Method for operating an assistance system of a motor vehicle that is at least partially assisted, computer program product and assistance system

Abstract

The invention relates to a method for operating an assistance system (2) of a motor vehicle (1) that is at least partially assisted, comprising the steps of: providing current topographic information (9) about the current environment (10) of the motor vehicle (1) by means of an electronic computing unit (4) of the assistance system (2); acquiring the current environment (10) by means of a acquiring unit (3) of the assistance system (2); and adapting at least one setting parameter of at least one functional unit (5) of the assistance system (2) for evaluating the acquired environment (10) depending on the topographic information (9) by means of the electronic computing unit (4). The invention further relates to a computer program product and an assistance system (2).

Description

[0001] The following invention relates to a method for operating an assistance system of a motor vehicle that is at least partially assisted according to claim 1. The invention further relates to a corresponding computer program product and an assistance system.

[0002] It is already known from the state of the art that the number of application possibilities that the assistance systems are supposed to react to is increasing, whereby an increased robustness requirement is possible in all new application possibilities of the scenarios.

[0003] Furthermore, an increasing number of new target objects are being added to the corresponding object catalog, which the assistance system must then recognize and identify. Current efforts are facing the growing challenge of distinguishing between objects, for example, between bicycles and motorcycles in certain scenarios. Here, probabilities are used to make better decisions; for instance, if a specific object is somewhere between a motorcycle and a bicycle, but has a speed above, say, 25 kilometers per hour, then it will be classified as a motorcycle.

[0004] However, this result can be distorted by the topographical environment, for example when cycling downhill, and can then have negative consequences, since the response to a motorcycle is different than to a bicycle. Suppression mechanisms may also be applied here that would not normally have been executed if the object had been correctly identified as a bicycle.

[0005] US Patent 2019 / 0019412 A1 describes a cross-traffic alert system for a motor vehicle in a forward or reverse gear position, comprising an object detection sensor configured to detect the relative positions of a variety of target objects located within a coverage zone near the vehicle, and a processor for receiving target position data, detecting established environmental conditions based on the received data, and classifying a driving environment based on the detection of established environmental conditions. Based on the classified driving environment, dynamically adjustable threshold ranges are provided within the detection zones, at which indications of targets within the warning areas are generated.

[0006] US Patent 2018 / 0012085 A1 covers computer vision-based driver assistance devices, systems, methods, and associated computer executable code. According to some embodiments, the device may include one or more fixed image / video sensors and one or more adjustable or otherwise movable image / video sensors characterized by different field-of-view dimensions. According to some embodiments of the invention, an ADAS may include enhanced image processing. According to some embodiments, an ADAS may also include one or more sensors capable of monitoring / detecting the interior of the vehicle and / or the persons located therein. An ADAS may include one or more sensors capable of detecting parameters relating to the driver of the vehicle, as well as processing circuits capable of evaluating the driver's mental state / alertness and gaze direction.These can be used to change the ADAS operating / threshold values.

[0007] DE 10 2015 210 782 A1 discloses a means of transportation, a driver assistance system, and a method for determining the cognitive workload of a driver operating a means of transportation. The method comprises the steps of determining a first parameter for the driver's workload due to a driving situation, determining a second parameter for the driver's workload due to non-driving activities, detecting a driver's driving behavior that deviates from a predefined driving behavior, and, based on the first parameter, the second parameter, and the deviating driving behavior, detecting an increased cognitive workload of the driver.

[0008] The object of the present invention is to create a method, a computer program product and an assistance system by means of which an improved evaluation of an environment can be realized.

[0009] This problem is solved by a method, a computer program product, and an assistance system according to the independent patent claims. Advantageous embodiments are specified in the dependent claims.

