Method for operating a driver assistance device for a motor vehicle, corresponding driver assistance device for a motor vehicle and computer program product

Abstract

The invention relates to a method for operating a driver assistance system for a motor vehicle, wherein environmental data describing the vehicle's surroundings are acquired at least temporarily by means of an environment sensing device of the motor vehicle, and based on this environmental data, at least partially autonomous driving of the motor vehicle is carried out at least temporarily. It is provided that a state variable describing a state of the motor vehicle is acquired at least temporarily, and a vehicle mission memory is searched for vehicle missions for which an associated trigger condition is fulfilled by the state variable. The motor vehicle is then controlled to execute a driving maneuver associated with one of the vehicle missions if a mission release transmitted to the motor vehicle from a central computing unit is stored for that mission.The invention further relates to a driver assistance device for a motor vehicle and a computer program product.

Description

[0001] The invention relates to a method for operating a driver assistance system for a motor vehicle, wherein environmental data describing the environment of the motor vehicle are acquired at least temporarily by means of an environment sensing device of the motor vehicle, and based on this environmental data, at least partially autonomous driving of the motor vehicle is carried out at least temporarily. The invention further relates to a driver assistance system for a motor vehicle and a computer program product.

[0002] For example, the prior art includes the publication DE 10 2019 215 308 A1. This describes a method for activating and / or adapting an automated driving function, in particular a driver assistance function, for a vehicle that can be operated at least partially automatically, comprising the steps of: identifying a driver; checking the experience level of the identified driver; activating and / or adapting the automated driving function based on the experience level of the driver.

[0003] Furthermore, the publication DE 10 2022 002 173 A1 describes a method for improving a vehicle system function, in which, during real-world operation, the series system function, consisting of many sub-chains, is virtually tested in parallel in a large number of vehicles, with at least one sub-chain of a vehicle system function adaptation being virtually tested in each vehicle in parallel, by comparing the at least one sub-chain of the vehicle system function adaptation for verification with the at least one sub-chain of the series system function used in the vehicle during real-world operation and for validation with the driving behavior of the user operating the vehicle.

[0004] Further prior art is revealed in publication DE 10 2019 134 532 A1. This discloses a method for setting vehicle functions in a vehicle, in which a set of data is provided that is assigned to a driver of a vehicle, a profile of the driver is determined depending on the set of data, and depending on the profile, information about a setting of a vehicle function in the vehicle that is not activated in the vehicle is provided to the driver.

[0005] The object of the invention is to propose a method for operating a driver assistance system for a motor vehicle which has advantages over known methods, in particular enabling personalized execution of at least partially autonomous driving of the motor vehicle in a particularly flexible manner.

[0006] According to the invention, this is achieved by a method for operating a driver assistance system for a motor vehicle with the features of claim 1. It is provided that, at least temporarily, a state variable describing a state of the motor vehicle is detected and a vehicle mission memory is searched for vehicle missions for which an associated trigger condition is fulfilled by the state variable, wherein the motor vehicle is controlled to perform a driving maneuver associated with one of the vehicle missions if a mission release transmitted by a central computing unit is stored for the driving mission.

[0007] Advantageous embodiments with expedient further developments of the invention are specified in the dependent claims. It should be noted that the exemplary embodiments described in the description are not limiting; rather, any variations of the features disclosed in the description, the claims, and the figures are possible.

[0008] The method serves to operate a driver assistance system. The driver assistance system, or a control unit of the driver assistance system used to carry out the method, is preferably a component of the motor vehicle, but can of course also exist separately from it, particularly until the driver assistance system or the control unit is mounted on or in the motor vehicle. The driver assistance system serves, for example, to support a user of the motor vehicle in carrying out the vehicle's driving operations and preferably, at least temporarily, to carry out the vehicle's driving operations itself, which in this case are at least partially autonomous. Partially autonomous driving operation means that the driver assistance system independently takes over longitudinal and / or lateral control of the motor vehicle, at least temporarily.

[0009] Longitudinal guidance refers in particular to setting the vehicle's speed, for example, by appropriately controlling the vehicle's drive system and / or braking system. The drive system serves to propel the vehicle, thus providing the drive torque for propelling the vehicle. To provide the drive torque, the drive system preferably has at least one drive unit, which can be configured as an internal combustion engine or an electric traction motor. The braking system, on the other hand, serves to brake or decelerate the vehicle. It includes, in particular, a service brake, which exerts a braking force on one or more wheels of the vehicle to slow it down.

