Procedures for the automatic selection and coordination of vehicle functions and function coordinator

Abstract

The invention relates to a method for the automatic selection and coordination of driving functions (I) as well as parking, reversing and / or maneuvering functions (II) during the operation of a vehicle (F), comprising: - Perceiving a driving situation, - Determining available driving functions (I) and / or parking, parking and / or maneuvering functions (II) depending on the driving situation, - Providing driving functions (I) as well as parking, unparking and / or maneuvering functions (II) depending on the determination.

Description

[0001] The invention relates to a method for the automatic selection and coordination of, in particular automated, driving functions, e.g., longitudinal and / or lateral guidance functions, as well as, in particular, automated or autonomous, parking, reversing, and / or maneuvering functions during the operation of a vehicle. Furthermore, the invention relates to a corresponding computer program product, a corresponding control unit, a corresponding function coordinator, and a corresponding vehicle for carrying out such a method.

[0002] Modern vehicles offer drivers a wide range of driver assistance systems. Well-known driving functions include, for example, lateral and longitudinal control assistance. Parking assistance includes, for example, parking support. These functions are usually activated.

[0003] This creates a break at the start of the journey between automated and autonomous parking functions, e.g. for parking out of a parking space or a parking garage, and automated driving functions, such as Travel Assist.

[0004] There is also a break at the end between automated driving functions, such as Travel Assist, and automated and autonomous parking functions, e.g., for parking in a parking space or in a parking garage.

[0005] A typical example is the break in the function transition when reaching a navigation destination, as the driving function usually has to be deactivated, a few meters driven manually, and then the parking function manually activated. This scenario applies to reaching a navigation destination, for example, in a city (e.g., a parking garage, department store), at a gas station, at a highway rest area, or at a private driveway.

[0006] It is therefore an object of the present invention to overcome at least one of the disadvantages described above, at least partially. In particular, it is an object of the invention to provide an improved method for the automatic selection and coordination of, in particular automated, driving functions, e.g., longitudinal and / or lateral guidance functions, as well as, in particular automated or autonomous, parking, reversing, and / or maneuvering functions during the operation of a vehicle, which prevents a break between the automated and / or autonomous vehicle functions, improves driving comfort, relieves the user of the vehicle, and contributes to increased safety during vehicle operation.Furthermore, it is an object of the invention to provide a corresponding computer program product, a corresponding control unit, a corresponding function coordinator and a corresponding vehicle for carrying out a corresponding method.

[0007] The foregoing problem is solved by: a method for the automatic selection and coordination of, in particular automated, driving functions, e.g., longitudinal and / or lateral guidance functions, as well as, in particular automated or autonomous, parking, reversing, and / or maneuvering functions during the operation of a vehicle with the features of the independent method claim. Furthermore, the problem of the invention is solved by a corresponding computer program product, a corresponding control unit, a corresponding function coordinator, and a corresponding vehicle for carrying out a corresponding method with the features of the dependent claims.Features and details described in connection with the different embodiments and / or aspects of the invention naturally also apply in connection with the other embodiments and / or aspects, and vice versa, so that with regard to the disclosure of the individual embodiments and / or aspects, mutual reference is always made or can be made.

[0008] The preceding problem is solved by: a method for the automatic selection and coordination of, in particular automated, driving functions, e.g. longitudinal and / or lateral guidance functions, as well as, in particular automated or autonomous, parking, reversing and / or maneuvering functions in the operation of a vehicle.

[0009] The procedure involves the following steps: - Perceiving a driving situation, - Determining available driving functions and / or parking, exiting parking and / or maneuvering functions depending on the driving situation, - Providing driving functions as well as parking, exiting and / or maneuvering functions depending on the determination (meaning reciprocal provision of functions).

[0010] The present method resolves the gap between automated driving functions and automated and autonomous parking, reversing and / or maneuvering functions.

[0011] For this purpose, the existing individual functions are evaluated, validated, proposed to the customer and / or automatically initiated by a new higher-level module, the function coordinator.

[0012] The function coordinator records, evaluates and validates the current driving situation and controls the individual functions as needed, as well as the handover between the functions.

[0013] For example, the function coordinator can evaluate the target information from the navigation system and, upon reaching the target area, automatically select, suggest, or automatically execute a suitable (automated or autonomous) parking function using an automated driving function, e.g., longitudinal and / or lateral guidance function, possibly depending on the degree of driver interaction (hands remain on the steering wheel or hands are removed) and / or possibly depending on the suitability of the target area.

