Driver assistance system and driver assistance procedure for a test vehicle

Abstract

The present disclosure relates to a driver assistance system (200) for a test vehicle (30), comprising: - a behavior determination module (210) configured to determine a driving behavior of a driving function for automated driving that is not implemented in the test vehicle (30); and - a user interface module (220) configured to output driver instructions relating to the determined driving behavior to a driver of the vehicle (30), wherein the driver instructions are configured to enable the driver to imitate the driving behavior of the driving function, - wherein the driver assistance system (200) is configured to acquire and / or provide data relating to a journey carried out in accordance with the driver instructions for configuring the driving function.

Description

[0001] The present disclosure relates to a driver assistance system for a test vehicle, a vehicle having such a driver assistance system, a driver assistance method for a test vehicle, a storage medium for executing the driver assistance method, and a system for configuring a driving function for a vehicle. In particular, the present disclosure relates to a method for instructing test drivers to imitate the behavior of an automated driving function. State of the art

[0002] The development of driver assistance functions, for example for (semi-)autonomous driving, is becoming increasingly important. Automated driving can be achieved with various levels of automation. Examples of automation levels include assisted, partially automated, conditionally automated, highly automated, or fully automated driving. The five levels of automation mentioned above correspond to SAE Levels 1 to 5 of the SAE J3016 standard (SAE - Society of Automotive Engineering) as of April 30, 2021. With fully automated driving (SAE Level 5), the system can perform all aspects of the dynamic driving task under any road and environmental conditions that can also be mastered by a human driver.

[0003] During the development of such driver assistance functions, a so-called "positive risk assessment" is often performed. This demonstrates that the driver assistance functions drive more safely than a human driver by virtually re-enacting, specifically re-enacting, recorded real-life journeys. The real-life journeys are recorded during test drives in which the test drivers drive through a variety of different scenarios (e.g., traffic jams, clear lanes, exits, lane ends, highway ends, construction sites, etc.) under various conditions (e.g., day, night, dry, rain, snow, etc.) and dynamic conditions (e.g., 30 km / h - 100 km / h).

[0004] However, the data recorded during these test drives may contain errors, meaning the data cannot be used to create a risk assessment. For example, test drivers may record a scenario too late, abort a recording too late, drive without a necessary vehicle in front, drive too fast, brake too sharply, accelerate too quickly, change lanes repeatedly, drive onto the hard shoulder during emergency lanes, drive inconsistently within the lane, etc. This negatively impacts the design of the driver assistance functions, particularly with regard to quality, effort, and cost. Disclosure of the invention

[0005] It is an object of the present disclosure to provide a driver assistance system for a test vehicle, a vehicle with such a driver assistance system, a driver assistance method for a test vehicle, a storage medium for executing the driver assistance method, and a system for configuring a driving function for a vehicle, which enable improved design of driver assistance functions, particularly with regard to quality, effort, and cost. In particular, it is an object of the present disclosure to efficiently and reliably record configuration data for driver assistance functions during test drives.

[0006] This object is achieved by the subject matter of the independent claims. Advantageous embodiments are specified in the subclaims.

[0007] According to an independent aspect of the present disclosure, a driver assistance system for a test vehicle is specified. The driver assistance system comprises a behavior determination module configured to determine a (target) driving behavior of a driving function for automated driving that is not implemented in the test vehicle; a user interface module configured to output driver instructions relating to the determined driving behavior to a driver of the vehicle, wherein the driver instructions are configured such that the driver can imitate the driving behavior of the driving function. The driver assistance system is configured to acquire and / or provide data relating to a journey performed according to the driver instructions for configuring the driving function.

[0008] According to the invention, a test driver is instructed during a test drive to imitate the behavior of a driving function for automated driving that is not implemented in the test vehicle and is, for example, still in development. This ensures that the test drive is carried out with as few deviations from the behavior of the driving function as possible. The data recorded during the test drive can then be used to configure the driving function and prepare it for use in real operation. Furthermore, the data can be used to create a positive risk assessment. As a result, an improved design of driver assistance functions is possible, particularly with regard to quality, effort and cost.