[0010] One aspect of the invention relates to a method for operating an assistance system of a motor vehicle that is at least partially driver-assisted. Current topographic information about the current environment of the motor vehicle is provided by means of an electronic computing unit of the assistance system. The current environment is detected by means of a detection device of the assistance system, and at least one setting parameter of at least one functional unit of the assistance system is adapted by means of the electronic computing unit to evaluate the detected environment as a function of the topographic information.

[0011] This allows for improved environmental perception. In particular, it enables improved, at least partially assisted driving of the vehicle. Specifically, it is proposed that the topographical information of the environment be taken into account when evaluating the environment and, for example, when setting a parameter of the functional unit.

[0012] For example, if a vehicle is detected traveling downhill, a detected object, such as a bicycle, can be adjusted according to its object classification. According to current technology, two-wheeled vehicles traveling above 25 kilometers per hour are typically identified as motorcycles. However, when traveling downhill, this could also be a regular bicycle. The topographic information can therefore be used to instruct the assistance system to gather further information about the object before identifying it as a motorcycle. This allows for improved environmental analysis, as the topographical features of the surroundings are now taken into account.

[0013] In particular, this allows for improved environmental analysis, which can then be used in the partially assisted or fully assisted operation of the motor vehicle and thus contribute to road safety.

[0014] The detection device can be, for example, a camera, radar sensor, lidar sensor, or ultrasonic sensor. The current environmental information can then be transmitted from the detection device to the electronic processing unit for processing. Furthermore, other devices in the vehicle, such as a navigation system, can also transmit the topographic information to the electronic processing unit for processing.

[0015] According to an advantageous embodiment, the sensitivity of the detection device can be adapted as at least one functional unit. For example, the sensitivity can be adjusted in corresponding areas, such as further ahead when driving downhill or further uphill / backward when driving uphill, so that areas near the vehicle have a lower sensitivity than areas further away. This allows for highly reliable detection of the surroundings.

[0016] In another advantageous embodiment, the search field is adapted to the surrounding area for object searches. For example, if the vehicle is in front of a mountain, it can be assumed that objects are located in the upper part of the search field. Thus, the standard search field, which is primarily oriented towards the direction of travel, can be adapted accordingly, and an environmental scan can be performed in the upper area. This improves the environmental detection capabilities.

[0017] It has also proven advantageous to adapt the object classification of a detected object to its environment. In particular, an object recognition algorithm can be adjusted for this purpose. As mentioned earlier, for example, an object already classified as a motorcycle can be adapted when traveling downhill, and further classification features can be used to identify the motorcycle. It can then no longer be ruled out that the two-wheeler might be identified as a bicycle when traveling downhill.

[0018] Another advantageous design involves adapting a warning cascade from a warning device of the assistance system as the functional unit. This allows, in particular, for corresponding warning messages to be generated later or earlier. For example, a collision warning with a bicycle can be triggered earlier if the vehicle is driving uphill and the bicycle is driving downhill. This allows for improved vehicle handling.

[0019] It is also advantageous if the topographic information is provided in conjunction with a navigation map. In particular, the navigation map can contain relevant topographic information, especially elevation data. By analyzing the navigation map, it is thus possible to extract the topographic information and use it for the process. This provides a simple way to supply topographic information.

[0020] It is also advantageous if the captured environment is analyzed and, depending on the captured environment, topographic information is generated and provided to the electronic computing unit. For example, the existing capture device or other capture devices can be used for this purpose. For instance, a mountain can be reliably captured in a camera image. This can then be used to generate topographic information and feed it to the electronic computing unit. Thus, the process can be carried out internally within the vehicle and without any additional external information.

[0021] It has also proven advantageous to adapt a control signal, as the setting parameter for a vehicle dynamics component of the assistance system, depending on the topographical information. For example, a parameter of an acceleration system can be adjusted accordingly. Furthermore, a braking system can also be adjusted accordingly. For instance, when driving downhill, it can be detected early on that the braking system will be under greater strain, allowing for timely adjustments to the braking system. Conversely, when driving uphill, it can be identified that an acceleration system requires more power to propel the vehicle up the hill.

