Method and driver assistance device for supporting a driver when driving on different driving surfaces

Abstract

A driver assistance device is described that is designed to assist the driver of a motor vehicle while driving along a trajectory by displaying a graphical representation of the trajectory on a display unit. The driver assistance device is configured to determine that the trajectory has a first segment arranged on a first driving plane and a subsequent second segment arranged on a second driving plane that differs from the first. Furthermore, the driver assistance device is configured to highlight the first segment of the trajectory in the graphical representation compared to the second segment.

Description

[0001] The invention relates to a method and a corresponding driver assistance device designed to assist the driver of a vehicle when driving on different driving surfaces.

[0002] A vehicle may be equipped with a driver assistance device designed to record and store the vehicle's path, in particular its trajectory, during an initial journey. For example, trajectory data relating to the vehicle's path when parking in a parking space in a multi-story car park may be recorded and stored. The trajectory may extend from a first point (e.g., the entrance to the car park) to a second point (e.g., the parking space), with the second point potentially being located on a different level (e.g., a different floor of the car park) than the first point.

[0003] The stored trajectory data relating to the driving trajectory of the first trip can be used to assist the user, especially the driver, of the vehicle on a corresponding second trip along the stored driving trajectory. The second trip can be a return trip from the first point to the second point, or a return trip from the second point to the first point.

[0004] Assistance to the vehicle user during the second journey may include a graphical representation of the vehicle's trajectory for the second journey on a screen within the vehicle. Such a graphical representation can be confusing for the user, particularly when driving on multiple levels, which may impair the effectiveness and comfort of the driver assistance system.

[0005] In this context, DE 10 2013 215 960 A1 discloses a method for determining the position information of a vehicle, in which the vehicle's trajectory is determined based on movement information. Based on this trajectory, the floor information of a parking level or ramp in a parking garage on which the vehicle is located is automatically determined.

[0006] Furthermore, DE 10 2014 111 574 A1 describes a method for detecting the movement of a motor vehicle in a parking garage with at least one first parking level and a second parking level, which are connected by at least one ramp, wherein, while driving the motor vehicle up the ramp, at least one feature characterizing the ramp is detected with a motor vehicle-side unit and, based on this feature, a change of parking levels caused by the movement of the motor vehicle is recognized.

[0007] Furthermore, DE 10 2016 222 259 A1 discloses a method for providing data for a first trajectory and a second trajectory, in which trajectory data of the first and the second trajectory are recorded. Based on the recorded trajectory data, a comparison of the first and second trajectories is carried out, and in this comparison, at least one common section is determined.

[0008] Finally, DE 10 2022 133 408 A1 describes a method for path planning for a vehicle comprising providing a trajectory which describes several positions in at least three dimensions and determining a starting position and a target position for the vehicle along the trajectory.

[0009] This document addresses the technical challenge of improving the quality and / or comfort of a driver assistance device to support the driver of a vehicle while driving along a trajectory, in particular while driving along a recorded trajectory that extends over several driving levels.

[0010] The problem is solved by each of the independent claims. Advantageous embodiments are described, inter alia, in the dependent claims. It should be noted that additional features of a claim dependent on an independent claim, without the features of the independent claim itself or only in combination with a subset of the features of the independent claim, can constitute a separate invention independent of the combination of all features of the independent 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 constitute an invention independent of the features of the independent claims.

[0011] According to one aspect, a driver assistance device is described that is designed to support the driver of a motor vehicle while driving along a trajectory by displaying a graphical representation of the trajectory on a display unit. The display unit can, for example, be a screen or a head-up display. The display unit can be part of the vehicle or part of a (mobile) user device (e.g., a smartphone).

[0012] The journey can be a second journey that follows a trajectory recorded during a (previous) first journey. The first journey can be a trip from a first point (e.g., a starting point) to a second point (e.g., an endpoint). The second journey can be a corresponding return trip from the second point to the first point. Alternatively, the second journey can be a repetition of the first journey (in the same direction). Thus, the first journey can be a trip from the first point to the second point, and the second journey can be a repetition from the first point to the second point.