[0009] The behavior determination module and / or the user interface module may comprise software components / algorithms configured to be executed on at least one processor and thereby to perform the functionalities of the respective module.

[0010] The driving function, which is not implemented in the test vehicle and is currently under development, is intended for automated driving.

[0011] In this document, the term "automated driving" refers to driving with automated longitudinal and / or lateral guidance. Automated driving can, for example, involve extended driving on the highway or limited-time driving while parking. The term "automated driving" encompasses automated driving with any degree of automation. Examples of levels of automation include assisted, partially automated, conditionally automated, highly automated, and fully automated driving (each with an increasing degree of automation). The five levels of automation mentioned above correspond to SAE Levels 1 to 5 of the SAE J3016 standard (SAE - Society of Automotive Engineering) as of April 30, 2021.

[0012] In assisted driving (SAE Level 1), the system provides longitudinal or lateral guidance in certain driving situations. In partially automated driving (SAE Level 2), the system assumes longitudinal and lateral guidance in certain driving situations, although the driver must continuously monitor the system, as in assisted driving. In conditionally automated driving (SAE Level 3), the system assumes longitudinal and lateral guidance in certain driving situations without the driver having to continuously monitor the system; however, the driver must be able to assume control of the vehicle within a certain time period upon request from the system. In highly automated driving (SAE Level 4), the system assumes control of the vehicle in certain driving situations, even if the driver does not respond to a request for intervention, thus eliminating the driver as a fallback.In fully automated driving (SAE Level 5), the system can perform all aspects of the dynamic driving task under any road and environmental conditions that can also be mastered by a human driver.

[0013] Furthermore, the term "at least partially automated driving or maneuvering" is also understood in this document to include partially automated, conditionally automated, highly automated, and fully automated driving. In other words, the term "at least partially automated driving" refers to a level of automation up to and including SAE Level 2.

[0014] The behavior determination module is configured to determine the driving behavior of the driving function for automated driving. The driving behavior can, for example, relate to braking behavior and / or acceleration behavior and / or steering behavior of the driving function in certain situations. The behavior determination module can therefore determine how the driving function would behave in a certain situation and prompt the user interface module to output corresponding driver instructions so that the driver can simulate or imitate the behavior of the driving function. For example, the driving function can negotiate a curve with a certain curvature in a certain way (e.g., at a certain speed, with a certain lateral lane behavior, etc.). The driver assistance system outputs corresponding driver instructions so that the driver negotiates the curve in this way.

[0015] The behavior determination module can be configured to determine the driving behavior of the driving function for automated driving by inputting information into an algorithm that implements or simulates the driving function. The input information can include a wide variety of information that is suitable or required to obtain a driving behavior of the driving function, in particular driving parameters related to braking behavior, acceleration behavior, and steering behavior, as a result of processing by the algorithm.

[0016] Preferably, the behavior determination module is configured to determine information relating to the driving behavior of the driving function internally within the vehicle. For example, the behavior determination module can contain the algorithm that implements or simulates the driving function and can determine the driving behavior of the driving function itself, in particular the driving parameters relating to braking behavior, acceleration behavior, and steering behavior.

[0017] Preferably, the behavior determination module is configured to receive information relating to the driving behavior of the driving function from outside the vehicle. For example, the algorithm that implements or simulates the driving function can be implemented in an external unit, so that the driving behavior of the driving function, in particular the driving parameters relating to braking behavior, acceleration behavior, and steering behavior, is determined in the external unit.

[0018] Preferably, the test vehicle, in particular the driver assistance system, further comprises a communication module configured to communicate with the external unit to receive the information relating to the driving behavior of the driving function and optionally to send at least part of the input information for the algorithm that implements or simulates the driving function to the external unit.

[0019] Preferably, the communication module of the test vehicle is configured for communication via a mobile network. The mobile network can be, for example, an LTE network or 5G network. This allows the vehicle to communicate with the external unit via the mobile network to receive information related to the driving behavior of the driving function and, optionally, to send at least part of the input information for the algorithm that implements or simulates the driving function to the external unit.

[0020] Preferably, the external unit is a server or backend, such as a server or backend of a vehicle manufacturer.