[0010] Assisting the user in carrying out driving operations corresponds, for example, to assisted driving operation according to SAE Level 1.

[0011] The at least partially autonomous execution of driving operations occurs particularly within the framework of partial automation according to SAE Level 2, conditional automation according to SAE Level 3, high automation according to SAE Level 4, or full automation according to SAE Level 5. Whenever autonomous driving is mentioned in this description, it always refers to at least partially autonomous driving operation as defined above.

[0012] The vehicle, and in particular its driver assistance system, is equipped with an environmental sensing system that serves to detect the vehicle's surroundings. This system generates environmental data that describes the vehicle's environment. To detect the environment and provide this data, the environmental sensing system has one or more environmental sensors. Examples of sensors used as environmental sensors include radar, sonar, lidar, and image sensors or cameras. Radar uses electromagnetic waves, sonar uses sound waves, and lidar uses light to detect the environment. For example, a sonar sensor is an ultrasonic sensor, meaning it uses sound waves in the ultrasonic range.The radar sensor, the sonar sensor and the lidar sensor are reflection sensors, i.e. active sensors that send an output signal into the environment and receive the reflected output signal as an input signal.

[0013] The environmental sensing device, or at least one environmental sensing sensor, serves to detect obstacles present in the environment. The captured environmental data is thus evaluated to identify the obstacles. Where the term "obstacles" is used in the plural within this description, this does not imply a quantification. Rather, the term encompasses any number of obstacles that are detected or identified using the environmental sensing device. Thus, it is possible that the environmental sensing device detects no obstacle, exactly one obstacle, or multiple obstacles. These cases are each covered by the term "obstacles." It stands as a representative of any number of obstacles, for example, at least one obstacle.

[0014] Based on environmental data, the driver assistance system performs autonomous driving, at least temporarily. This means that the environmental data is evaluated, particularly regarding obstacles in the vehicle's vicinity, and the longitudinal and / or lateral guidance of the vehicle is carried out accordingly, i.e., depending on the obstacles detected by the environmental sensing system. During autonomous driving, standard traffic rules are preferably observed. For example, the vehicle stays within a designated lane, adheres to its lane, and obeys traffic signs and signals. This ensures the safe flow of road traffic.

[0015] Known methods have the disadvantage that they merely reproduce a predefined driving maneuver; that is, the vehicle simply follows a predefined or previously driven trajectory. In particular, the driving maneuver or trajectory is not adapted to user behavior. This is perceived as inflexible by the vehicle user, but it stems from the fact that every driving maneuver must first be validated, i.e., undergo an approval process.

[0016] The approval process typically involves one or more organizations, such as the vehicle manufacturer and / or at least one regulatory authority. The approval process is centralized, for example, for a large number of vehicles, and is only completed after numerous tests. Only when it has been ensured that the driving maneuver can be performed safely under all conditions occurring during normal operation of the vehicle is the maneuver stored in the driver assistance system and can be accessed by the vehicle's user.

[0017] To enable flexible adaptation of the driving operation to the user, the vehicle's state variable is recorded, particularly in a first operating mode. A state variable is understood to be a quantity that describes the vehicle's condition, which can also relate to the vehicle's user. Examples of state variables include the vehicle's current position (also referred to as its actual position), a starting position where the vehicle began its current journey, a destination position where the vehicle has ended or is expected to end its current journey, and so on. The state variable can also be a time-related quantity, such as the current time, date, or day of the week.Similarly, the state variable can include an appointment or calendar data from a calendar, which is stored, for example, in a data storage device of the motor vehicle.

[0018] While the user is operating the vehicle, i.e., while the vehicle is in operation, the vehicle mission memory is periodically searched for vehicle missions. The search criterion is whether the trigger condition is met by the state variable. After searching the vehicle mission memory, the vehicle missions therefore include all those vehicle missions for which the trigger condition assigned to the respective vehicle mission is met by the state variable. The use of the term "vehicle missions" in the plural does not imply a quantification; rather, the vehicle missions can encompass any number of vehicle missions, for example, exactly one vehicle mission or several vehicle missions.

