Method and apparatus for selecting a direction option for a vehicle

Abstract

A device for operating a driving function for the automated longitudinal and / or lateral guidance of a motor vehicle is described. The device is configured to detect a traffic sign on or at a roadway traveled by the motor vehicle, wherein the traffic sign indicates several different directional options for the continued travel of the motor vehicle. Furthermore, the device is configured to effect a selection output via a user interface of the motor vehicle, which enables the user of the motor vehicle to select one of the different directional options of the traffic sign and to operate the driving function for the automated longitudinal and / or lateral guidance of the motor vehicle depending on the directional option selected by the user.

Description

[0001] The invention relates to a method and a corresponding device designed to assist the user of a vehicle with automated longitudinal and / or lateral guidance in controlling the vehicle.

[0002] A vehicle may have one or more driving functions, in particular driver assistance functions, each of which is designed to automatically guide the vehicle longitudinally and / or laterally. This document addresses the technical task of enabling a particularly safe and reliable interaction between a vehicle user and an automated driving function.

[0003] The problem is solved by each of the independent claims. Advantageous embodiments are described, among other things, in the dependent claims. It should be noted that additional features of a patent claim dependent on an independent patent claim can form a separate invention, independent of the combination of all features of the independent patent claim, without the features of the independent patent claim or only in combination with a subset of the features of the independent patent claim, which invention can be made the subject of an independent claim, a divisional application or a subsequent application. This applies equally to technical teachings described in the description, which can form an invention independent of the features of the independent patent claims.

[0004] According to one aspect, a device for operating a driving function for the automated longitudinal and / or transverse guidance of a motor vehicle is described. The driving function can, for example, be configured to automatically guide the motor vehicle longitudinally in a specific lane of a roadway at a specific target speed and / or at a specific target distance from a vehicle in front. Alternatively or additionally, the driving function can be configured to automatically guide the motor vehicle transversely within the specific lane. The driving function can, if necessary, also be configured to perform an automated lane change to another lane of the roadway.

[0005] The device is configured, in particular based on sensor data from one or more environmental sensors of the motor vehicle, to detect a traffic sign (in particular a road sign) on or at the roadway traveled by the motor vehicle, wherein the traffic sign indicates several different directional options for the motor vehicle's continued travel. The different directional options can be indicated on the traffic sign, for example, in the form of directional arrows and / or in the form of text.

[0006] The device can be configured to recognize the traffic sign based on camera data from at least one surrounding camera of the motor vehicle. The different directional options of the traffic sign can then be determined by (image) analysis of the camera data, in particular by image recognition of the one or more directional arrows and / or the text indicating the different directional options on the traffic sign.

[0007] Alternatively or additionally, the device can be configured to recognize the traffic sign based on a digital map for the road network traveled by the motor vehicle. The digital map can indicate the course of the lanes of the road network. Furthermore, traffic signs (e.g. for speed limits and / or for direction information) can be shown on the digital map. The position of the individual traffic signs can be indicated, for example, using coordinates from a global navigation satellite system (GNSS). The motor vehicle can have a GNSS receiver to determine the current position of the motor vehicle. Based on the current position of the motor vehicle, the traffic sign can then be recognized based on the digital map. Furthermore, the different direction options of the traffic sign can be determined based on the digital map.

[0008] The device is further configured to effect a selection output via a user interface of the motor vehicle, which enables the user, in particular the driver, of the motor vehicle to select one of the different direction options of the traffic sign. The device can in particular be configured to display a graphic representation on a screen of the user interface as a selection output, each graphic representation having a menu item for the different direction options. Furthermore, a user input can be detected via the user interface, by means of which one of the menu items for the different direction options is selected. The screen is preferably a touch-sensitive screen. The device can be configured to detect a touch of a menu item displayed on the screen as user input.The direction option associated with the selected menu item can then be used as the direction option selected by the user.