[0021] Preferably, the data relating to the journey performed in accordance with the driver instructions comprises sensor data from an environmental sensor system of the vehicle. Typically, the environmental sensor system comprises at least one LiDAR system and / or at least one radar system and / or at least one camera and / or at least one ultrasound system. The environmental sensor system can provide the sensor data (also referred to as "environmental data" or "surrounding data") that depicts an area surrounding the test vehicle.

[0022] The sensor data can be used to configure the driving function. For example, reactions of other road users to the driving behavior of the test vehicle can be detected from the sensor data and used to adapt or improve the driving behavior of the driving function. In another example, other structures in the vehicle environment of the test vehicle can be detected and used to adapt or improve the driving behavior of the driving function. For example, when cornering, the vehicle may come (too) close to a road boundary, such as a guardrail, which could be perceived as unpleasant by vehicle occupants. To avoid this, the steering behavior of the driving function can be adjusted and, optionally, the speed for cornering can be reduced so that a greater distance from the road boundary is maintained.The present disclosure is not limited to these examples, and the environment and / or the behavior of the environment with respect to the vehicle can be used in a variety of ways to optimize the driving behavior of the driving function.

[0023] Additionally or alternatively, the data relating to the journey performed in accordance with the driver instructions includes vehicle operating data. The vehicle operating data may relate to a technical driving operation of the vehicle, but is not limited thereto. In some embodiments, the operating data may include or be braking data (e.g., braking time, braking duration, braking force, variation in braking force over the braking duration, etc.) and / or acceleration data (e.g., acceleration time, acceleration duration, acceleration force, variation in acceleration over the acceleration duration, etc.) and / or steering data (e.g., steering time, steering duration, steering angle, variation in steering angle over the steering duration, etc.).

[0024] In addition or alternatively, the data relating to the journey carried out in accordance with the driver instructions includes journey data, such as vehicle speed.

[0025] Preferably, the user interface module is configured to output the driver instructions to the driver visually and / or acoustically and / or haptically. For example, if a test driver is driving too fast, this can be indicated to the driver as follows: (i) visually by means of the color and / or shape of an arrow projected onto the windshield from the inside (e.g., a short red arrow can indicate slower driving), (ii) acoustically in the form of a signal tone that is modulated depending on the magnitude of the speed deviation, and / or (iii) haptically in the form of vibrations on the steering wheel and / or tensioning of the seat belt pretensioner.

[0026] The user interface module can comprise at least one first output device for outputting the visual driver instructions. In some embodiments, the at least one first output device can comprise at least one display device for outputting the visual driver instructions. The at least one display device can comprise a display, in particular an LCD display, a plasma display or an OLED display. Additionally or alternatively, the at least one display device can comprise a projection device which is configured to display information directly in the driver's field of vision, in particular to project it onto a windshield. Additionally or alternatively, the at least one display device can comprise colored LED panels (e.g. left, right, rear and / or front) at specific locations in the interior of the vehicle.

[0027] Preferably, the at least one first output device is configured to output the optical driver instructions by means of virtual reality (VR) and / or augmented reality (AR).

[0028] The term “virtual reality” as used in the present disclosure refers to a representation of an exclusively virtual reality in a real-time computer-generated virtual environment.

[0029] The term "augmented reality," as used in the present disclosure, refers to a computer-assisted extension of a user's perception of reality. In particular, the term "augmented reality" refers to a visual representation of information, such as computer-generated additional information or virtual objects, by means of overlay or superimposition.

[0030] Preferably, the user interface module (e.g., the at least one first display device) comprises or is a portable device (e.g., a portable display device). The portable device may be a wearable, i.e., a portable computer system that the user can wear in or on the body.

[0031] In a preferred embodiment, the wearable device is a pair of data glasses ("smartglasses"). Data glasses or smartglasses are wearable devices that add information, for example, within the context of augmented reality, to the user's or wearer's field of vision. For example, the user can view their surroundings, in particular the interior of the vehicle and the vehicle's surroundings, and can additionally have AR content superimposed.