[0019] From the detected vehicle missions, one is selected. For example, the detected vehicle missions are displayed to the vehicle user for selection. The user can then choose a vehicle mission from these. The vehicle is then driven to perform the driving maneuver assigned to the selected vehicle mission. The execution of the driving maneuver preferably occurs at least partially or completely autonomously.

[0020] To execute the driving maneuver, the driver assistance system takes over the longitudinal and / or lateral control of the vehicle, for example, by appropriately controlling the drive system and / or the braking system. However, the vehicle is only controlled to execute the driving maneuver if mission authorization has been granted for the selected vehicle mission by the central processing unit. For example, mission authorization is already taken into account when selecting the vehicle mission. Specifically, the vehicle mission is only selected if both its associated trigger condition is met by the state variable and mission authorization has been granted for it.

[0021] Mission release is understood to be a parameter of the vehicle mission that indicates whether or not the mission has been authorized. Mission release is granted by the central computing unit and transmitted to the vehicle via a data transmission link, preferably a wireless data transmission link or a radio link. The computing unit is understood to be a computing device located at a distance from the vehicle, in particular a stationary computing device. Preferably, the computing device has a computing power greater than that of the driver assistance system.

[0022] Within the described procedure, the vehicle missions are stored in the driver assistance system. Each vehicle mission is assigned a value indicating whether mission approval has been granted or stored for that specific mission. Only the mission for which mission approval has been granted is used to execute the driving operation.

[0023] Since mission approval is granted by the central computer system, it can also be granted retroactively. Therefore, it is not necessary for all vehicle missions to have mission approval from the factory. Nor is it necessary to update the vehicle missions and assign mission approval, for example, during vehicle maintenance. Instead, this is done automatically by the central computer system as needed, primarily via the data transmission connection.

[0024] The described procedure enables extremely flexible operation of the driver assistance system, in particular the execution of at least partially autonomous driving using vehicle missions that are only subsequently authorized. This allows for reliable autonomous driving, for example, in a private area and / or on a personally frequented route or in a heavily traveled area for which the vehicle manufacturer has little or no data to grant mission authorization.

[0025] A further development of the invention provides that the vehicle missions found when searching the vehicle mission memory are displayed to a user of the motor vehicle for selection, in particular for selection based on an assigned purpose, and the motor vehicle is controlled to carry out the driving maneuver assigned to the selected vehicle mission, if mission approval is stored for the vehicle mission.

[0026] The detected vehicle missions are displayed to the vehicle's user, specifically by indicating their intended use. This means that the driving maneuver and trigger conditions are either not displayed or only shown as secondary information. Instead, the primary focus is on displaying the intended use. The user does not select a specific driving maneuver, but rather abstract intended uses.

[0027] If the user selects one of the vehicle missions, the vehicle is then driven to perform the driving maneuver assigned to that mission. This preferably occurs at least partially or fully autonomously. Ideally, the user is only shown vehicle missions for which mission authorization has been granted.

[0028] The use of the mission purpose allows for a particularly high degree of personalization of the driver assistance system. The mission purpose, along with the driving maneuver, is stored in the vehicle mission memory as part of the vehicle mission. The mission purpose describes the objective behind the driving maneuver and serves as a clear and understandable description of the vehicle mission for the vehicle's user. For example, the mission purpose describes whether the vehicle is to be parked in a specific location, or whether the vehicle is to be prepared for loading or for a specific user to enter.

[0029] A further development of the invention provides that, at least temporarily, an operating parameter describing the driving operation of the motor vehicle is recorded, pattern recognition is performed to detect periodic behavior of the state parameter and / or operating parameter, and, upon detection of an operating pattern of the motor vehicle by means of pattern recognition, the driving maneuver is derived from the operating parameter and the trigger condition from the state parameter, and together with an application purpose of the driving maneuver assigned to the operating pattern and the state parameter, it is stored as a vehicle mission without mission release in the vehicle mission memory. The described procedure is carried out particularly in a second operating mode.

[0030] In addition to the state variable, the operating variable of the vehicle is recorded. The operating variable describes the vehicle's driving behavior and is therefore a quantity directly related to the vehicle's driving. Examples include the vehicle's current speed, its current direction of travel, and similar parameters. Whenever this description refers to state variables or operating variables, any number of these variables can be considered.