[0014] For example, autonomous parking can be initiated on the home property. When approaching a parking space, an autonomous parking maneuver, particularly one that has been trained, can be performed. Upon reaching a parking garage, a function for (partially) automated driving in parking garages can be activated.

[0015] Advantageously, this allows for continuous automation / assistance for the driver, both on the motorway, when exiting the motorway, when entering a rest area, when approaching a fuel station or charging station, or when driving to a parking space.

[0016] For example, the function coordinator can start at the beginning of a navigation or directly at the start of the journey to enable a transition between parking and driving.

[0017] For example, the function coordinator can automatically enable a seamless transition between functions during a journey, e.g., during stops, such as at a rest area.

[0018] In addition, the function coordinator can check the vehicle's condition and, for example, offer guidance to the next available refueling / charging station if the fuel level / charge level is low.

[0019] Advantageously, the functional coordinator can prioritize target areas that allow for uninterrupted assistance.

[0020] Preferably, the function coordinator may favor target areas for which sufficient map data and swarm data, in particular including trajectory data and / or road markings, are available.

[0021] In areas with available swarm data, this data can be used to automatically guide the vehicle to the target position (parking lot) or through a target route (drive-through, gas station, car wash).

[0022] Repeated journeys allow the collection of swarm data (where and how the vehicle moved in the area), enabling improved automation / assistance on future journeys.

[0023] Advantageously, the function coordinator can use swarm data from one and the same vehicle or also external swarm data, which is collected, for example, via a fleet of vehicles.

[0024] Several advantages can be achieved using this method: - Customer benefits increase. - Customer experience improves. - The user is relieved of some of the burden. - Comfort is increased. - Security is improved.

[0025] The user / customer receives continuous support / assistance throughout the journey without interruption.

[0026] Support can be provided at the start of the journey, during the journey, during breaks, throughout the journey, and until the journey ends.

[0027] The user does not need to notice the change in functions. Therefore, the user is not distracted from the actual driving task.

[0028] Furthermore, reduced distractions and more frequent use of existing driver assistance systems result in the following advantages: ◯ Precise and safe driving and parking. • Avoidance of damage. ◯ Less maneuvering (due to more precise steering). ◯ Tracks can be kept narrower. ◯ Correct route selection even in unknown or difficult situations, e.g. approaching a charging station at a motorway service area.

[0029] If driving situations are detected in which no support / assistance is possible, this can be communicated to the user, e.g. by visual display, acoustic announcement or similar.

[0030] Further advantages can be achieved through the potential use of swarm data.

[0031] By combining several previously separate functions, technological synergies can be created. This can increase the availability of the functions.

[0032] The procedure can also utilize trained parking in locations where no map data is available (e.g., at a rest area, a petrol station, etc.).

[0033] Optionally, it can be provided that a user can choose whether the procedure is activated by default, or whether they should be asked before use.

[0034] Optionally, it can be provided that a user can select which function (Top 1, Top 2 and / or Top 3) can be selected as a priority (e.g. parking space and / or parking garage).

[0035] Furthermore, it can be provided that navigation data, destination information of a navigation route and / or appointment calendar data of a user of the vehicle are taken into account when recording a driving situation.

[0036] Furthermore, it can be provided that vehicle condition data is taken into account when recording a driving situation, in particular the fuel level and / or state of charge of the vehicle, driving dynamics, speed, etc.

[0037] The current driving situation (possibly including destinations / intermediate destinations) can thus be intelligently assessed. For example, the following information can be taken into account: - Long journey (break? hunger? need to use the toilet?). - Turning off the motorway towards the rest area (fueling? food? toilet?). - Surroundings (parking nearby?). - Driving dynamics (vehicle slows down, driver activates the turn signal -> parking?). - Proximity of the vehicle's pose to known swarm trajectories.

[0038] In this way, flexible support can be provided depending on the driving situation. For example, when traveling a distance from a gas station, the system support (e.g., steering torque) can initially be provided relatively weakly. The support can increase as the gas station gets closer. The support can be further increased when the system can detect which specific pump is being approached.

[0039] Furthermore, it can be advantageous to ask a vehicle user to confirm the recorded driving situation before determining available driving functions, as well as parking, maneuvering, and / or exiting functions. This ensures that the recorded driving situation has been correctly identified and assessed.

[0040] Furthermore, it can be implemented that a degree of driver interaction is taken into account when determining available parking, exiting, and / or maneuvering functions. For example, it can be checked whether a user has their hands on the steering wheel. If, for example, the user has their hands on the steering wheel, then automated parking can be suggested. If, for example, the user does not have their hands on the steering wheel, then autonomous parking can be suggested.