[0013] The driver assistance system can be configured to provide automated longitudinal and / or lateral control of the vehicle (e.g., during the first and / or second trip). Specifically, automated lateral control can be provided during the second trip. Longitudinal control can then be manually controlled by the driver, if necessary. The driver assistance system can be, in particular, a reversing assistant and / or a parking assistant. Alternatively, the second trip can be (if necessary, entirely) controlled manually by the driver (with regard to both longitudinal and lateral control).

[0014] During the initial trip, trajectory data relating to the trajectory of that first trip may have been determined and recorded. This trajectory data may specify the positions (e.g., within the x,y plane of a Cartesian coordinate system) of numerous waypoints along the trajectory recorded during the initial trip. Furthermore, the trajectory data may indicate the elevation profile of the trajectory (as a function of the waypoints). The trajectory data may have been determined based on sensor data from one or more vehicle sensors and / or based on a digital map of the area traveled by the vehicle.

[0015] The driver assistance device can be configured to determine the driving trajectory for the (second) journey based on the recorded trajectory data (for the first journey).

[0016] The driver assistance device is designed to determine that the driving trajectory has a first segment arranged on a first driving plane and a (in the direction of travel) subsequent second segment arranged on a second driving plane that differs from the first driving plane.

[0017] The first and second driving levels can be such that they have a distance along the vertical axis (especially along the z-axis of the Cartesian coordinate system) that is equal to or greater than a height threshold. The height threshold can depend on the height of the motor vehicle. Alternatively or additionally, the height threshold can depend on the typical floor height of different levels in a multi-story parking area (e.g., a multi-story car park or underground parking garage).

[0018] Alternatively or additionally, the first and second driving levels can be spaced far enough apart along the vertical axis to allow sufficient room for a roadway for motor vehicles. The first and second driving levels can, in particular, correspond to different levels of a multi-story parking garage. Alternatively, the first and second driving levels can correspond to different levels of a traffic intersection.

[0019] The driver assistance device is further configured to highlight the first segment of the driving trajectory in the graphical display compared to the second segment. The first segment can be highlighted compared to the second segment by... • the second segment is hidden, grayed out, or displayed transparently; and / or • a different color and / or shade is used for the first segment than for the second segment; and / or • a symbol, in particular a directional arrow and / or a traffic sign and / or a pictogram, is displayed, indicating the first segment.

[0020] By emphasizing or minimizing the graphical representation of a segment located on a different driving level (especially on a different floor of a parking area), the quality and comfort of the driver assistance device can be increased.

[0021] The driver assistance device can be configured to check whether or not there is an overlap between the first and second segments. In particular, it can check whether there is a graphical overlap of the first and second segments within the graphical representation of the driving trajectory (and thus whether the second segment at least partially covers the first segment (or vice versa)). Alternatively or additionally, it can check whether there is an overlap of the first and second segments of the driving trajectory along the vertical axis, such that one or more positions (especially waypoints) of the first segment and one or more positions (especially waypoints) of the second segment of the driving trajectory lie on top of each other along the vertical axis.

[0022] The first segment of the driving trajectory can be highlighted in the graphical representation compared to the second segment if, and specifically only if, it is determined that there is an overlap between the first and second segments. This allows for further improvements in the quality and comfort of the driver assistance system.

[0023] The driver assistance device can be configured to determine the altitude profile of the vehicle trajectory along its path (where the path typically lies within the (x, y) plane of the Cartesian coordinate system, and the individual waypoints of the path are arranged within the (x, y) plane of the Cartesian coordinate system). The altitude profile of the vehicle trajectory can be determined based on the trajectory data from the previous (first) trip. The vehicle's tilt and / or gradient sensor may have been used to acquire this trajectory data. Alternatively or additionally, the altitude profile of the vehicle traversed can be determined based on the digital map of the area traveled by the vehicle.

[0024] The driver assistance device can further be configured to determine, based on the height profile of the driving trajectory, that the driving trajectory has a first segment located on a first driving level and a subsequent second segment located on a second driving level. For this purpose, the driver assistance device can be configured to compare the height profile of the driving trajectory with the height threshold. It can then be determined with particular precision, based on this comparison, that the driving trajectory has a first segment located on a first driving level and a subsequent second segment located on a second driving level.