[0009] The device is thus configured to interpret a detected traffic sign (through image analysis) and to recognize the different direction options indicated by the traffic sign. The different direction options can be made selectable for the user of the motor vehicle, allowing the user to select one of the different direction options (e.g., by touch).

[0010] The device is further configured to operate the driving function for automated longitudinal and / or lateral guidance of the motor vehicle depending on the direction option selected by the user.

[0011] In particular, the device can be configured to determine, based on the sensor data from one or more environmental sensors and / or based on a digital map of the road network traveled by the motor vehicle, one or more lane changes that must be performed for the motor vehicle to continue driving along the selected directional option. For example, for a directional option to the right (or left), it can be detected that one or more lane changes to the right (or left) must be performed in order to continue driving along the selected directional option.

[0012] During operation of the driving function, it can be ensured that one or more lane changes are carried out automatically, or that one or more lane changes are suggested for manual execution by the driver of the motor vehicle via the user interface.

[0013] By recognizing and providing a selection option for the direction options indicated by a traffic sign, a particularly comfortable and reliable interaction of a vehicle user with an automated driving function can be provided.

[0014] The device can be configured to determine a graphical representation of the roadway on which the motor vehicle is traveling based on the sensor data from the one or more environmental sensors. The graphical representation can include a representation of the traffic sign arranged on or at the roadway. Furthermore, the graphical representation of the roadway can include a representation of one or more lanes of the roadway, a representation of one or more other vehicles traveling on the roadway, and / or a representation of the motor vehicle itself. The graphical representation can be displayed on a (touch-sensitive) screen of the user interface of the motor vehicle.

[0015] By providing a graphical representation of the traffic situation in which the motor vehicle is located, a particularly comfortable and reliable interaction of the user with the driving function can be provided.

[0016] The device can be configured to display the representation of the traffic sign as a user-selectable element in the graphical representation (whereby the element can be selected, for example, by touching the element). A user input can then be detected via the user interface, if applicable, to the effect that the representation of the traffic sign has been selected by the user. The selection output (to provide the option to select one of the traffic sign's direction options) can be triggered (if applicable) in response to the detected user input. This can further increase the convenience and reliability of the user's interaction with the driving function.

[0017] The device can be configured, particularly within the representation of the traffic sign, to display a selectable menu item for each of the different direction options as a selection output. In particular, the user can be enabled to select any of the direction options displayed on the traffic sign directly by touching the corresponding area of the displayed traffic sign. This can further increase the convenience and reliability of the user's interaction with the driving function.

[0018] The device can be configured to detect a user input that deselects the selected direction option. In particular, the user can be enabled to undo the previously selected selection of a specific direction option. Deselecting or undoing can be enabled via the graphical representation (e.g., by touching an element displayed in the graphical representation).

[0019] It can then be ensured that the deselected direction option is no longer taken into account when operating the driving function for automated longitudinal and / or lateral guidance of the vehicle.

[0020] The selection of a direction option can, for example, occur while active destination and / or route guidance of the motor vehicle is in progress. For example, a destination may have been set within the motor vehicle's navigation system. Furthermore, a route may have been determined for this destination, along which the motor vehicle is guided longitudinally and / or transversely (possibly automatically). The selection of a specific direction option can result in the active route guidance being interrupted or adjusted (depending on the selected direction option). Deselecting or reversing the selected direction option can result in the route guidance being reactivated and / or adjusted again (without taking the deselected direction option into account). This can result in particularly convenient automated longitudinal and / or transverse guidance of the motor vehicle.

[0021] According to a further aspect, a (road) motor vehicle (in particular a passenger car or a truck or a bus or a motorcycle) is described which comprises the device described in this document.