[0022] The presented method is essentially a computer-implemented method. Therefore, a further aspect of the invention relates to a computer program product with program code means which, when the program code means are executed by the electronic computing device, cause it to carry out a method according to the preceding aspect.

[0023] Furthermore, the invention also relates to a computer-readable storage medium containing at least the computer program product according to the preceding aspect.

[0024] A further aspect of the invention relates to an assistance system for a motor vehicle that is at least partially assisted, comprising at least one detection device, an electronic computing device, and a functional unit, wherein the assistance system is configured to carry out a method according to the preceding aspect. In particular, the method is carried out by means of the assistance system.

[0025] Furthermore, the invention also relates to a motor vehicle with an assistance system according to the preceding aspect. The motor vehicle can be designed as a motor vehicle that is at least partially assisted or as a fully assisted motor vehicle.

[0026] Advantageous embodiments of the process are to be regarded as advantageous embodiments of the computer program product, the computer-readable storage medium, the assistance system, and the motor vehicle. The assistance system and the motor vehicle possess tangible features to enable the corresponding process steps to be carried out.

[0027] An electronic vehicle control system / assistance system can be understood as an electronic system designed to drive a vehicle fully automatically or autonomously, in particular without requiring any intervention from a driver. The vehicle automatically performs all necessary functions, such as steering, braking, and / or acceleration maneuvers, monitoring and recording road traffic, and reacting accordingly. Specifically, the electronic vehicle control system can implement a fully automatic or fully autonomous driving mode of the motor vehicle according to Level 5 of the SAE J3016 classification. An electronic vehicle control system can also be understood as an advanced driver assistance system (ADAS), which supports the driver during partially automated or semi-autonomous driving.In particular, the electronic vehicle guidance system can implement a partially automated or semi-autonomous driving mode according to levels 1 to 4 of the SAE J3016 classification. Here and in the following, "SAE J3016" refers to the corresponding standard in the April 2021 version.

[0028] At least partially automated vehicle control can therefore include driving the vehicle in accordance with a fully automated or fully autonomous driving mode of Level 5 according to SAE J3016. At least partially automated vehicle control can also include driving the vehicle in accordance with a partially automated or semi-autonomous driving mode according to Levels 1 to 4 of SAE J3016.

[0029] The at least one control signal can be provided, for example, to one or more actuators of the motor vehicle, including, for example, one or more brake actuators and / or one or more steering actuators and / or one or more drive motors of the motor vehicle. The one or more actuators can influence the longitudinal and / or lateral steering of the motor vehicle in order to steer the motor vehicle at least partially automatically.

[0030] The assistance information can be output via a vehicle output device, such as a display and / or an audio output system and / or a haptic output system.

[0031] Within the scope of this disclosure, an object recognition algorithm can be understood as a computer algorithm capable of identifying and locating one or more objects within a provided input data set, such as an input image, for example, by defining appropriate bounding boxes or regions of interest (ROIs) and, in particular, assigning a corresponding object class to each of the bounding boxes, where the object classes can be selected from a predefined set of object classes. The assignment of an object class to a bounding box can be understood as providing a corresponding confidence value or probability that the object identified within the bounding box belongs to the corresponding object class.For example, the algorithm can provide a confidence value or probability for each object class given a given boundary box. The object class assignment might involve selecting or providing the object class with the highest confidence value or probability. Alternatively, the algorithm can simply define the boundary boxes without assigning a corresponding object class.

[0032] In the present disclosure, a computing unit / electronic computing device can be understood, for example, as a data processing device with processing circuits. A computing unit can therefore perform arithmetic operations to process data. These arithmetic operations can also include indexed access to a data structure, such as a lookup table (LUT).