[0025] The driver assistance device can be configured, in particular, to determine a position (especially a waypoint) on the route of the driving trajectory at (especially from) where the altitude of the driving trajectory is equal to or greater than the altitude threshold. The driving trajectory can then be divided, with particular precision, into the first segment and the second segment based on, especially at, the determined position. The determined position (especially the determined waypoint) can correspond to the boundary between the first segment and the second segment.

[0026] By taking into account the altitude profile of the driving trajectory, the different driving planes of the trajectory can be identified in a particularly robust and precise manner. This allows for further improvements in the quality and comfort of driver assistance systems.

[0027] The driver assistance system can be configured to acquire image data of the vehicle's surroundings in the direction of travel, using at least one (surrounding) camera. Based on this image data, the graphical representation of the vehicle's trajectory on the display unit can then be overlaid with a representation of the vehicle's surroundings in the direction of travel. This further enhances the quality and comfort of the driver assistance system.

[0028] The driver assistance device can be configured, in particular based on sensor data from one or more environmental sensors of the vehicle and / or based on trajectory data and / or based on the driving trajectory, to generate a top-down view of the driving trajectory from a bird's-eye perspective as a graphical representation. Alternatively or additionally, a side view of the driving trajectory can be generated as a graphical representation, showing the course of the driving trajectory's altitude.

[0029] The driver assistance system can be configured to allow the driver to switch between top and side views. In both views, the first segment of the driving trajectory can be highlighted over the second. This consistent switching between different views can further enhance the quality and comfort of the driver assistance system.

[0030] The driver assistance system can be configured to detect, while driving, that the vehicle has reached a position (in particular, a waypoint) along the route of the driving trajectory at which the transition from the first driving level to the second driving level occurs (and thus the driving trajectory rises or falls). For example, it can detect that the altitude of the driving trajectory is rising or falling (and may have a gradient that is equal to or greater than a predefined gradient threshold). In response to this detection, the emphasis on the first segment compared to the second segment can be reduced, in particular eliminated. This further enhances the quality and comfort of the driver assistance system.

[0031] When evaluating the gradient of the driving trajectory, one or more short-term changes in gradient (e.g., due to one or more speed bumps) can be detected. If a short-term change in gradient is detected, it may be possible to prevent the first segment from being emphasized more than the second. This can further improve the quality and comfort of the driver assistance system.

[0032] According to another aspect, a (road) motor vehicle (in particular a passenger car or a truck or a bus or a motorcycle) is described that includes the driver assistance device described in this document.

[0033] According to another aspect, a method for assisting the driver of a motor vehicle while traveling along a trajectory is described by displaying a graphical representation of the trajectory on a display unit. The method includes determining that the trajectory has a first segment arranged on a first driving plane and a subsequent second segment arranged on a second driving plane that differs from the first. Furthermore, the method includes highlighting the first segment of the trajectory in the graphical representation in contrast to the second segment.

[0034] It should be noted that the aspects described in connection with the device, in particular the claims described in connection with the device, are also applicable to the method as corresponding process features.

[0035] According to another aspect, a software (SW) program is described. The SW program can be set up to run on a processor (e.g., on a vehicle's control unit) and thereby execute at least one of the procedures described in this document.

[0036] According to another aspect, a storage medium is described. The storage medium can include a software program that is configured to run on a processor and thereby execute at least one of the procedures described in this document.

[0037] It should be noted that the methods, devices, and systems described in this document can be used both alone and in combination with other methods, devices, and systems described in this document. Furthermore, any aspect of the methods, devices, and systems described in this document can be combined with one another in a variety of ways. In particular, the features of the claims can be combined with one another in a variety of ways. Features listed in parentheses are to be understood as optional features.