[0031] The term "state variable" refers to at least one state variable, and the term "operating variable" refers to at least one operating variable, where the at least one state variable comprises one or more state variables, and the at least one operating variable comprises one or more operating variables. Preferably, not only a single state variable and a single operating variable are used, but several state variables and / or several operating variables are incorporated into the described method.

[0032] Pattern recognition is performed based on the state variable and / or operating variable. Pattern recognition serves to identify periodic behavior of the state variable or operating variable and thus the presence of an operating pattern. An operating pattern is understood to mean, in particular, the presence of a specific operating variable in conjunction with a specific state variable, specifically the presence of a specific behavior of the operating variable when the specific state variable is present. Pattern recognition is used to relate the state variable and the operating variable to each other, specifically the behavior of the operating variable in relation to the state variable. Pattern recognition is performed, for example, using machine learning, particularly with the aid of an artificial neural network.

[0033] If, during pattern recognition, the periodic behavior of a state variable and / or operating variable, and thus the operating pattern, is detected, the driving maneuver is derived from the operating variable and the trigger condition from the state variable. The driving maneuver describes the operating variable or its behavior, in particular a periodic behavior of the operating variable or its behavior. Additionally, the trigger condition is derived from the state variable. Preferably, the trigger condition also describes a periodic behavior of the state variable, i.e., a recurring value of the state variable, which is related to the operating pattern or the periodic behavior of the operating variable.

[0034] The driving maneuver and the trigger condition are combined in the vehicle mission and stored in the vehicle mission memory as a vehicle mission, initially without mission authorization. The vehicle mission derived from pattern recognition therefore initially lacks mission authorization and may not be used to execute the vehicle's driving operation. For this, it is first necessary to request and receive mission authorization from the central computing unit. The vehicle mission is stored in the vehicle mission memory only if a high periodicity of the state variable and / or the operating variable is detected during pattern recognition, meaning that the existing behavior of the state variable or operating variable has been recorded multiple times. This allows for a particularly high degree of personalization of the driver assistance system.

[0035] The driver assistance system thus observes the user's behavior or the user's operation of the vehicle. It uses information from regular vehicle use. Patterns are extracted from this information—that is, regularly performed driving maneuvers that are related to the respective state variable. The driving maneuver is then linked to the trigger condition and assigned to the vehicle mission. Preferably, an abstraction process is also performed by assigning the purpose of use to the operating pattern and the state variable and storing them together in the vehicle mission. The purpose of use can be derived from the operating pattern and / or the state variable itself. Alternatively, the purpose of use is specified by the vehicle user, particularly upon request from the driver assistance system.This again serves to achieve a very high degree of personalization of the driver assistance system and thus of the motor vehicle.

[0036] A further development of the invention provides that vehicle missions stored in the vehicle mission memory without mission release are transmitted to the computing device, wherein a mission analysis of the vehicle missions is carried out by means of the computing device and, on the basis of the mission analysis, a release parameter is determined for each of the vehicle missions, wherein the mission release is stored for each of the vehicle missions if the respective release parameter lies within a release parameter range, in particular only then and / or exclusively then.

[0037] The previously determined vehicle mission, or the vehicle missions stored without mission release, are transmitted to the computing unit, preferably via the data transmission connection. The computing unit performs the mission analysis and determines the release parameter for each vehicle mission. The release parameter is determined, for example, based on the state variable, the operating variable, or its respective trend. Preferably, the release parameter is determined using artificial intelligence, in particular an artificial neural network. This ensures particularly efficient processing of the vehicle mission. If the release parameter is within the release parameter range, mission release is stored for the respective vehicle mission by the computing unit.The mission release is preferably stored via the data transmission connection; for example, the vehicle mission bearing the mission release is transmitted from the computer to the vehicle.

[0038] It may be stipulated that mission clearance is stored electronically and in a tamper-proof manner, for example, by using an electronic signature. For instance, the computing facility may be operated by an organization authorized to issue such an electronic signature. This organization could be, in particular, the vehicle manufacturer or a government agency. It may also be stipulated that the vehicle mission must be accompanied by several partial clearances to obtain mission clearance. For example, each partial clearance is granted by an electronic signature; specifically, a first partial clearance is granted by a first electronic signature from a first organization, such as the manufacturer, and a second partial clearance is granted by a second electronic signature from a second organization, such as the government agency.Preferably, the electronic signature(s) should be stored together with the vehicle mission in order to be able to reliably prove their release at all times.