[0032] The user interface module may comprise at least one second output device for outputting the acoustic driver instructions. In some embodiments, the at least one second output device may comprise at least one loudspeaker, in particular at least one vehicle interior loudspeaker, for outputting the acoustic driver instructions. The acoustic driver instructions may be implemented, for example, in the form of warning tones (e.g., different for lateral and longitudinal driving behavior) that are modulated in relation to the deviation of the actual driving behavior from the driving behavior of the driving function.

[0033] The user interface module may include at least one third output device for outputting the haptic driver instructions or may be connected to at least one third output device and control it to output the haptic driver instructions. The at least one third output device may, for example, include a vibration mechanism of a steering wheel and / or a belt tensioner of a driver's seat.

[0034] In some embodiments, the user interface module may comprise or be a central information output and information input device of an infotainment system, such as a head unit, a pillar-to-pillar display, or a head-up display. Preferably, the user interface module is permanently installed in the vehicle.

[0035] Preferably, the driver instructions relate to braking behavior and / or acceleration behavior and / or steering behavior. In particular, the driver can be given instructions regarding braking behavior and / or acceleration behavior and / or steering behavior so that the driver can adapt their driving behavior to the driving function's behavior as best as possible.

[0036] Preferably, the user interface module is configured to output driver notifications when a driver's driving behavior deviates from the driving behavior of the driving function, particularly when the driver's driving behavior deviates from the driving behavior of the driving function by more than a threshold (e.g., with respect to speed, braking, acceleration, etc.). This prevents the test driver from being informed of even small or insignificant deviations, which can reduce the test driver's stress load.

[0037] Preferably, the driver assistance system (in particular the user interface module) is configured to output driver instructions in such a way that deviations from a target driving behavior of the driving function are generated. This allows a wide range of driving situations to be simulated, for example, by dynamically changing a function characteristic within certain limits. For example, a target speed and maximum deceleration can be reduced to simulate a mechanical defect (e.g., flat tire, engine failure, etc.).

[0038] Preferably, the user interface module is configured to provide feedback to the driver regarding the drive performed in accordance with the driver instructions. For example, the driver can be informed whether the test drive, based on their driving behavior, provided useful or unusable data for configuring the driving function.

[0039] According to a further independent aspect of the present disclosure, a (test) vehicle, in particular a motor vehicle, is specified. The vehicle comprises the driver assistance system according to the embodiments of the present disclosure.

[0040] The test vehicle is used during the development of the driving function to collect a large amount of data for the design of the driving function. The test vehicle already contains the sensors of the future customer vehicle, but not yet the driving function, as this is still being developed. Test drivers are often specially trained to drive the vehicles.

[0041] The term "vehicle" includes cars, trucks, vans, buses, mobile homes, motorcycles, etc., which are used to transport people, goods, etc. In particular, the term includes motor vehicles for the transport of people.

[0042] According to a further independent aspect of the present disclosure, a driver assistance method for a test vehicle is provided. The driver assistance method comprises determining, by a behavior determination module, a (target) driving behavior of a driving function for automated driving that is not implemented in the test vehicle; outputting, by a user interface module, driver instructions relating to the determined driving behavior to a driver of the vehicle, wherein the driver instructions are configured such that the driver can imitate the driving behavior of the driving function; and acquiring data relating to a journey performed according to the driver instructions for configuring the driving function.

[0043] The driver assistance procedure for a test vehicle can implement the aspects of the driver assistance system for a test vehicle described in this document.

[0044] According to a further independent aspect of the present disclosure, a software (SW) program is provided. The SW program can be configured to be executed on one or more processors and thereby to carry out the driver assistance method described in this document for a test vehicle.

[0045] According to a further independent aspect of the present disclosure, a storage medium is provided. The storage medium may comprise a software program configured to be executed on one or more processors and thereby to execute the driver assistance method described in this document for a test vehicle.

[0046] According to a further independent aspect of the present disclosure, software with program code is provided. The software is configured to carry out the driver assistance method for a test vehicle when the software runs on one or more software-controlled devices.

[0047] According to a further independent aspect of the present disclosure, a system for configuring a driving function for a vehicle is provided. The system comprises one or more processors; and at least one memory connected to the one or more processors and containing instructions executable by the one or more processors to perform the driver assistance method described in this document for a test vehicle.