[0041] Furthermore, it can be implemented that selected functions are automatically initiated when driving, parking, and / or maneuvering functions are provided. This completely relieves the user of the burden, so that the switch between different functions goes unnoticed.

[0042] Furthermore, it can be implemented that when providing driving functions as well as parking, reversing, and / or maneuvering functions, selected functions are suggested to a vehicle user for confirmation before being initiated. In this way, the user can confirm the selected functions first. The user can thus actively experience the benefits of the procedure. This can also strengthen trust in the function coordinator.

[0043] Furthermore, it can be provided that map data and / or swarm data, in particular trajectory data and / or road markings, are taken into account when determining available driving functions as well as parking, exiting and / or maneuvering functions.

[0044] Furthermore, it is conceivable that the swarm data originates from the user's own vehicle, e.g., from previous journeys in the same driving situations, and / or from a vehicle fleet, whereby the data can be obtained, for example, via a central backend unit.

[0045] Swarm data can be beneficial for areas without full functional support.

[0046] There are sections of the route where functional support is not possible, for example, due to a lack of data. Recorded data from numerous manual journeys (swarm data) can be used to ensure a minimum level of support and / or to increase the degree of automation.

[0047] For example, the path taken by vehicles moving within a gas station premises can be recorded, processed (trajectory sets), and then made available to other vehicles for lateral control (similar to lane assist). Consequently, drivers of other vehicles can be offered a degree of steering assistance when approaching the gas station premises.

[0048] The following steps can be taken to achieve this: 1. Recording and storing swarm data, which includes, for example, sensor data such as movement and / or location data. Advantageously, time and / or personal identification are not necessary and can be anonymized. a. Sending swarm data to a backend device. b. Processing of swarm data on the backend device. 2. Providing swarm data from the backend device for use by requesting vehicles.

[0049] In this way, such a function coordinator can be provided, enabling suitable functions with the most uninterrupted assistance possible for vehicles.

[0050] Advantageously, after determining available driving functions as well as parking, exiting and / or maneuvering functions, several possible routes with different possible driving functions as well as parking, exiting and / or maneuvering functions can be suggested to a user of the vehicle for selection.

[0051] It is conceivable that the several possible routes could be carried out with different levels of automation.

[0052] In this way, users can be offered different route options. For example, the function coordinator can provide the navigation system with information on whether assistance is available on certain roads and parking areas. Alternatively, this information can be integrated directly into the navigation map. In addition to the familiar "fastest" and "shortest" route recommendations, a "maximum assistance" route recommendation can be offered, possibly including a percentage indication of the achievable assistance coverage.

[0053] Advantageously, AI methods can be used in the function coordinator, e.g., to learn user preferences and / or to select functions in specific driving situations.

[0054] Furthermore, it may be provided that, prior to determining available driving functions as well as parking, exiting and / or maneuvering functions, an external backend unit is contacted to find out whether map data and / or swarm data, in particular including trajectory data and / or lane markings, are already known for the recorded driving situation.

[0055] Furthermore, it may be provided that, prior to determining available driving functions as well as parking, exiting and / or maneuvering functions, vehicle-side results are supplemented and / or validated using external data.

[0056] In this way, the assistance / support can be improved even further. Route sections where information is missing can still be navigated. Route sections where information is available can be validated using external data.

[0057] Advantageously, the process can be repeated if the detected driving situation changes. Preferably, the process can be repeated dynamically. In this way, assistance / support can be provided with as little interruption as possible.

[0058] To enable a seamless transition between functions, the vehicle's navigation route can be divided into sections for the execution of the procedure, in which specific driving functions or parking, reversing, and / or maneuvering functions can be provided, preferably without interruption. The sections can be selected in such a way that a specific function can be provided without interruption.

[0059] Advantageously, vehicle users can be offered the option to select which driving functions, as well as parking, maneuvering, and / or exiting functions, should be prioritized. This further enhances customer comfort.