[0022] According to one aspect, a method for operating a driving function for automated longitudinal and / or lateral guidance of a motor vehicle is described. The method comprises detecting, in particular based on sensor data from one or more environmental sensors of the motor vehicle, a traffic sign on or at a roadway traveled by the motor vehicle, wherein the traffic sign indicates several different directional options for further travel of the motor vehicle. The method further comprises effecting a selection output via a user interface of the motor vehicle, which enables a user of the motor vehicle to select one of the different directional options of the traffic sign, and operating the driving function for automated longitudinal and / or lateral guidance of the motor vehicle depending on the directional option selected by the user.

[0023] 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 to be applied to the method as corresponding method features.

[0024] According to another aspect, a software (SW) program is described. The SW program can be configured to be executed on a processor (e.g., on a control unit of a vehicle) and thereby to carry out the method described in this document.

[0025] According to a further aspect, a storage medium is described. The storage medium may comprise a software program configured to be executed on a processor and thereby to carry out the method described in this document.

[0026] 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 aspects of the methods, devices, and systems described in this document can be combined in a variety of ways. In particular, the features of the claims can be combined in a variety of ways. Furthermore, features listed in parentheses are to be understood as optional features.

[0027] The invention will be described in more detail below with reference to exemplary embodiments. Fig. 1 exemplary components of a vehicle; Fig. 2a an exemplary driving situation of the vehicle; Fig. 2b an exemplary traffic sign with multiple direction options; Fig. 3a to 3c show exemplary selection outputs for selecting a direction option; and Fig. 4 is a flowchart of an exemplary method for selecting a direction option for the onward travel of a vehicle.

[0028] As stated at the beginning, this document deals with increasing the comfort and / or reliability of a vehicle user's interaction with an automated driving function of the vehicle. In this context, Fig. 1 shows an exemplary vehicle 100 with one or more environmental sensors 102, each configured to collect sensor data (also referred to as environmental data) relating to the surroundings of the vehicle 100. Exemplary environmental sensors 102 include a camera, a radar sensor, a lidar sensor, an ultrasonic sensor, etc.

[0029] A (control) device 101 of the vehicle 100 can be configured to evaluate the environmental data, e.g., to detect one or more objects (e.g., other vehicles and / or traffic signs) in the environment of the vehicle 100. The device 101 can further be configured to effect automated longitudinal and / or lateral guidance of the vehicle 100 based on the environmental data, in particular based on the one or more detected objects. For this purpose, one or more longitudinal and / or lateral guidance actuators 103 (e.g., a drive motor, a braking device, and / or a steering device) of the vehicle can be controlled.

[0030] The automated longitudinal guidance of the vehicle 100 can be effected, for example, by a speed and / or distance controller. Based on the surrounding data, the actual distance between the vehicle 100 and a vehicle traveling directly in front of the vehicle 100 can be determined. Furthermore, the actual distance can be set, in particular regulated, to a predefined target distance by the distance controller. The target distance can be set by the user, for example, via a user interface 104 of the vehicle 100.

[0031] Alternatively or additionally, automated lateral guidance of the vehicle 100 can be effected, e.g., to drive the vehicle 100 within a specific lane, and / or to perform automatic lane changes and / or turning maneuvers.

[0032] Fig. 2a shows an exemplary traffic situation in which the vehicle 100 is traveling on a roadway 200 towards a traffic junction. In the Fig. In the example shown in Figure 2a, another vehicle 205 is traveling on lane 200. The traffic junction has several different outgoing lanes 201, 202, 203, along which the vehicle 100 can each drive out of the traffic junction.

[0033] The traffic junction is announced by a traffic sign 210, in particular by a traffic sign. On the traffic sign 210, typically, as exemplified in Fig. 2b, the different outgoing lanes 201, 202, 203 are indicated as different direction options 211, 212, 213. The different direction options 211, 212, 213 can each include, • a direction arrow indicating the direction of the respective direction option 211, 212, 213; and / or • Text indicating a destination (e.g. the name of a city) associated with the respective direction option 211, 212, 213.