[0048] According to a further independent aspect of the present disclosure, a system for configuring a driving function for a vehicle is provided. The system comprises one or more processors; and at least one memory connected to the one or more processors and containing instructions executable by the one or more processors to configure, in particular train, at least one algorithm of the driving function based on the data provided by the driver assistance system of the present disclosure with respect to the journey performed in accordance with the driver instructions.

[0049] In some embodiments, the at least one algorithm, such as a neural network, may be trained data-driven and / or using machine learning methods.

[0050] A processor or processor module is a programmable computing unit, i.e. a machine or an electronic circuit that controls other elements according to given instructions and thereby drives an algorithm (process). Short description of the drawings

[0051] Embodiments of the disclosure are illustrated in the figures and are described in more detail below. They show: Fig. 1 schematically shows a vehicle with a driver assistance system for automated driving according to embodiments of the present disclosure, Fig. 2 schematically shows a test vehicle with a driver assistance system according to embodiments of the present disclosure, and Fig. 3 a flowchart of a driver assistance method according to embodiments of the present disclosure. Embodiments of the disclosure

[0052] In the following, unless otherwise stated, the same reference symbols are used for identical and equivalent elements.

[0053] Fig. 1 schematically shows a vehicle 10 with a driver assistance system 100 for automated driving according to embodiments of the present disclosure.

[0054] The driver assistance system 100 implements the driving function for automated driving, which is configured using the test drives described in this document.

[0055] In automated driving, the longitudinal and / or lateral guidance of the vehicle 10 occurs automatically. The driver assistance system 100 thus assumes vehicle guidance. To this end, the driver assistance system 100 controls the drive 20, the transmission 22, the (e.g., hydraulic) service brake 24, and the steering 26 via intermediate units (not shown).

[0056] To plan and implement automated driving, the driver assistance system 100 receives environmental information from an environmental sensor system 12 that monitors the vehicle's surroundings. In particular, the vehicle 10 may include at least one environmental sensor configured to record environmental data indicating the vehicle's surroundings. The at least one environmental sensor may, for example, include one or more LiDAR systems, one or more radar systems, one or more ultrasonic sensors, and / or one or more cameras.

[0057] Fig. 2 schematically shows a test vehicle 30 with a driver assistance system 200 according to embodiments of the present disclosure.

[0058] The driver assistance system 200 includes a behavior determination module 210 configured to determine a (target) driving behavior of a driving function for automated driving that is not implemented in the test vehicle 30; a user interface module 220 configured to output driver instructions relating to the determined driving behavior to a driver of the vehicle 30, wherein the driver instructions are configured to allow the driver to imitate the driving behavior of the driving function. The driver assistance system 200 is configured to acquire and / or provide data relating to a journey performed according to the driver instructions for configuring the driving function.

[0059] In some embodiments, driver assistance system 200 can be configured to output driver instructions in such a way that deviations from a desired driving behavior of the driving function are generated. This allows a wide range of driving situations to be simulated, for example, by dynamically changing a function characteristic within certain limits. For example, a desired speed and maximum deceleration can be reduced to simulate a mechanical defect (e.g., flat tire, engine failure, etc.).

[0060] The following describes an example of a test drive according to embodiments of the present disclosure.

[0061] The driving function, which is under development and not implemented in the test vehicle 30, can have the following functional characteristics: - maximum speed: 130km / h - no lane changes allowed - Distance to the vehicle in front: 10 km / h → 5 m to 20 m; 100 km / h → 50 m to 100 m; 130 km / h → 80 m to 130 m - Emergency lane should be formed - Acceleration and deceleration: maximum 2m / s 2 - maximum curvature: 30km / h → 0.02 m -1 ; 100km / h → 0.009 m -1