[0039] A further development of the invention provides that the vehicle missions, for which mission release has been stored by the computing unit, are transmitted to the vehicle and saved in the vehicle mission memory. In this respect, it is provided that the vehicle mission(s) without mission release are first transmitted to the computing unit, where, depending on the release parameter, the mission release is applied, and, if mission release is granted, the mission(s) are transmitted back to the vehicle and stored there. This enables rapid and efficient processing of the vehicle mission(s).

[0040] A further development of the invention provides that the environmental data is transmitted to the computing unit along with the vehicle missions and evaluated by the computing unit when determining the release parameter. The environmental data serves to assess the vehicle's surroundings. Preferably, the environmental data is transmitted not only at a specific point in time, but for a specific period, for example, the period for which the state variable and / or the operating variable are also recorded. Preferably, the environmental data is taken into account when determining the release parameter; in particular, it serves as input for the artificial neural network. Based on the environmental data, the computing unit can efficiently assess whether the vehicle mission can be carried out safely enough to grant mission release.

[0041] A further development of the invention provides that at least one of the following quantities is used as a state variable: time, date, day of the week, calendar data, actual position of the motor vehicle, starting position of the motor vehicle, target position of the motor vehicle, environmental data of the environmental detection device, charge level of an energy storage device of the motor vehicle, payload of the motor vehicle, state of a vehicle door, state of a vehicle flap, occupancy of the motor vehicle and state of a occupant restraint system.

[0042] Time, date, and day of the week are time-related parameters that often indicate periodic behavior of a state variable or operational variable. For example, the vehicle mission might be informed that the user needs the vehicle at a specific time and location. The same applies to the day of the week. Calendar data includes, for example, calendar entries entered by the user, describing their appointment commitments. Based on this calendar data, it can also be deduced whether the user expects the vehicle at a specific time, date, and / or day of the week at a specific location.

[0043] The current position describes the instantaneous position of the vehicle, which is determined, for example, using a global navigation satellite system. The starting position of the vehicle is the position at which the vehicle began its current journey. The destination position, on the other hand, is the position the vehicle will be in, or is expected to be in, at the end of its journey. For example, the destination position is determined using the vehicle's navigation system or based on the distance traveled.

[0044] As previously explained, the environmental data of the environmental sensing device describes the vehicle's surroundings, which are detected using one or more sensors. The charge level of the energy storage device corresponds to the amount of energy still contained within it. The energy storage device is, in particular, an electrical energy storage device, preferably a traction battery, used to power the vehicle's drive system. The vehicle's payload describes a weight that depends on the user or number of users and the vehicle's payload capacity. The payload, therefore, describes, in particular, the vehicle's current weight or mass, including its unladen weight. It is determined, for example, by a sensor located on the vehicle's chassis.

[0045] The state of the vehicle door describes whether the door is closed or at least partially open. The same applies to the state of the vehicle hatch. Vehicle occupancy describes the number of people in the vehicle, or which seats are occupied. The state of the occupant restraint system describes, in particular, whether and which seat belts are currently in use, i.e., which ones have a buckle fastened. Only one of these parameters can be used. However, it is preferable to use several or even all of them as input for pattern recognition. This allows for a particularly high degree of personalization of the vehicle's driving behavior.

[0046] A further development of the invention provides that at least one of the following parameters is used as an operating parameter: vehicle speed, vehicle direction of travel, vehicle steering angle, torque of one drive direction of the vehicle, and rotational speed of the drive unit. Again, only one of these parameters can be used. Preferably, however, several or all of the parameters are used and serve as input for pattern recognition.

[0047] The invention further relates to a driver assistance device for a motor vehicle, in particular for carrying out the method according to the descriptions in this document, wherein the driver assistance device is provided and designed to at least temporarily acquire environmental data describing the environment of the motor vehicle by means of an environment detection device of the motor vehicle and to carry out at least partially autonomous driving of the motor vehicle on the basis of the environment data.