[0060] The function coordinator can, for example, consider the following criteria to determine suitable functions: - Current and / or maximum usable vehicle speed. - Required steering torque and / or required steering angle. - Type of area (public road, restricted area, parking lot, parking garage, expressway, motorway, exit, etc.). - Limitations due to functionally available functions (Does the vehicle even have a specific function? Is the sensor technology available? etc.). - Limitations resulting from the current vehicle condition (are there any faults, trailer, loading situation, turn signals, hazard warning lights, driver intervention, driving dynamics, etc.). - Environmental conditions (weather, lighting, etc.). - Functional restrictions from a map of the surrounding area. - Function exclusions / function preferences from a user configuration (user activates / deactivates / prefers certain functions) and / or from a vehicle configuration (e.g., fuel pumps matching the required fuel). - Learned data from customer usage (users frequently or always choose a specific function in a given driving situation, "habits") and / or learned data from general customer usage from the backend (customers frequently or always choose a specific function in a given driving situation). - Available information services. - Digital map layers, e.g., comprehensive: trajectory sets that may contain the following data: ◯ Route description (e.g., directions to a specific fuel pump) □ Additionally, what type (such as electric charging station / gas / diesel etc.) □ Information (such as fuel pump out of order) ◯ What type of vehicle / driver drives where and how? ◯ Lighting information (such as day / night). ◯ Information about weather and seasons (such as summer / winter, rain, snow, etc.) ◯ Traffic information (road closure / construction site etc.).

[0061] The criteria can be prioritized differently in order to derive decisions. These decisions can also be weighed against each other quantitatively.

[0062] Based on these criteria, the following decisions can be made: - Changing the operating mode (e.g., parking, driving, stationary). - Switch to a different function (in the function type Parking, Trained Parking, etc.) - Continued use of the current function. - Requirement for user interaction, e.g., when no decision / prioritization is possible. - Abort and request for driver takeover.

[0063] According to a further aspect, the invention provides a computer program product comprising instructions which, when executed by a computer, such as the processing unit of a control unit, cause the computer to carry out the method, which can proceed as described above. The same advantages described above in connection with the method according to the invention can be achieved with the computer program product. These advantages are fully referenced herein.

[0064] A corresponding control unit provides a further aspect of the invention. A computer program in the form of code can be stored in a memory unit of the control unit. When the code is executed by a processing unit of the control unit, this program performs a procedure that can proceed as described above. The same advantages described above in connection with the method according to the invention can be achieved with the help of the control unit. These advantages are fully referenced herein.

[0065] A corresponding functional coordinator also constitutes an aspect of the invention, wherein the driving assistant has a corresponding control unit. The same advantages described above in connection with the method according to the invention can be achieved with the driving assistants. These advantages are fully referenced herein.

[0066] Advantageously, the function coordinator can have communication interfaces to a navigation system, user-side devices, sensors, etc., in order to receive or provide relevant information.

[0067] A corresponding vehicle also represents an aspect of the invention, wherein the vehicle has a corresponding functional coordinator. The same advantages described above in connection with the method according to the invention can be achieved with the vehicle. These advantages are fully referenced herein.

[0068] Further advantages and features of the invention will become apparent from the following description, in which several embodiments of the invention are described in detail with reference to the drawings. The drawings schematically illustrate: Fig. 1. An exemplary sequence of a proposed procedure.

[0069] As it is Fig. As illustrated in Figure 1, a method is proposed which was developed for the automatic selection and coordination of (especially automated) driving functions I, e.g. longitudinal and / or lateral guidance functions, as well as (especially automated or autonomous) parking, reversing and / or maneuvering functions II in the operation of a vehicle F.

[0070] As it is Fig. As illustrated in Figure 1, the procedure involves the following steps: 3. Assessing a driving situation, 5 Determining available driving functions I and / or parking, parking and / or maneuvering functions II depending on the driving situation, 6 Provision of driving functions I as well as parking, unparking and / or maneuvering functions II depending on the determination (meaning reciprocal provision of functions).

[0071] The present method can advantageously prevent a break between possible automated driving functions I and possible automated and autonomous parking, reversing and / or maneuvering functions, or vice versa.

[0072] For this purpose, a new higher-level module, the function coordinator FK, is provided, which evaluates the available functions I, II, checks their plausibility, suggests them to a user of the vehicle F or executes them directly automatically.

[0073] The function coordinator (FK) first records the current driving situation. The FK can then evaluate this situation. Furthermore, the FK can activate possible functions I and II as needed. Advantageously, the FK can control the handover or switch between functions I and II flexibly and preferably without interruption.

[0074] In one conceivable example, the function coordinator (FK) can evaluate target information from the navigation system.

[0075] Upon reaching a corresponding target area using an automated driving function I, e.g., longitudinal and / or lateral guidance function, the function coordinator FK can automatically - possibly depending on the level of driver interaction (hands remain on the steering wheel or hands are removed) and / or - possibly depending on suitability of the target area, Select, suggest and / or automatically execute a suitable (automated or autonomous) parking and / or maneuvering function II.

