) to a lateral object. [7] Method according to one of the preceding claims, characterized by that some type of environment is taken into account when determining the current situation. [8] Method according to one of the preceding claims, characterized by that a maximum steering angle for teleoperated driving is limited. [9] Method according to one of the preceding claims, characterized by that an emergency stop function (16) is provided in the motor vehicle (3) independently of an input in the teleoperated driving mode. [10] Method according to one of the preceding claims, characterized by that object recognition is carried out by means of the motor vehicle (3) and the motor vehicle-side object recognition is provided for the teleoperated driving operation. [11] Method according to one of the preceding claims, characterized by that the environment is converted into a bird's-eye view on the vehicle side and the bird's-eye view is provided for teleoperated driving. [12] Method according to one of the preceding claims, characterized by that a reaction time of a teleoperator (4) is additionally taken into account when adapting the driving dynamics parameter. [13] Computer program product with program code means which cause an electronic computing device (6, 9) to carry out a method according to one of claims 1 to 12 when the program code means are processed by the electronic computing device (6, 9). [14] A computer-readable storage medium comprising at least one computer program product according to claim 13. [15] Driving assistance system (1) for a teleoperated driving operation of an at least partially automated motor vehicle (3), wherein the driving assistance system (1) is designed to carry out a method according to one of claims 1 to 12.

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