[0048] The driver assistance system is also designed and configured to at least temporarily record a state variable describing the state of the motor vehicle and to search a vehicle mission memory for vehicle missions for which an associated trigger condition is fulfilled by the state variable, whereby the motor vehicle is controlled to carry out a driving maneuver assigned to one of the vehicle missions if a mission release transmitted to the motor vehicle from a central computing unit is stored for the vehicle missions.

[0049] The advantages of such a design of the driver assistance system and such a procedure have already been mentioned. Both the driver assistance system and the procedure for operating it can be further developed as explained in this description, and reference is made to these explanations in this regard.

[0050] Furthermore, the invention relates to a computer program product comprising commands that cause the driver assistance system to execute the described method as outlined in this description. For the advantages and possible advantageous further developments, reference is made to the description in its entirety.

[0051] The features and combinations of features described in the description, in particular those described in the following figure description and / or shown in the figures, can be used not only in the combinations specified, but also in other combinations or individually, without departing from the scope of the invention. Thus, embodiments that are not explicitly shown or explained in the description and / or the figures, but which emerge from or can be derived from the explained embodiments, are also to be considered as encompassed by the invention.

[0052] The invention is explained in more detail below with reference to the exemplary embodiments shown in the drawing, without limiting the invention. The drawing shows: Fig. 1. A schematic flowchart of a procedure for operating a driver assistance system for a motor vehicle, as well as Fig. 2. A schematic flowchart of part of the aforementioned procedure.

[0053] The Fig. Figure 1 shows a schematic flowchart illustrating a procedure for operating a driver assistance system for a motor vehicle. The procedure begins at a starting point 1. In step 2, following starting point 1, a driver assistance system of the motor vehicle is activated. In step 3, the driver assistance system is used to acquire a state variable that describes the state of the motor vehicle. Subsequently, in step 4, it is checked whether the acquired state variable or its value fulfills a trigger condition of a vehicle mission stored in a vehicle mission memory. For this purpose, the vehicle missions stored in the vehicle mission memory are searched to find the vehicle mission for which the associated trigger condition is fulfilled by the state variable or its value.

[0054] In query 5, it is checked whether such a vehicle mission exists, i.e., whether one of the vehicle missions stored in the vehicle mission memory has a trigger condition that is fulfilled by the state variable. If this is not the case, the system proceeds to step 6, in which, in addition to the state variable, an operating variable of the vehicle is also recorded. The operating variable describes the driving operation of the vehicle. Based on the state variable and / or the operating variable, preferably both, pattern recognition is performed. During pattern recognition, the system checks for periodic behavior of the state variable and / or the operating variable.

[0055] In a subsequent query (7), it is checked whether the pattern recognition has detected periodic behavior and thus an operating pattern of the vehicle. If this is the case, in step 8 a driving maneuver is derived from the operating parameter and the trigger condition is determined from the state parameter. Furthermore, an attempt is made to determine the purpose of the driving maneuver. This is done, for example, using a stored driving maneuver list containing several different driving maneuvers with their corresponding purposes, or using a purpose list containing several different purposes with their corresponding driving maneuvers and / or state parameters.

[0056] If the derived driving maneuver corresponds to one of the stored driving maneuvers, the purpose assigned to that stored driving maneuver is also used for the derived driving maneuver. Alternatively, it is checked whether the driving maneuver or the state variable corresponds to one of the stored purposes. If so, the stored purpose is assigned to the derived driving maneuver. In query 9, it is checked whether the purpose could be determined. If so, in step 10, a vehicle mission is compiled and saved in a vehicle mission memory. The vehicle mission consists of the derived driving maneuver, the derived trigger condition, and the purpose of the driving maneuver.

[0057] If, however, the intended purpose is not available during query 9, the process proceeds to step 11, in which communication with the vehicle user takes place to query the intended purpose. The user is shown, for example, the derived driving maneuver and presented with several different possible intended purposes, from which they can select one. Alternatively, they can freely enter the intended purpose. Subsequently, in step 10, the vehicle mission is compiled with the now available intended purpose and stored in the vehicle mission memory. The process then terminates at endpoint 12.

[0058] The procedure is then preferably repeated starting from point 1, resulting in a periodic sequence from point 1 to point 12. If query 7 reveals that no operating pattern exists, i.e., no periodic behavior of the state variable and / or operating variable is detected, the process immediately branches to point 12, thus terminating and preferably restarting.