[0038] The invention will now be described in more detail using exemplary embodiments. Fig. 1. Exemplary components of a vehicle; Fig. 2a different floors of a multi-story parking area as an example of a driving area with multiple driving levels; Fig. 2b an exemplary driving trajectory extending over several driving levels; Fig. 2c an exemplary graphical representation of the travel trajectory from Fig. 2b from a bird's-eye view; Fig. 2d an exemplary graphical representation of the driving trajectory from Fig. 2b in a side view; Fig. 3a an exemplary graphical representation of the travel trajectory from Fig. 2b with a highlighted first segment; Fig. 3b an exemplary graphical representation of the driving trajectory from Fig. 2b with a highlighted first segment; and Fig. 4 A flowchart of an exemplary procedure for assisting a vehicle user during a journey along a driving trajectory.

[0039] As stated at the outset, this document deals with increasing the quality and / or comfort of a driver assistance device, in particular with regard to the vehicle's driving trajectory displayed during a journey.

[0040] Fig. Figure 1 shows an exemplary vehicle 100 with one or more environmental sensors 102 (e.g., a camera, a radar sensor, a lidar sensor, etc.) and one or more vehicle sensors 103 (e.g., a steering sensor, a speed sensor, an inertial measurement unit (IMU), etc.). A (control) device 101 of the vehicle 100 can be configured to acquire trajectory data relating to the driving trajectory driven during an initial journey (e.g., during a shunting maneuver) based on the sensor data from the one or more environmental sensors 102 and / or based on the one or more vehicle sensors 103, and to store this data in a storage unit (not shown) of the vehicle 100.

[0041] The vehicle 100 may further comprise one or more longitudinal and / or lateral guidance actuators 104, which are configured to effect at least partially automated longitudinal and / or lateral guidance of the vehicle 100. Examples of actuators 104 are a drive motor, a steering device, and / or a braking device. The (control) device 101 may be configured to control the one or more actuators 104 during a second journey, depending on the trajectory data relating to the first journey, in order to assist the driver of the vehicle 100 during the return journey.

[0042] Furthermore, the vehicle 100 includes a display unit 105, which is, for example, located on the dashboard and / or on the head unit of the vehicle 100. The display unit 105 can comprise a screen (in particular an LCD, LED, or OLED screen), a projector, and / or a head-up display. The device 101 can be configured to cause image data from a camera 102 of the vehicle 100 to be displayed on the display unit 105 during a second journey. In particular, the surroundings in front of the vehicle 100 in the direction of travel (in the form of a video) can be displayed.

[0043] The device 101 can further be configured to determine a driving trajectory for the second drive based on the trajectory data acquired during the first drive and to display it graphically on the display unit 105, superimposing it on the image data from the camera 102 of the vehicle 100. The displayed driving trajectory (also referred to in this document as the display trajectory) can indicate to the user, in particular the driver, of the vehicle 100 how the vehicle 100 should be guided longitudinally and / or laterally during the second drive, in particular to guide the vehicle 100 along the recorded driving trajectory. The longitudinal and / or lateral guidance of the vehicle 100 during the second drive can be carried out automatically by the vehicle 100 or manually by the driver.If the longitudinal and / or lateral control of vehicle 100 is automated, the depicted driving trajectory can assist the driver in monitoring this automated control. If the longitudinal and / or lateral control is manually controlled by the driver, the depicted driving trajectory can serve as a reference point for the driver's intended longitudinal and / or lateral control.

[0044] The vehicle 100 can, as in Fig. As shown in Figure 2a, the vehicle 100 enters parking area 200 from the first floor 201 of a multi-story parking area 200. The vehicle 100 can then, if necessary, drive via a ramp 202 to another (second) floor 201 of parking area 200, where there is a parking area with parking spaces. The vehicle 100 can be parked in a parking space on the second floor 201 of parking area 200.

[0045] The in Fig. The multi-story parking area shown in Figure 2a is an example of a driving area 200 for vehicle 100, which has several different driving levels 201 (e.g., floors). A trajectory driven by vehicle 100 in such a driving area 200 can therefore extend over different driving levels 201.