[0076] For example, autonomous parking can be provided on the home property. When approaching a parking space, an autonomous parking function, specifically one that has been trained, can be activated. Upon reaching a parking garage, a function for (partially) automated driving in parking garages can be provided.

[0077] This method enables continuous, uninterrupted automation / assistance, both on the motorway, when exiting the motorway, when entering a rest area, when approaching a fuel station or charging station, or when driving to a parking space.

[0078] In one conceivable example, the function coordinator FK can start at the beginning of a navigation or directly at the start of the journey to enable a transition between a parking function II and a driving function I.

[0079] Furthermore, the function coordinator FK can automatically enable a seamless transition between functions I and II during a journey, e.g., during stops, such as at a rest area.

[0080] In addition, the function coordinator FK can check the vehicle's condition and, for example, in case of low fuel level / charge level, guide it to the next available fuel / charging station.

[0081] Advantageously, the functional coordinator FK can favor target areas that allow uninterrupted assistance using different functions I, II.

[0082] Preferably, the Functional Coordinator (FK) may favor target areas for which sufficient map data and swarm data, in particular including trajectory data and / or road markings, are available.

[0083] Map data and swarm data can, for example, be used to provide functions I and II if, for example, in-house sensor data is lacking.

[0084] Map data and swarm data can, for example, be used to verify one's own sensor data.

[0085] In areas with available swarm data, this data can be used to automatically guide the vehicle F during driving, parking, maneuvering and / or reversing.

[0086] Repeated journeys in the same driving situations can collect swarm data, enabling improved automation / assistance on future journeys.

[0087] Advantageously, the function coordinator (FK) can use swarm data from one and the same vehicle or also external swarm data, which is collected, for example, via a fleet of vehicles and received, for example, from a backend unit. Example of customer experience:

[0088] The following example is intended to illustrate the customer experience of the function. This example is just one of many possible examples, where the process can provide any combination of driving functions I, e.g., longitudinal and / or lateral guidance functions, as well as, in particular, automated or autonomous, parking, reversing, and / or maneuvering functions II. - A driver enters their navigation destination (e.g., a parking garage in a sample city) into a navigation system. - Optionally, the current charging process up to a charging stop can be taken into account at this point. - The driver starts driving. - Decision by Functional Coordinator: Activation of parking exit. - Vehicle reaches public road. - Decision of the Function Coordinator: Activation of the Travel Assist driving function. - Vehicle reaches a low battery level that requires charging. - Decision by the function coordinator: Activation of the parking function at a charging station. - Vehicle is being charged, and driver initiates onward travel. - Decision by Functional Coordinator: Activation of parking exit. - Vehicle reaches public road. - Decision of the Function Coordinator: Activation of the Travel Assist driving function. - Vehicle reaches the navigation destination. - Decision by the function coordinator: Activation of the automatic parking function for the parking garage. - End of driving cycle.

[0089] Further example scenarios: - Workshop / Wheel change - Zone / Target Area - Drive Through - Gas station / motorway exit to the fuel pump - Car wash - Return of rental car - Parking garage (register all parking spaces) - Ferries / Car trains - Ticket machines / Approach assistant

[0090] An example of the procedure is shown in the Fig. 1 shown. Start 1. Start of journey: User input of a navigation destination (haptically, acoustically, gesturally, etc.). 2. Start the function via a suitable interface. 3. Assessing a driving situation. Is it a parking environment or a driving environment? 4a. Optional: A query is sent to the backend to check if longitudinal / lateral support is already available for the currently selected route. a. Option: The user can decide which route to use with which possible level of automation (Example: Route 1 [fastest] - 70% automation and 30% must be driven manually; Route 2 [highest support] - 90% automation and only 10% must be driven manually). 4b. Optional: Trajectory / map data is received from the backend. Trajectory / map data is provided locally on the vehicle. Trajectories / map data are used for preparation / plausibility checks / automatic validation during deployment. 5. Check by function coordinator (to determine available driving functions I and / or parking, reversing and / or maneuvering functions II depending on the driving situation): a. Driving functions (case a) and / or b. Parking, parking and / or maneuvering function (case b) for a current trajectory segment. Between different route sections, an automatic transfer (5ab or 5ba) takes place between driving functions (case a) and / or parking, parking and / or maneuvering functions (case b). 6. Provision of driving functions I as well as parking, exiting and / or maneuvering functions II. Activation of the initially selected function after successful testing and evaluation: a. Automatic activation of the driving function. b. Automatic activation of the parking, parking and / or maneuvering function. Optional: The system offers the user of the vehicle the option to activate a usable function. 7. Optional: The driving / parking, parking and / or maneuvering function can use existing data (map data and / or swarm data, e.g., including trajectory data and / or lane markings, for longitudinal / lateral support). 8. Advantageously: Recheck if the trajectory conditions change (area, vehicle speed, etc.), then return to point 4 if necessary. 9. Navigation destination reached. End of journey.