[0034] The (control) device 101 of the vehicle 100 can be configured to recognize the traffic sign 210 based on the sensor data of the one or more surrounding sensors 102, in particular based on the camera data of at least one surrounding camera, of the vehicle 100. Furthermore, the different direction options 211, 212, 213 indicated by the traffic sign 210 can be identified, e.g., using an image analysis algorithm.

[0035] The device 101 can optionally be configured to check the direction options 211, 212, 213 determined on the basis of the traffic sign 210 using a digital map for the road network traveled by the vehicle 100. Using a position sensor 105 (e.g., using a GNSS (Global Navigation Satellite System) receiver), the current position of the vehicle 100 within the road network can be determined. Based on the current position of the vehicle 100, the upcoming traffic junction can be identified in the digital map. Furthermore, it can be determined which direction options for this traffic junction are shown in the digital map. It can then be checked whether the direction options shown in the map correspond to the direction options 211, 212, 213 recognized on the basis of the traffic sign 210. In this way, the reliability of the detected directional options 211, 212, 213 can be further increased.

[0036] The device 101 can further be configured to offer the user of the vehicle 100 the different direction options 211, 212, 213 of the traffic sign 210 for selection via the user interface 104. For this purpose, the different direction options 211, 212, 213 can be displayed on a screen of the user interface 104. Furthermore, the user interface 104 can detect a user input indicating which of the different direction options 211, 212, 213 was selected by the user. The selected direction option 211, 212, 213 can then be taken into account during the further operation of the vehicle 100, in particular during the automated longitudinal and / or lateral guidance of the vehicle 100. In particular, the vehicle 100 can be automatically guided longitudinally and / or transversely along the selected direction option 211, 212, 213.

[0037] Fig. 3a to 3c show exemplary graphical representations 310, 320, 330, which can each be output as a selection output for the selection of the recognized direction options 211, 212, 213 via a screen of the user interface 104. Fig. 3a shows a representation of the traffic sign 210 as illustration 310. The (typically textual) direction options 211, 212, 213 of the traffic sign 210 have each been replaced by a menu item 311, 312, 313, which can be directly selected by the user in order to select the respective corresponding direction option 211, 212, 213. The selection can be made, for example, by touching the respective menu item 311, 312, 313 (e.g., menu item 312 in Fig. 3a) on a touch-sensitive screen of the user interface 104.

[0038] Fig. 3b shows a graphical representation 320 in which, next to the representation of the traffic sign 210, additional menu items 311, 312, 313 (e.g. in the form of a list) are displayed, which can be selected by the user through a user input.

[0039] In a preferred example, the graphical representation 330 comprises, as exemplified in Fig. 3c shows a representation of the current traffic situation of the vehicle 100, wherein the representation shows the currently traveled lane 200, possibly one or more other vehicles 205, possibly the vehicle 100 itself, and the traffic sign 210 with the direction options 211, 212, 213. The graphical representation of the current traffic situation can enable a particularly convenient and reliable selection of a direction option 211, 212, 213. The menu items 311, 312, 313 for the different direction options 211, 212, 213 can be provided to the side of the graphical representation of the current traffic situation (as in Fig. 3c), or can be provided directly within the graphical representation of the current traffic situation.

[0040] Thus, real, recognized road signs 210 can be displayed for navigation in a vehicle environment visualization 330 on a screen, in particular on a touchscreen. Furthermore, an analysis of the possible target directions (i.e., direction options 211, 212, 213) of the road sign 210 can be performed. In addition, a selection option for the sign 210 (e.g., by touch) can be provided. Furthermore, a selection option for the specified navigation directions 211, 212, 213 can be provided. The navigation direction (i.e., direction option) 212 selected by the user can be adopted for the automated longitudinal and / or lateral guidance of the vehicle 100. This can, for example, result in the vehicle 100 automatically changing lanes in order to travel along the selected direction option 212.