[0059] If query 5 determines that at least one of the vehicle missions stored in the vehicle mission memory has a trigger condition fulfilled by the state variable, the system proceeds to step 13. In this step, the user of the vehicle is shown the detected vehicle missions for selection, based on their respective assigned purpose. This means that the user is not shown the driving maneuver and / or the trigger condition, but preferably only the purpose, which describes the background of the respective driving maneuver. Preferably, only those vehicle missions for which mission approval exists or has been granted, i.e., by an external computing unit, are considered.

[0060] If, during query 14, it is determined that the user has selected one of the displayed vehicle missions, the system proceeds to step 15; otherwise, it proceeds to endpoint 12. In step 15, the driver assistance system controls the vehicle to perform the selected vehicle mission, but only if mission authorization for the selected vehicle mission has been granted. Specifically, this means that the vehicle is controlled to perform the driving maneuver assigned to the selected vehicle mission, provided the aforementioned condition is met. This control preferably takes place within the context of at least partially or fully autonomous driving operation of the vehicle, particularly taking into account environmental data acquired by means of an environmental sensing device in the vehicle.

[0061] The described approach provides a highly personalized driving experience for the vehicle user. Specifically, it doesn't simply store or reproduce a driving maneuver; rather, the selection of the maneuver is based on both the trigger condition and the user's intended purpose. Furthermore, it is preferentially intended to reduce the driving maneuver to its relevant components using pattern recognition—that is, to those components that are actually performed regularly and periodically. For this purpose, the driving maneuver is not determined based on a mere snapshot of the operational parameters, but rather the operational parameters are analyzed and reduced to their relevant segments.

[0062] For this purpose, the operational parameters are first divided into segments, and then those segments identified as periodically executed during pattern recognition are selected to determine the driving maneuver. This ensures that the vehicle can autonomously reach a target position. This can also occur driverless, meaning without the user being present in the vehicle. For example, the vehicle can autonomously resume driving after the user leaves the vehicle, or it can autonomously begin driving before the user even enters the vehicle.

[0063] By incorporating various vehicle state variables, the driver assistance system can provide needs-based support to the user. For example, if the vehicle's starting position and the state of a vehicle hatch are used as state variables, the driver assistance system can recognize that the user is returning from shopping and wants to unload their groceries. Accordingly, after confirmation by the user, the vehicle is controlled so that it is positioned with its hatch or trunk open in front of the entrance door of a residential building. The trunk can also be opened.

[0064] The Fig.Figure 2 shows another schematic flowchart, which explains step 10 in more detail. Specifically, the flowchart represents a sub-process that is carried out within step 10. For example, the sub-process is called during step 10. The sub-process begins at a starting point 16. In step 17, which follows starting point 16, the vehicle mission is compiled and stored in the vehicle mission memory. This initially occurs without mission release. In a subsequent step 18, the vehicle mission is refined. For example, during the driving maneuver of the vehicle mission, the environmental data recorded by an environmental sensing device is evaluated. Additionally or alternatively, the driving maneuver stored in the vehicle mission is adjusted if the driving maneuver is repeated.

[0065] In step 19, the system checks whether the vehicle mission stored in the vehicle mission memory is complete, meaning it contains a sufficiently precisely defined driving maneuver. If query 20 determines that this is not the case, step 19 is repeated. Alternatively, the system may proceed to step 18 to further refine the vehicle mission. If query 20 determines that the vehicle mission is sufficiently precise, step 21 generates a release request from a vehicle user. Once granted, step 22 converts the vehicle mission into vehicle mission data. This data is then transmitted to an external computing device in step 23.

[0066] In step 24, the computing unit determines a release parameter from the transmitted vehicle mission data or the transmitted vehicle mission itself. In query 25, it checks whether the release parameter lies within a release parameter range. If so, in step 26, the mission release is transmitted to the vehicle, specifically together with the vehicle mission. The subprocess then terminates, and the system proceeds to endpoint 12. If the release parameter lies outside the release parameter range, in step 27, test parameters are defined and transmitted to the vehicle. The system then proceeds to step 17 or step 18. In these steps, the vehicle is driven according to the test parameters. This serves to gather data, such as environmental data, that can be used for successful release of the vehicle mission.The described procedure is then repeated, in particular until the vehicle mission is defined with sufficient precision to allow for release. REFERENCE MARK LIST: 1 Starting point Step 2 Step 3 Step 4 5 Query Step 6 7 Query Step 8 9 Query Step 10 Step 11 12 Endpoint Step 13 14 Query Step 15 16 Starting point Step 17 Step 18 Step 19 20 queries Step 21 Step 22 Step 23 24 steps 25 Query Step 26 Step 27 QUOTES INCLUDED IN THE DESCRIPTION