[0062] The driver assistance system 200 or the corresponding algorithm can now work as follows: - Inputs: speed, curvature, lateral and longitudinal acceleration, lateral offset to the lane center - Output: modulated warning signals, volume, color coding of various LED panels, strength of steering wheel vibration, tension of the belt tensioner - Logic: ◯ Reading the inputs ◯ Calculating deviations from specified maximum values based on comfort / safety requirements, technical limitations, etc. of the driving function: ▪ Speed ▪ Acceleration (lateral and longitudinal) ▪ Curvature (depending on speed) ▪ Distance to the vehicle in front (depending on speed) ▪ Lateral lane offset (depending on speed and emergency lane) ◯ Determination of a sound modulation and volume for different loudspeakers (e.g. left, right, front and rear), geometries and colors of the display elements, a vibration intensity of the steering wheel and a tension of the belt tensioner

[0063] In an initial example scenario, the test driver is traveling at 140 km / h (87 mph) with a target speed of 130 km / h (or the driver is traveling at 80 km / h with insufficient distance to the vehicle in front). In this case, the driver can be shown a short red arrow, which becomes redder as the deviation increases. In addition, or alternatively, a low, quiet warning tone can be played, which becomes louder as the deviation increases. In addition, or alternatively, the belt pretensioner can be tightened slightly at first and then increasingly more strongly as the deviation increases.

[0064] In a second example scenario, the test driver is traveling at 120 km / h (75 mph) with a target speed of 130 km / h (or the driver is traveling at 80 km / h (50 mph) with too much distance to the vehicle in front). In this case, the driver can be shown a longer green arrow that becomes greener as the deviation increases. In addition, or alternatively, a high-pitched, quiet warning tone can be played, which becomes louder as the deviation increases. In addition, or alternatively, the seat belt pretensioner can become loose.

[0065] In a third example scenario, the test driver drives too far to the left in the lane (or the test driver changes lanes or fails to form an emergency lane below 30 km / h). In this case, an LED panel to the left of the driver can illuminate red to indicate to the driver that they should steer to the right. In addition or alternatively, an arrow projected onto the inside of the windshield can point slightly to the right. In addition or alternatively, a corridor projected onto the inside of the windshield can indicate the permitted lateral deviations from the lane center and the desired centerline. In addition or alternatively, a quiet tone with a specific modulation representing left can be played. In addition or alternatively, the steering wheel can vibrate slightly, becoming more pronounced with increasing lateral deviation.

[0066] In a fourth example scenario, the driver accelerates too quickly. In this case, the driver can be shown a short red arrow, which becomes redder as the deviation increases. In addition, or alternatively, a low, quiet warning tone can be played, which becomes louder as the deviation increases. In addition, or alternatively, the seat belt pretensioner can be tightened slightly at first and increasingly more strongly as the deviation increases.

[0067] In a fifth example scenario, the driver enters an exit ramp and drives sportily on the inside of the right-hand bend with high lateral acceleration and steep curvature. In this case, an LED panel to the right of the driver can illuminate red to indicate to the driver that they should steer left. In addition or alternatively, a corridor projected onto the inside of the windshield can show the theoretically drivable area. In addition or alternatively, a desired ideal line can be displayed as a colored path in the center of a target corridor. In addition or alternatively, a quiet tone with a special modulation that represents right can be played. In addition or alternatively, the steering wheel can vibrate slightly at first and then more strongly as the lateral deviation increases.

[0068] Fig.Figure 3 schematically shows a flowchart of a driver assistance method 300 for a test vehicle according to embodiments of the present disclosure. The driver assistance method 300 can be implemented by appropriate software executable by one or more processors (e.g., a CPU).

[0069] The driver assistance method 300 comprises, in block 310, determining, by a behavior determination module, a (target) driving behavior of a driving function for automated driving that is not implemented in the test vehicle; in block 320, outputting, by a user interface module, driver instructions relating to the determined driving behavior to a driver of the vehicle, wherein the driver instructions are configured such that the driver can imitate the driving behavior of the driving function; and in block 330, acquiring data relating to a journey performed in accordance with the driver instructions for configuring the driving function.

[0070] According to the invention, a test driver is instructed during a test drive to imitate the behavior of a driving function for automated driving that is not implemented in the test vehicle and is, for example, still in development. This ensures that the test drive is carried out with as few deviations from the behavior of the driving function as possible. The data recorded during the test drive can then be used to configure the driving function and prepare it for use in real operation. Furthermore, the data can be used to create a positive risk assessment. As a result, an improved design of driver assistance functions is possible, particularly with regard to quality, effort and cost.