[0041] For example, the vehicle 100 can travel on a multi-lane road 200 with activated longitudinal and lateral guidance. A visualization 330 of the vehicle's surroundings can be displayed on a screen of the user interface 104 of the vehicle 100. If the vehicle 100 approaches a sign 210 (which, for example, includes a reference to a motorway entrance), this can also be displayed in the visualization 330.

[0042] The user of the vehicle 100 may be enabled to select the sign 210 represented in the visualization (e.g., by touching it). In response, a selection of the different direction options 211, 212, 213 of the sign 210 may be provided. The user may then select one of the direction options 212 by means of a user input.

[0043] The automated longitudinal and lateral guidance of the vehicle 100 can be effected depending on the selected directional option 212. In particular, the selected directional option 212 can be adopted by an automatic lane change assistant. One or more lane changes can then be performed automatically or offered to prepare the vehicle 100 for the selected directional option 212. For example, a directional option 212 involving a right turn can cause the vehicle 100 to be transferred to a right-hand lane.

[0044] If the user of the vehicle 100 selects a different direction option at a later time (e.g., due to a new sign 210), the newly selected direction option can be used as a default for the automated longitudinal and / or lateral guidance of the vehicle 100.

[0045] The direction option 212 selected by the user can be used as a navigation default for the navigation of the vehicle 100.

[0046] Fig. 4 shows a flowchart of a (possibly computer-implemented) method 400 for operating a driving function for the automated longitudinal and / or transverse guidance of a motor vehicle 100. The driving function can, for example, be configured to automatically guide the motor vehicle 100 longitudinally and transversely within a specific lane. Furthermore, the driving function can, if necessary, be configured to automatically perform lane changes.

[0047] The method 400 comprises detecting 401, in particular based on sensor data from one or more environmental sensors 102 of the motor vehicle 100 (in particular based on camera data from at least one environmental camera), a traffic sign 210 on or at the roadway 200 traveled by the motor vehicle 100, wherein the traffic sign 210 indicates several different directional options 211, 212, 213 for the continued travel of the motor vehicle 100. The traffic sign 210 can be recognized using an image analysis algorithm. Furthermore, the different directional options 211, 212, 213 can be recognized using automatic symbol and / or text recognition.

[0048] The method 400 further includes effecting 402 a selection output via a user interface 104 of the motor vehicle 100, which enables the user, in particular the driver, of the motor vehicle 100 to select one of the different direction options 211, 212, 213 of the traffic sign 210. For example, a graphical representation 310, 320, each with a menu item 311, 312, 313 for the different direction options 211, 212, 213, can be displayed on a screen of the user interface 104. The user can then select one of the displayed menu items 311, 312, 313 (e.g., by touching the respectively displayed menu item 311, 312, 313).

[0049] Furthermore, the method 400 comprises operating 403 the driving function for the automated longitudinal and / or lateral guidance of the motor vehicle 100 depending on the direction option 212 selected by the user. In particular, one or more lane changes (in preparation for further travel along the selected direction option 121) can be suggested and / or carried out automatically.

[0050] The measures described in this document can increase the comfort and reliability of the control of the automated longitudinal and / or lateral guidance of a vehicle 100 by a user of the vehicle 100.

[0051] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and figures are intended only to illustrate the principle of the proposed methods, devices, and systems by way of example.