[0091] Several advantages can be achieved using this method: - Customer benefits increase. - Customer experience improves. - The user is relieved of some of the burden. - Comfort is increased. - Security is improved.

[0092] The user / customer receives continuous support / assistance throughout the journey without interruption.

[0093] Support can be provided at the start of the journey, during the journey, during breaks, throughout the journey, and until the journey ends.

[0094] The user does not need to notice the change in functions. Therefore, the user is not distracted from the actual driving task.

[0095] Furthermore, reduced distractions and more frequent use of existing driver assistance systems result in the following advantages: ◯ Precise and safe driving and parking. • Avoidance of damage. ◯ Less maneuvering (due to more precise steering). ◯ Tracks can be kept narrower. ◯ Correct route selection even in unknown or difficult situations, e.g. approaching a charging station at a motorway service area.

[0096] If driving situations are detected in which no support / assistance is possible, this can be communicated to the user, e.g. by visual display, acoustic announcement or similar.

[0097] Further advantages can be achieved through the potential use of swarm data.

[0098] By combining several previously separate functions I and II, technological synergies can be created. This can also increase the availability of functions I and II.

[0099] The procedure can also utilize trained parking in locations where no map data is available (e.g., at a rest area, a petrol station, etc.).

[0100] Advantageously, a user can choose whether the procedure is activated by default or whether, for example, they should be asked before use.

[0101] Optionally, it can be provided that a user can select which function (Top 1, Top 2 and / or Top 3) should be selected first (e.g. parking lot and / or parking garage).

[0102] In addition, navigation data, destination information of a navigation route and / or appointment calendar data of a user of the vehicle F can be taken into account when recording a driving situation.

[0103] Furthermore, vehicle condition data can be taken into account when recording a driving situation, in particular the fuel level and / or state of charge of the vehicle, driving dynamics, speed, etc.

[0104] The current driving situation (possibly including destinations / intermediate destinations) can thus be intelligently assessed. For example, the following information can be taken into account: - Long journey (break? hunger? need to use the toilet?). - Turning off the motorway towards the rest area (fueling? food? toilet?). - Surroundings (parking nearby?). - Driving dynamics (vehicle slows down, driver activates the turn signal -> parking?). - Proximity of the vehicle's pose to known swarm trajectories.

[0105] In this way, flexible support can be provided depending on the driving situation. For example, when traveling a distance from a gas station, the system support (e.g., steering torque) can initially be provided relatively weakly. The support can increase as the gas station gets closer. The support can be further increased when the system can detect which specific pump is being approached.

[0106] Furthermore, before determining available driving functions I as well as parking, reversing and / or maneuvering functions II, a user of vehicle F may be asked to confirm the recorded driving situation.

[0107] Furthermore, the degree of driver interaction can be taken into account when determining available parking, parking, and / or maneuvering functions II. For example, it can be checked whether a user has their hands on a steering wheel.

[0108] Firstly, when providing driving functions I as well as parking, unparking and / or maneuvering functions II, selected functions can be initiated automatically.

[0109] Secondly, when providing driving functions I as well as parking, reversing and / or maneuvering functions II, selected functions can be suggested to a user of the vehicle F for confirmation before they are initiated.

[0110] Advantageously, when determining available driving functions I as well as parking, unparking and / or maneuvering functions II, map data and / or swarm data, in particular trajectory data and / or road markings, can be taken into account.

[0111] The swarm data can originate from the vehicle's own vehicle F, e.g. from previous journeys in the same driving situations, and / or from a fleet of vehicles, whereby the data can be obtained, e.g., via a central backend unit.

[0112] Swarm data can be particularly beneficial for areas without full functional support.

[0113] There are sections of the route where functional support is not possible, for example because sensor data is missing.

[0114] Now, swarm data can be used to ensure a minimum level of support and / or to increase the level of automation.

[0115] For example, the path taken by vehicles moving within a gas station premises can be recorded, processed (trajectory sets), and then made available to other vehicles for lateral control (similar to lane assist). Consequently, drivers of other vehicles can be offered a degree of steering assistance when approaching the gas station premises.

[0116] The following steps can be taken to achieve this: 1. Recording and storing swarm data, which includes, for example, sensor data such as movement and / or location data. Advantageously, time and / or personal identification are not necessary and can be anonymized. a. Sending swarm data to a backend device. b. Processing of swarm data on the backend device. 2. Providing swarm data from the backend device for use by requesting vehicles.