[0046] Fig. Figure 2b shows an example of a driving trajectory 210 for a journey 213 of vehicle 100, extending from a first point 211 to a second point 212. The circular section of the driving trajectory 210 can correspond to a change of driving level 201 from a first driving level 201 to a second driving level 201. The driving trajectory 210 may have been recorded during a first journey and stored in a memory unit of vehicle 100. Alternatively, the driving trajectory 210 may have been determined for a journey of vehicle 100 (e.g., based on the sensor data of one or more environmental sensors 102 of vehicle 100 and / or based on a digital map for the driving area 200).

[0047] The Fig. 2c and Fig. Figures 2d show exemplary graphical representations 220 and 230 of the travel trajectory 210. In particular, they show Fig. 2c a top view of the travel trajectory 210 and of the vehicle 100. Fig. Figure 2d shows a side view of the travel trajectory 210 and the vehicle 100.

[0048] Out of Fig. As shown in Figure 2c, it is evident that, in the case of a driving trajectory 210 extending over several driving levels 201, the top view can be particularly confusing for the user of the vehicle 100, since several segments 221, 222 of the driving trajectory 210 overlap. In particular, part of the first segment 221 of the driving trajectory 210, which runs on a first driving level 201, may be obscured by part of the second segment 222 of the driving trajectory 210, which runs on a different second driving level 201. This can be perceived as confusing by a user of the vehicle 100, thereby impairing the quality and / or comfort of the driver assistance device 101.

[0049] The (driver assistance) device 101 can be configured to recognize that a driving trajectory 210 to be displayed extends over several driving levels 201. In particular, the device 101 can be configured to recognize that the driving trajectory 210 to be displayed has a first segment 221 that runs in a first driving level 201, and a subsequent second segment 222 that runs in a second driving level 201 (which differs from the first driving level 201).

[0050] It can then be ensured that the first segment 221 is highlighted in the graphic representation 220, 230 in contrast to the second segment 222. This is exemplified in the Fig. 3a and Fig. 3b is shown, where in Fig. 3a a (the Fig. 2c corresponding) top view and in Fig. 3b a (the Fig. The corresponding 2D side view is displayed. Fig. 3a and Fig. 3b the second segment 222 is shown as a dotted line, while the first segment 221 is shown as a solid line to distinguish the first segment 221 from the second segment 222. This allows the vehicle 100's driving trajectory 210 to be clearly displayed on the vehicle 100's display unit 105, thereby increasing the quality and / or comfort of the driver assistance device 101.

[0051] The device 101 can be configured to check whether the first segment 221 and the second segment 222 overlap and / or superimpose. In particular, it can check whether a subsequent (second) segment 222 overlaps the first segment 221. In such a case, the first segment 221 can be highlighted in relation to the second segment 222 (and, if applicable, in relation to all subsequent segments of the trajectory 210). In particular, the second segment 222 (and, if applicable, the one or more subsequent segments) can be hidden.

[0052] The device 101 can be configured to analyze the height of the vehicle 100's trajectory 210. The height of the trajectory 210 refers to the vertical axis of the vehicle 100 and / or to the z-axis of a Cartesian coordinate system. In particular, the profile of the height of the trajectory 210 can be analyzed as a function of the vehicle 100's position or waypoints within the plane spanned by the x- and y-axes of the Cartesian coordinate system. The device 101 can optionally provide a value for the height along the z-axis for each (x, y) position (i.e., for each waypoint) of the trajectory 210.

[0053] Based on the elevation profile of the trajectory 210, it can be determined that a transition from a first driving level 201 to a second driving level 201 occurs along the trajectory 210. For example, the elevation of the trajectory 210 can be compared to an elevation threshold. As long as the elevation is less than the elevation threshold, it can be determined that the trajectory 210 is in the first driving level 201. As soon as the elevation is equal to or greater than the elevation threshold, it can be determined that the trajectory 210 has transitioned to the second driving level 201. At this position (i.e., waypoint), the first segment 221 of the trajectory 210 may end, and / or at this position (i.e., waypoint), the second segment 222 of the trajectory 210 may begin.

[0054] The height threshold can depend on the (construction) height of the vehicle (100). Alternatively or additionally, the height threshold can depend on a typical distance between successive levels of a multi-story parking area.