[0071] Although the invention has been illustrated and explained in detail by preferred embodiments, the invention is not limited by the disclosed examples, and other variations may be derived therefrom by those skilled in the art without departing from the scope of the invention. It is therefore clear that numerous variations exist. It is also clear that exemplary embodiments are truly only examples and should not be construed as limiting the scope, possible applications, or configuration of the invention in any way.Rather, the preceding description and the description of the figures enable the person skilled in the art to implement the exemplary embodiments in concrete terms, whereby the person skilled in the art, with knowledge of the disclosed inventive concept, can make various changes, for example with regard to the function or the arrangement of individual elements mentioned in an exemplary embodiment, without departing from the scope of protection defined by the claims and their legal equivalents, such as further explanations in the description. 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 non-patent literature

[0000] Levels 1 to 5 of the SAE J3016 standard (SAE - Society of Automotive Engineering) as of April 30, 2021

[0002] SAE Levels 1 to 5 of the SAE J3016 standard (SAE - Society of Automotive Engineering) as of April 30, 2021

[0011]

Claims

[1] Driver assistance system (200) for a test vehicle (30), comprising: - a behavior determination module (210) configured to determine a driving behavior of a driving function for automated driving that is not implemented in the test vehicle (30); and - a user interface module (220) configured to output driver instructions relating to the determined driving behavior to a driver of the vehicle (30), wherein the driver instructions are configured to enable the driver to imitate the driving behavior of the driving function, - wherein the driver assistance system (200) is configured to acquire and / or provide data relating to a journey carried out in accordance with the driver instructions for configuring the driving function. [2] Driver assistance system (200) according to claim 1, wherein the behavior determination module (210) is configured to receive information relating to the driving behavior of the driving function from outside the vehicle and / or to determine it inside the vehicle. [3] Driver assistance system (200) according to claim 1 or 2, wherein the data relating to the journey carried out in accordance with the driver instructions comprises: - sensor data from an environmental sensor system of the vehicle (30); and / or - operating data of the vehicle (30), in particular braking data and / or acceleration data and / or steering data; and / or - Driving data, in particular vehicle speed. [4] Driver assistance system (200) according to one of claims 1 to 3, wherein: - the user interface module (220) is configured to output the driver instructions to the driver visually and / or acoustically and / or haptically; and / or - the driver instructions concern braking behaviour and / or acceleration behaviour and / or steering behaviour. [5] Driver assistance system (200) according to one of claims 1 to 4, wherein the driver assistance system (200) is configured to output the driver instructions in such a way that deviations from a desired driving behavior of the driving function are generated. [6] Driver assistance system (200) according to one of claims 1 to 5, wherein the user interface module (220) is configured to: - to issue the driver instructions if the driver's driving behaviour deviates from the driving behaviour of the driving function, in particular if the driver's driving behaviour deviates from the driving behaviour of the driving function by more than one threshold; and / or - provide feedback to the driver regarding the journey carried out in accordance with the driver instructions. [7] Vehicle (30), in particular a motor vehicle, comprising the driver assistance system (200) according to one of claims 1 to 6. [8] Driver assistance method (300) for a test vehicle (30), comprising: - determining (310), by a behavior determination module (210), a driving behavior of a driving function for automated driving that is not implemented in the test vehicle (30); - outputting (320), by a user interface module (220), driver instructions relating to the determined driving behavior to a driver of the vehicle (30), wherein the driver instructions are configured such that the driver can imitate the driving behavior of the driving function; and - collecting (330) data relating to a journey carried out in accordance with the driver instructions for configuring the driving function. [9] Storage medium comprising a software program configured to be executed on one or more processors and thereby to execute the driver assistance method (300) according to claim 8. [10] System for configuring a driving function for a vehicle (10), comprising: one or more processors; and at least one memory connected to the one or more processors and containing instructions that can be executed by the one or more processors to configure, in particular to train, at least one algorithm of the driving function based on the data provided by the driver assistance system (200) of claims 1 to 6 with respect to the journey carried out in accordance with the driver instructions.

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