Claims

[1] Device (101) for operating a driving function for the automated longitudinal and / or transverse guidance of a motor vehicle (100); wherein the device (101) is configured - detecting a traffic sign (210) on or at a roadway (200) traveled by the motor vehicle (100); wherein the traffic sign (210) indicates several different directional options (211, 212, 213) for the onward travel of the motor vehicle (100); - to effect a selection output via a user interface (104) of the motor vehicle (100) which enables a user of the motor vehicle (100) to select one of the different direction options (211, 212, 213) of the traffic sign (210); and - to operate the driving function for the automated longitudinal and / or lateral guidance of the motor vehicle (100) depending on the direction option (212) selected by the user. [2] Device (101) according to claim 1, wherein the device (101) is arranged - to display a graphical representation (310, 320) with a menu item (311, 312, 313) for each of the different direction options (211, 212, 213) on a screen of the user interface (104) as a selection output; - to capture a user input via the user interface (104) by which one of the menu items (311, 312, 313) for the different direction options (211, 212, 213) is selected; and - to use the direction option (212) associated with the selected menu item (312) as the direction option (212) selected by the user. [3] Device (101) according to claim 2, wherein - the screen is a touch-sensitive screen; and - the device (101) is configured to detect, as user input, a touch of a menu item (312) displayed on the screen. [4] Device (101) according to one of the preceding claims, wherein the device (101) is arranged - to determine a graphical representation (330) of the roadway (200) on which the motor vehicle (100) is traveling based on sensor data from one or more environmental sensors (102) of the motor vehicle (100); wherein the graphical representation (330) comprises a representation of the traffic sign (210) arranged on or at the roadway (200); and - display the graphic representation (330) on a screen of the user interface (104) of the motor vehicle (100). [5] Device (101) according to claim 4, wherein the device (101) is arranged - display the representation of the traffic sign (210) as a user-selectable element in the graphical representation (330); - to detect, via the user interface (104), a user input indicating that the representation of the traffic sign (210) has been selected by the user; and - to cause the selection output in response to the captured user input. [6] Device (101) according to one of claims 4 to 5, wherein the device (101) is configured, in particular within the representation of the traffic sign (210), to display a selectable menu item (311, 312, 313) as a selection output for each of the different direction options (211, 212, 213). [7] Device (101) according to one of claims 4 to 6, wherein the graphic representation (330) of the roadway (200) comprises - a representation of one or more lanes of the roadway (200); - a representation of one or more other vehicles (205) traveling on the roadway (200); and - a representation of the motor vehicle (100). [8] Device (101) according to one of the preceding claims, wherein the device (101) is arranged - to recognize the traffic sign (210) on the basis of camera data from at least one surrounding camera of the motor vehicle (100); and - to determine the different direction options (211, 212, 213) of the traffic sign (210) by analyzing the camera data, in particular by image recognition of one or more direction arrows and / or text by which the different direction options (211, 212, 213) are indicated on the traffic sign. [9] Device (101) according to one of the preceding claims, wherein the device (101) is arranged - to recognize the traffic sign (210) on the basis of a digital map for a road network traveled by the motor vehicle (100); and - to determine the different direction options (211, 212, 213) of the traffic sign (210) on the basis of the digital map. [10] Device (101) according to one of the preceding claims, wherein the device (101) is arranged - based on sensor data from one or more environmental sensors (102) and / or on a digital map for a road network traveled by the motor vehicle (100), to determine one or more lane changes that are to be carried out for the continued journey along the selected directional option (212); and - to ensure, within the scope of the operation of the driving function, that - one or more lane changes are carried out automatically; or - the one or more lane changes are each proposed for manual execution by a driver of the motor vehicle (100) via the user interface (104). [11] Device (101) according to one of the preceding claims, wherein the device (101) is arranged - detect a user input that deselects the selected direction option (212); and - to ensure that the deselected direction option (212) is no longer taken into account when operating the driving function for the automated longitudinal and / or lateral guidance of the motor vehicle (100). [12] Method (400) for operating a driving function for automated longitudinal and / or transverse guidance of a motor vehicle (100); wherein the method (400) comprises - detecting (401) a traffic sign (210) on or at a roadway (200) traveled by the motor vehicle (100); wherein the traffic sign (210) indicates several different directional options (211, 212, 213) for the onward travel of the motor vehicle (100); - effecting (402) a selection output via a user interface (104) of the motor vehicle (100) which enables a user of the motor vehicle (100) to select one of the different direction options (211, 212, 213) of the traffic sign (210); and - Operating (403) the driving function for automated longitudinal and / or transverse guidance of the motor vehicle (100) depending on the direction option (212) selected by the user.

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