[0055] The altitude of the driving trajectory 210 can be determined during the recording of the driving trajectory 210 using an inclination sensor and / or a gradient sensor 103 of the vehicle 100. Alternatively or additionally, the altitude of the driving trajectory 210 can be determined based on a digital map for the driving area 200 traversed by the vehicle 100.

[0056] As already explained, the device 101 can be configured to highlight the first segment 221 (which is initially traversed by the vehicle 100) in contrast to the second segment 222 (which is traversed by the vehicle 100 only after the first segment 221). This highlighting can be achieved by hiding the second segment 222 (and one or more further subsequent segments).

[0057] Fig. Figure 4 shows a flowchart of a (possibly computer-implemented) method 400 for assisting the driver of a motor vehicle 100 during a journey 213 along a trajectory 210 by displaying a graphical representation 220, 230 of the trajectory 210 on a display unit 105 (of the motor vehicle 100). The method 400 can be executed by a (control) device 101 of the motor vehicle 100.

[0058] Trip 213 can be a repeat (in the same or opposite direction) of a previously defined driving maneuver. Trajectory data relating to the distance traveled during the maneuver (including the elevation profile) may have been recorded. The driving trajectory 210 may have been determined based on the recorded trajectory data.

[0059] Method 400 comprises determining 401 that the driving trajectory 210 has a first segment 221 arranged on a first driving level 201, and a subsequent second segment 222 arranged on a second driving level 201 that differs from the first driving level 201. The different driving levels 201 can correspond to different levels of a multi-story parking area. Alternatively, the different driving levels 201 can correspond to different levels of lanes of a traffic intersection.

[0060] Furthermore, the procedure 400 includes highlighting 402 the first segment 221 of the driving trajectory 210 in the graphical representation 220, 230 compared to the second segment 222 of the driving trajectory 210. The highlighting 402 can be achieved by hiding the second segment 222 (at least temporarily).

[0061] The measures described in this document can increase the comfort and reliability of a driver assistance device.

[0062] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and the figures are intended only to illustrate the principle of the proposed methods, devices, and systems by way of example.