[0033] A computing unit may, in particular, comprise one or more computers, one or more microcontrollers, and / or one or more integrated circuits, for example, one or more application-specific integrated circuits (ASICs), one or more field-programmable gate arrays (FPGAs), and / or one or more systems on a chip (SoCs). The computing unit may also include one or more processors, for example, one or more microprocessors, one or more central processing units (CPUs), one or more graphics processing units (GPUs), and / or one or more signal processors, in particular one or more digital signal processors (DSPs). The computing unit may also comprise a physical or virtual cluster of computers or other units of the aforementioned type.

[0034] A processing unit can also include one or more hardware and / or software interfaces and / or one or more memory units. A memory unit can be implemented as volatile data storage, for example as dynamic random access memory (DRAM) or static random access memory (SRAM), or as non-volatile data storage, for example as read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory or flash EEPROM, or ferromagnetic random access memory (FRAM).a magnetoresistive random access memory, MRAM (magnetoresistive random access memory), or a phase-change random access memory, PCRAM (phase-change random access memory).

[0035] For use cases or application situations that may arise during the procedure and are not explicitly described here, it may be provided that, according to the procedure, an error message and / or a request for user feedback is issued and / or a default setting and / or a predetermined initial state is set.

[0036] The invention also includes combinations of the features of the described embodiments.

[0037] The following describes exemplary embodiments of the invention. The following are shown: Fig. 1. A schematic side view of an embodiment of a motor vehicle with an embodiment of an assistance system during downhill driving; and Fig. 2 a schematic flowchart according to one embodiment of the method.

[0038] The embodiments described below are preferred embodiments of the invention. In these embodiments, the described components each represent individual features of the invention that can be considered independently of one another. Each of these features further develops the invention independently and can therefore be considered part of the invention individually or in a combination other than that shown. Furthermore, the described embodiments can also be supplemented by other features of the invention already described.

[0039] In the figures, functionally identical elements are each provided with the same reference symbols.

[0040] Fig. Figure 1 shows a schematic side view of an embodiment of a motor vehicle 1 with an embodiment of an assistance system 2. The motor vehicle 1 is, in particular, at least partially or, alternatively, fully assisted. The assistance system 2 comprises at least a detection device 3, an electronic computing unit 4, and a functional unit 5. The detection device 3 can, for example, be configured as a camera, lidar sensor, radar sensor, or ultrasonic sensor. The functional unit 5 can, for example, also be provided as the detection device 3.

[0041] Fig. Figure 1 shows in particular that the motor vehicle 1 is traveling downhill. Furthermore, a first detection area 6 is shown, which corresponds in particular to normal operation of the detection device 3. A second detection area 7 is also shown, which corresponds in particular to an adapted detection area, especially according to an embodiment of the invention. In the following exemplary embodiment, an object 8, in particular a cyclist, is located in a valley of the mountain.

[0042] According to one embodiment of the invention, current topographic information 9, in particular in the form of a downhill section, is provided by the electronic computing unit 4 for the current environment 10 of the motor vehicle 1. The current environment 10 is then acquired by the acquisition unit 3. At least one setting parameter, in this case for example the acquisition range 6, 7, of at least the functional unit 5 of the assistance system 2 is adjusted by the electronic computing unit 4 for the evaluation of the acquired environment 10 as a function of the topographic information 9.

[0043] In particular, it may be provided, for example, that the sensitivity of the detection device 3 is adapted as at least one functional unit 5. Furthermore, a search field for an object search, for example, of an object recognition algorithm, can be adapted as functional unit 5 in the environment 10. Additionally, an object classification of a detected object 8 can also be adapted in the environment 10. Finally, a warning cascade of a warning device 11 of the assistance system 2 can also be adapted as functional unit 5.

[0044] It is also possible that the topographic information 9 is provided depending on a navigation map. Alternatively or additionally, the recorded environment 10 can be evaluated and, depending on the recorded environment 10, the topographic information 9 can be generated and provided to the electronic computing device 4.

[0045] It may also be provided that a control signal for a vehicle dynamics device 12, for example as the longitudinal acceleration device or the lateral acceleration device of the motor vehicle 1, is adapted depending on the topographical information 9.

