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

Abstract

The invention relates to a method for operating a driver assistance device for a motor vehicle (1), wherein environmental data describing the environment of the motor vehicle (1) are acquired at least temporarily by means of an environment detection device of the motor vehicle (1), wherein, based on the environment data, a target value of an operating parameter for carrying out driving operation of the motor vehicle (1) is determined using an assistance parameter data set of the driver assistance device, and the driving operation is carried out using the target value, and wherein, in the event of a deviation of an actual value of the operating parameter from the target value due to an interaction of a user of the motor vehicle (1) with a control element, the assistance parameter data set is adapted such that the target value determined using the adapted assistance parameter data set changes in the direction of the actual value.The invention provides that the assistance parameter data set for determining the target value is read from a data storage device using a user- and / or vehicle-specific identification parameter and stored in the data storage device when an adjustment is made depending on the user- and / or vehicle-specific identification parameter. The invention further relates to a driver assistance device for a motor vehicle (1) and a computer program product.

Description

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, wherein, based on the environment data and using an assistance parameter data set of the driver assistance system, a target value of an operating parameter for carrying out driving operation of the motor vehicle is determined and the driving operation is carried out using the target value, and wherein, in the event of a deviation of an actual value of the operating parameter from the target value due to an interaction of a user of the motor vehicle with a control element, the assistance parameter data set is adapted such that the target value determined using the adapted assistance parameter data set changes in the direction of the actual value.wherein the assistance parameter data set for determining the target value is read from a data storage device using a user- and / or vehicle-specific identification parameter and, when adjusted depending on the user- and / or vehicle-specific identification parameter, is stored in the data storage device. The invention further relates to a driver assistance device for a motor vehicle and a computer program product. The prior art is known in publication DE 10 2017 010 832 A1. This describes a method for evaluating a speed limit detected by a vehicle's traffic sign assistant.This system is designed to determine the speed limit detected by the traffic sign assistant and the actual vehicle speed; to compare the actual vehicle speed with an average driver-related speed deviation from a specified speed limit; and to validate the detected speed limit by calculating the difference between the vehicle speed corresponding to the speed limit plus the average driver-related speed deviation and the actual vehicle speed if a limit value specified depending on a road type, road class and / or vehicle environment conditions is exceeded or fallen below. Furthermore, document US 11,745,769 B2 discloses an automated driving system comprising a processor and a perception module implemented by the at least one processor and configured to detect an impending situation that a vehicle is about to drive through.Furthermore, the driving system includes an intervention module, implemented by the at least one processor and configured to determine that the confidence level for a driving decision appropriate to the upcoming situation is at a level sufficient to request driver assistance, where the driving decision relates to a steering decision, a decision to accelerate, a decision to move forward, a decision to move backward, or a decision to stop, based on determining the confidence level for the driving decision to be made for the upcoming situation at the level sufficient to request driving assistance. The system envisages activating an autonomous driving mode and displaying information regarding the upcoming situation to the driver via an interface. Based on this situation, the system can request assistance from the driver by (i) displaying available options for the situation via the interface, or (ii) requesting information from the driver to support the driving decision. Furthermore, it should determine whether input has been received from the driver via the interface that displays at least one of (i) a selected option from the available options or (ii) the requested information.Furthermore, the driving system has a vehicle control module implemented by the at least one processor and configured to support and enhance automated driving decisions and related operations by making autonomous driving decisions to drive the vehicle autonomously based on (i) determining whether the input has been received and / or (ii) the received input. The document DE 10 2019 003 963 A1 discloses a method for determining a driving strategy of a vehicle, in which a forecast horizon is determined as a function of a current position of the vehicle on the basis of stored data of a digital map and driving states of the vehicle are predicted, wherein fuel consumption-optimized control interventions on a drive train of the vehicle are generated on the basis of the forecast horizon and the driving states.It is intended that when the vehicle travels a predetermined section of the route, a comparison is made between the stored data, considered as target values ​​in the digital map, and the actual values ​​measured by the vehicle's sensors. If