Claims

[1] Driver assistance device (101) which is designed to assist a driver of a motor vehicle (100) during a journey (213) along a journey trajectory (210) by outputting a graphic representation (220, 230) of the journey trajectory (210) on a display unit (105); wherein the driver assistance device (101) is configured - to determine that the travel trajectory (210) has a first segment (221) arranged on a first travel plane (201) and a subsequent second segment (222) arranged on a second travel plane (201) that is different from the first travel plane (201); and - to highlight the first segment (221) of the travel trajectory (210) in the graphic representation (220, 230) compared to the second segment (222) of the travel trajectory (210). [2] Driver assistance device (101) according to claim 1, wherein the driver assistance device (101) is arranged - to check whether there is an overlap of the first segment (221) and the second segment (222); and - to highlight the first segment (221) of the travel trajectory (210) in the graphic representation (220, 230) compared to the second segment (222) of the travel trajectory (210) if it is determined, in particular only if it is determined, that there is an overlap of the first segment (221) and the second segment (222). [3] Driver assistance device (101) according to claim 2, wherein the driver assistance device (101) is configured to check whether - a graphical superposition of the first segment (221) and the second segment (222) is present within the graphical representation (220, 230) of the travel trajectory (210); and / or - there is an overlay of the first segment (221) and the second segment (222) of the travel trajectory (210) along a vertical axis, so that one or more positions of the first segment (221) and one or more positions of the second segment (222) of the travel trajectory (210) lie one above the other along the vertical axis. [4] Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured - to determine a profile of a height of the travel trajectory (210) along a path of the travel trajectory (210); and - to determine, on the basis of the profile of the height of the travel trajectory (210), that the travel trajectory (210) has a first segment (221) arranged on a first travel plane (201) and a subsequent second segment (222) arranged on a second travel plane (201). [5] Driver assistance device (101) according to claim 4, wherein the driver assistance device (101) is arranged - to compare the course of the altitude of the travel trajectory (210) with a height threshold value; and - to determine on the basis of the comparison that the travel trajectory (210) has a first segment (221) arranged on a first travel plane (201) and a subsequent second segment (222) arranged on a second travel plane (201). [6] Driver assistance device (101) according to one of claims 4 to 5, wherein the driver assistance device (101) is arranged - to determine the course of the height of the travel trajectory (210) on the basis of trajectory data that were recorded during a previous journey of the motor vehicle (100), in particular using an inclination and / or gradient sensor (103) of the motor vehicle (100); and / or - to determine the course of the height of the travel trajectory (210) on the basis of a digital map for a travel area (200) traveled by the motor vehicle (100). [7] Driver assistance device (101) according to one of claims 4 to 6, wherein the driver assistance device (101) is arranged - to determine a position on the route of the travel trajectory (210) at which the course of the altitude of the travel trajectory (210) is equal to or greater than the altitude threshold value; and - to divide the travel trajectory (210) into the first segment (221) and the second segment (222) on the basis, in particular, of the determined position. [8] Driver assistance device (101) according to one of claims 4 to 7, wherein - the height threshold depends on a height of the motor vehicle (100); and / or - the height threshold depends on a typical floor height of different floors of a multi-story parking area. [9] Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured to emphasize the first segment (221) relative to the second segment (222) in that - the second segment (222) is hidden or greyed out or displayed transparently; - a different colour and / or shade is used for the first segment (221) than for the second segment (222); and / or - a symbol, in particular a directional arrow and / or a traffic sign and / or a pictogram, is displayed which indicates the first segment (221). [10] Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured, during the journey (213), - using at least one camera (102) of the vehicle (100), to determine image data relating to an environment of the vehicle (100) lying in front of the vehicle (100) in the direction of travel; and - on the basis of the image data, to cause the graphic representation (220, 230) of the travel trajectory (210) to be superimposed on the display unit (105) with a representation of the surroundings of the vehicle (100) lying in front of the vehicle (100) in the direction of travel. [11] Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured, in particular on the basis of sensor data from one or more environmental sensors (102), - to generate a top view of the travel trajectory (210) from a bird's eye view as a graphic representation (220); and / or - to generate a side view of the travel trajectory (210) as a graphic representation (230), from which a course of a height of the travel trajectory (210) emerges. [12] Driver assistance device (101) according to claim 11, wherein the driver assistance device (101) is configured to allow the driver to switch between the top view and the side view; wherein in the top view and in the side view, the first segment (221) is highlighted relative to the second segment (222) of the driving trajectory (210). [13] Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured - to detect during the journey (213) that the motor vehicle (100) has reached a position along a path of the travel trajectory (210) from which a transition from the first driving plane (201) to the second driving plane (202) takes place; and - in response to the detection, to cause the highlighting of the first segment (221) relative to the second segment (222) to be reduced, in particular eliminated. [14] Driver assistance device (101) according to one of the preceding claims, wherein - the first and second travel planes (201) have a distance along a vertical axis that is equal to or greater than a height threshold; and / or - the first and second driving levels (201) are spaced apart from each other along the vertical axis to such an extent that there is sufficient space between the first and second driving levels (201) for a roadway for motor vehicles; and / or - the first and second travel levels (201) correspond to different floors of a multi-level parking area; and / or - the first and second driving levels (201) correspond to different levels of a traffic junction. [15] Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured to guide the motor vehicle (100) longitudinally and / or transversely along the travel trajectory (210) during the journey (213) at least partially or completely automatically. [16] Method (400) for assisting a driver of a motor vehicle (100) during a journey (213) along a journey trajectory (210) by outputting a graphical representation (220, 230) of the journey trajectory (210) on a display unit (105); wherein the method (400) comprises - determining (401) that the travel trajectory (210) has a first segment (221) arranged on a first travel plane (201) and a subsequent second segment (222) arranged on a second travel plane (201) that is different from the first travel plane (201); and - highlighting (402) the first segment (221) of the travel trajectory (210) in the graphical representation (220, 230) compared to the second segment (222) of the travel trajectory (210).

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