[0046] In particular, this shows that Fig. 1. By recording the environment 10, in particular the topographic information 9, a warning threshold for the environment 10 can be adjusted, for example. This allows the function to be made more sensitive when driving downhill. Alternatively, the search field can be adjusted accordingly.

[0047] Topographic information 9 can also assist in object type recognition. For example, if the object is a bicycle traveling downhill at a certain speed, the assistance system 2 assumes it must be a motorcycle because the speed is unusually high for a bicycle. This can now be taken into account, allowing, for example, a bicycle to be reliably recognized even when traveling downhill.

[0048] Another application is increasing the sensitivity of the detection device 3 in a known topographical environment 10. For example, the sensors can search for objects higher up or further ahead, as in the Fig. 1 shown accordingly.

[0049] This can prevent or reduce subsequent incorrect reactions, even with an increasing number of new scenarios and object types. The number of false warnings can still be kept low.

[0050] Fig. Figure 2 shows a schematic flowchart according to one embodiment of the method. In a first step S1, the topographic information 9 is provided. In a second step S2, for example, an intersection can be detected after a downhill drive.

[0051] In a third step, S3, a junction assistant can be adapted accordingly. For example, a corresponding Front Assist system can adjust the warning sequence because a cyclist might be traveling at a higher speed than normal.

[0052] An alternative fourth step, S4, could include a second use case, specifically concerning the rear assist system. The warning sequence could also be adjusted, as a cyclist might be traveling at a higher speed than normal. Reference symbol list 1 motor vehicle 2 Assistance systems 3. Recording device 4 Electronic computing equipment 5 Functional unit 6 First recording area 7 Second recording area 8 objects 9 Topographic Information 10 Environment 11 Warning device 12 Driving dynamics equipment S1-S4 Steps of the procedure 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] US 2019 / 0019412 A1

[0005] US 2018 / 0012085 A1

[0006] DE 10 2015 210 782 A1

[0007]

Claims

[1] Method for operating an assistance system (2) of a motor vehicle (1) that is at least partially assisted, comprising the steps: - Providing up-to-date topographic information (9) about the current environment (10) of the motor vehicle (1) by means of an electronic computing device (4) of the assistance system (2); - Detection of the current environment (10) using a detection device (3) of the assistance system (2); and - Adapting at least one setting parameter of at least one functional unit (5) of the assistance system (2) for the evaluation of the recorded environment (10) depending on the topographic information (9) by means of the electronic computing device (4). [2] Method according to claim 1, characterized by , that a sensitivity of the detection device (3) is adapted as at least one functional unit (5). [3] Method according to claim 1 or 2, characterized by, that a search field is adapted to an object search in the environment (10). [4] Method according to any one of the preceding claims, characterized by , that an object classification of a captured object (8) is adapted in the environment (10). [5] Method according to any one of the preceding claims, characterized by , that a warning cascade of a warning device (11) of the assistance system (2) is adapted as the functional unit (5). [6] Method according to any one of the preceding claims, characterized by , that the topographic information (9) is provided depending on a navigation map. [7] Method according to any one of the preceding claims, characterized by , that the recorded environment (10) is evaluated and, depending on the recorded environment (10), the topographic information (9) is generated and provided to the electronic computing device (4). [8] Method according to any one of the preceding claims, characterized by , that a control signal for a vehicle dynamics device (12) of the assistance system (2) is adapted depending on the topographic information (9). [9] Computer program product comprising program code means which cause an electronic computing device (4) to perform a method according to any one of claims 1 to 8 when the program code means are executed by the electronic computing device (4). [10] Assistance system (2) for a motor vehicle (1) that is at least partially assisted, comprising at least one detection device (3), one electronic computing device (4) and one functional unit (5), wherein the assistance system (2) is configured to carry out a method according to any one of claims 1 to 8.

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