[0117] The proposed function coordinator FK can thus enable suitable functions with the most uninterrupted assistance possible for vehicles F.

[0118] Advantageously, after determining available driving functions I and parking, exiting and / or maneuvering functions II, several possible routes with different possible driving functions as well as parking, exiting and / or maneuvering functions can be suggested to a user of the vehicle F for selection.

[0119] It is conceivable that the several possible routes could be implemented with different levels of automation, possibly with an achievable percentage of support coverage.

[0120] In this way, users can be offered different route options. For example, the function coordinator can provide the navigation system with information on whether assistance is available on certain roads and parking areas. Alternatively, this information can be integrated directly into the navigation map. In addition to the familiar "fastest" and "shortest" route recommendations, a "maximum assistance" route recommendation can be offered, possibly including a percentage indication of the achievable assistance coverage.

[0121] Advantageously, AI methods can be used in the function coordinator FK, e.g. for learning user preferences and / or for function selection in certain driving situations.

[0122] Furthermore, it may be provided for (see step 4a in Fig. 1) that before determining available driving functions I and parking, parking and / or maneuvering functions II, an external backend unit (e.g. cloud) is contacted to find out if map data and / or swarm data, in particular trajectory data and / or lane markings, are already known for the recorded driving situation.

[0123] Furthermore, it may be provided for (see step 4b in Fig. 1) that, prior to determining available driving functions I and parking, exiting and / or maneuvering functions II, vehicle-side results are supplemented and / or validated using external data.

[0124] The procedure can be repeated at the latest when the recorded driving situation changes.

[0125] Preferably, the process can be repeated dynamically.

[0126] Furthermore, it may be provided that, in order to carry out the procedure, a navigation route of the vehicle F is divided into sections in which certain driving functions I or parking, parking and / or maneuvering functions II can be provided, preferably without interruption, in order to enable a smooth transition between functions I and II.

[0127] Furthermore, a user of vehicle F may be offered the option to select which driving functions I as well as parking, re-parking and / or maneuvering functions II can be prioritized.

[0128] The function coordinator (FK) can, for example, consider the following criteria to determine suitable functions I and II: - Current and / or maximum usable vehicle speed. - Required steering torque and / or required steering angle. - Type of area (public road, restricted area, parking lot, parking garage, expressway, motorway, exit, etc.). - Limitations arising from functionally available functions (does the vehicle even have a specific function, is the sensor technology available, etc.). - Limitations resulting from the current vehicle condition (Are there any faults? Trailer, loading situation, turn signals, hazard lights, driver intervention, driving dynamics, etc.). - Environmental conditions (weather, lighting, etc.). - Functional restrictions from a map of the surrounding area. - Function exclusions / function preferences from a user configuration (user activates / deactivates / prefers certain functions) and / or from a vehicle configuration (e.g., fuel pumps matching the required fuel). - Learned data from customer usage (users frequently or always choose a specific function in a given driving situation, "habits") and / or learned data from general customer usage from the backend (customers frequently or always choose a specific function in a given driving situation). - Available information services. - Digital map data and / or swarm data, e.g., including trajectory swarms that may contain the following data: ◯ Route description (e.g., directions to a specific fuel pump) □ Additionally, what type (such as electric charging station / gas / diesel etc.) □ Information (such as fuel pump out of order) ◯ What type of vehicle / driver drives where and how? ◯ Lighting information (such as day / night). ◯ Information about weather and seasons (such as summer / winter, rain, snow, etc.). ◯ Traffic information (road closure / construction site etc.).

[0129] The criteria can be prioritized differently from one another in order to derive decisions.

[0130] The criteria can also be weighed against each other quantitatively.

[0131] Based on these criteria, the following decisions can be made: - Changing the operating mode (e.g., parking, driving, stationary). - Switching to a different function (in the function type Parking, trained parking, etc.) - Continued use of the current function. - Requirement for user interaction, e.g., when no decision / prioritization is possible. - Abort and request for driver takeover.

[0132] A corresponding computer program product, a corresponding control unit ECU and a corresponding function coordinator FK also represent aspects of the invention.

[0133] Advantageously, the functional coordinator (FK) can have communication interfaces to a navigation system, user-side devices, sensors, etc., in order to receive or provide relevant information.