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

[0000] DE 10 2019 215 308 A1

[0002] DE 10 2022 002 173 A1

[0003] DE 10 2019 134 532 A1

[0004]

Claims

[1] Method for operating a driver assistance device for a motor vehicle, wherein environmental data describing the environment of the motor vehicle are recorded at least temporarily by means of an environment detection device of the motor vehicle and, on the basis of the environment data, at least partially autonomous driving of the motor vehicle is carried out at least temporarily, characterized by , that at least temporarily a state variable describing a state of the motor vehicle is recorded and a vehicle mission memory is searched for vehicle missions for which an associated trigger condition is fulfilled by the state variable, whereby the motor vehicle is controlled to carry out a driving maneuver assigned to one of the vehicle missions if a mission release transmitted to the motor vehicle from a central computing unit is stored for the vehicle mission. [2] Method according to claim 1, characterized by, that the vehicle missions found when searching the vehicle mission memory are displayed to a user of the vehicle for selection and the vehicle is driven to perform the driving maneuver assigned to the selected vehicle mission, if mission approval is stored for the vehicle mission. [3] Method according to any one of the preceding claims, characterized by, that at least temporarily an operating parameter describing the vehicle's operation is recorded, pattern recognition is performed to detect periodic behavior of the state parameter and / or operating parameter, and if an operating pattern of the vehicle is detected by means of pattern recognition, the driving maneuver is derived from the operating parameter and the trigger condition from the state parameter, and together with a purpose for the driving maneuver assigned to the operating pattern and the state parameter, it is stored as a vehicle mission without mission release in the vehicle mission memory. [4] Method according to any one of the preceding claims, characterized by, that vehicle missions stored in the vehicle mission memory without mission release are transmitted to the computing unit, whereby a mission analysis of the vehicle missions is carried out by means of the computing unit and, on the basis of the mission analysis, a release parameter is determined for each of the vehicle missions, whereby the mission release is stored for each vehicle mission, provided that the respective release parameter is within a release parameter range. [5] Method according to any one of the preceding claims, characterized by , that the vehicle missions for which mission approval has been stored by means of the computing device are transmitted to the motor vehicle and stored in the vehicle mission memory. [6] Method according to any one of the preceding claims, characterized by, that the environmental data is transmitted to the computing unit along with the vehicle missions and evaluated by the computing unit when determining the release parameter. [7] Method according to any one of the preceding claims, characterized by , that as a state variable, at most one of the following quantities is used: time, date, day of the week, calendar data, actual position of the vehicle, starting position of the vehicle, target position of the vehicle, environmental data of the environmental sensing device, charge level of an energy storage device of the vehicle, payload of the vehicle, state of a vehicle door, state of a vehicle flap, occupancy of the vehicle and state of a occupant restraint system. [8] Method according to any one of the preceding claims, characterized by, that at least one of the following quantities is used as an operating parameter: vehicle speed, vehicle direction of travel, vehicle steering angle, torque of a drive direction of the vehicle and speed of the drive device. [9] Driver assistance device for a motor vehicle, in particular for carrying out the method according to one or more of the preceding claims, wherein the driver assistance device is designed and configured to at least temporarily acquire environmental data describing the environment of the motor vehicle by means of an environment detection device of the motor vehicle and to carry out at least partially autonomous driving operation of the motor vehicle on the basis of the environment data, at least temporarily, characterized by, that the driver assistance device is also designed and configured to at least temporarily record a state variable describing a state of the motor vehicle and to search a vehicle mission memory for vehicle missions for which an associated trigger condition is fulfilled by the state variable, whereby the motor vehicle is controlled to carry out a driving maneuver assigned to one of the vehicle missions if a mission release transmitted to the motor vehicle by a central computing unit is stored for the vehicle mission. [10] Computer program product comprising commands that cause the driver assistance device according to claim 9 to execute the method according to one or more of claims 1 to 8.

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