[0134] A corresponding vehicle F also represents an aspect of the invention. Reference symbol list F vehicle I Driving function II Parking, parking and / or maneuvering function ECU control unit FK Functional Coordinator

Claims

[1] Method for the automatic selection and coordination of, in particular automated, driving functions (I), e.g. longitudinal and / or lateral guidance functions, as well as, in particular automated or autonomous, parking, reversing and / or maneuvering functions (II) during the operation of a vehicle (F), comprising: - Perceiving a driving situation, - Determining available driving functions (I) and / or parking, parking and / or maneuvering functions (II) depending on the driving situation, - Providing driving functions (I) as well as parking, unparking and / or maneuvering functions (II) depending on the determination. [2] Method according to claim 1, where, when recording a driving situation, navigation data, destination information of a navigation route and / or appointment calendar data of a user of the vehicle (F) are taken into account, and / or where vehicle condition data is taken into account when recording a driving situation, e.g. fuel level, state of charge, driving dynamics and / or speed of the vehicle (F). [3] Method according to any one of the preceding claims, where a degree of driver interaction is taken into account when determining available parking, parking and / or maneuvering functions (II), in particular, it is checked whether a user has their hands on a steering wheel. [4] Method according to any one of the preceding claims, where selected functions are automatically initiated when providing driving functions (I) as well as parking, exiting and / or maneuvering functions (II), or wherein, when providing driving functions (I) as well as parking, exiting and / or maneuvering functions (II), selected functions are suggested to a user of the vehicle (F) for confirmation before they are initiated. [5] Method according to any one of the preceding claims, where, when determining available driving functions (I) as well as parking, exiting and / or maneuvering functions (II), map data and / or swarm data, in particular including trajectory data and / or lane markings, are taken into account, where, in particular, the swarm data originates from the vehicle's own vehicle (F), e.g. from previous journeys in the same driving situations, and / or from a fleet of vehicles, whereby the data can be obtained, e.g., via a central backend unit. [6] Method according to any one of the preceding claims, where, prior to determining available driving functions (I) as well as parking, parking and / or maneuvering functions (II) A user of the vehicle (F) is asked to confirm the recorded driving situation. [7] Method according to any one of the preceding claims, where, after determining available driving functions (I) as well as parking, parking and / or maneuvering functions (II) Several possible routes with different possible driving functions as well as parking, exiting and / or maneuvering functions are suggested to a user of the vehicle (F) for selection, in particular, the multiple possible routes can be carried out with different levels of automation. [8] Method according to any one of the preceding claims, where, prior to determining available driving functions (I) as well as parking, parking and / or maneuvering functions (II) an external backend unit (cloud) is contacted to find out, whether map data and / or swarm data, in particular comprehensive trajectory data and / or lane markings, are already known for the recorded driving situation, and / or wherein, prior to determining available driving functions (I) as well as parking, exiting and / or maneuvering functions (II) Vehicle-side results can be supplemented and / or validated using external data. [9] Method according to any of the preceding claims, wherein the method is repeated when the detected driving situation changes, and / or wherein the method is repeated dynamically. [10] Method according to any one of the preceding claims, wherein, in order to carry out the method, a navigation route of the vehicle (F) is divided into sections in which certain driving functions (I) or parking, exiting and / or maneuvering functions (II) can be provided, preferably without interruption, and / or where a user of the vehicle (F) is offered the option to select which driving functions (I) and parking, exiting and / or maneuvering functions (II) can be prioritized. [11] Method according to any one of the preceding claims, where determining available driving functions (I) as well as parking, parking and / or maneuvering functions (II) at least one of the following pieces of information is taken into account: - current and / or maximum usable vehicle speed, - necessary steering torque and / or necessary steering angle, - Type of road, e.g. public road, restricted area, parking lot, parking garage, expressway, motorway, exit, etc. - Environmental conditions, e.g. weather data, lighting data, - Limitations from functionally available functions, - Limitations resulting from the current vehicle condition, - Functional restrictions from a map, - Function exclusions / function preferences from a user configuration, - Function exclusions / function preferences from a vehicle configuration, - learned data from customer usage, - learned data from general customer usage from an external backend unit, - available information services and / or - Map data and / or swarm data, e.g., including trajectory data and / or road markings. [12] Computer program product comprising instructions which, when the computer program product is executed by a computer, cause it to carry out the method according to any of the preceding method claims. [13] Electronic control unit (ECU) comprising at least one storage unit in which instructions are stored which, when executed at least partially by a computing unit, perform a method according to one of the preceding method claims. [14] Functional coordinator (FC) comprising a control unit (ECU) according to the preceding claim. [15] Vehicle (F) comprising an intelligent function coordinator (FC) according to the preceding claim.

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