the target values ​​deviate from the actual values, a specific event characterizing the exact position of the vehicle in the digital map is stored in a local learning database to correct the data of the digital map. This data then forms the basis for determining the driving strategy for future journeys on the predetermined section of the route. From the publication DE 10 2011 055 685 A1, a method for operating a system influencing the driving behavior of a vehicle is known, wherein at least one control parameter of the system that can be manually adjusted by a vehicle occupant is automatically adjusted. Furthermore, the prior art document DE 10 2018 126 834 A1 is known. The object of the invention is to propose a method for operating a driver assistance device for a motor vehicle which has advantages over known methods, in particular enabling a particularly effective adaptation of the driver assistance device to the driving behavior of the user of the motor vehicle. 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 for environmental data from different data sources, a value of the operating parameter is determined for each, and the adjustment of the assistance parameter data set is only carried out if the values ​​differ from each other and / or if, at least for one of the data sources, a confidence value indicates a sufficiently high accuracy of the at least one data source. In principle, it is intended that the assistance parameter data set for determining the target value is read from a data storage device using a user- and / or vehicle-specific identification parameter and, when an adjustment is made depending on the user- and / or vehicle-specific identification parameter, is stored in the data storage device. 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. The method serves to operate the 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 to support a user of the motor vehicle in carrying out driving operations and / or at least temporarily in carrying out the driving operations of the motor vehicle itself, which in this case is at least partially autonomous. Partially autonomous driving means that the driver assistance system independently takes over longitudinal and / or lateral control of the vehicle, at least temporarily. Longitudinal control refers in particular to setting a driving speed of the vehicle, for example, by appropriately controlling the vehicle's drive system and / or braking system. The drive system serves to propel the vehicle, i.e., to provide drive torque for propelling the vehicle. To provide this 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 motor vehicle to brake the motor vehicle. Supporting the user in carrying out driving operations corresponds, for example, to assisted driving according to SAE Level 1. At least partially autonomous driving operations occur in particular 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 as defined above. The vehicle, and in particular its driver assistance system, is equipped with an environmental sensing system that serves to detect the vehicle's surroundings. When the environmental sensing system detects the surroundings, it generates environmental data that describes the vehicle's environment. To detect the surroundings and provide this environmental data, the environmental sensing system has one or more environmental sensors. Examples of sensors used as environmental sensors include: radar sensor, sonar sensor, lidar sensor, image sensor or camera, and sound sensor or microphone. The radar sensor uses electromagnetic waves, the sonar sensor uses sound waves, and the lidar sensor uses light to detect the surroundings, particularly to identify obstacles. The sonar sensor, for example, is designed as an ultrasonic sensor, meaning it uses sound waves in the ultrasonic range. The radar, sonar, and lidar sensors are all reflectivity sensors, meaning they are active sensors that emit an output signal into the environment and receive the reflected output signal as an input signal. The sound sensor, or microphone, detects sound waves present in the environment. The environmental data can optionally include map data and / or environmental data provided by another road user. This latter data is typically provided to the driver assistance system via a wireless connection. Another road user could be, for example, another vehicle. For example, the driver assistance system is designed to perform assisted driving at least temporarily based on environmental data. Additionally or alternatively, it will perform autonomous driving at least temporarily. This means that environmental data is evaluated, particularly regarding one or more obstacles in the vicinity of the vehicle. Based on this, in the case of assisted driving, a helpful message is displayed to the vehicle's user, or in the case of autonomous driving, longitudinal and / or lateral guidance is implemented. During autonomous driving, standard traffic rules are preferably observed. For example, the vehicle stays in a specific lane, adheres to its lane, and obeys traffic signs and signals. This ensures the safe flow of road traffic. The system is designed to determine the operating parameter, or more precisely, the target value of the operating parameter, from the environmental data. The target value is a value of the operating parameter used to control the vehicle's operation, i.e., within the context of assisted driving or at least partially autonomous driving. Based on the target value, the system may display a helpful message to the user and / or control the longitudinal and / or lateral guidance of the vehicle. The target value is determined using the assistance parameter data set. This data set describes the behavior of the driver assistance system and therefore represents a parameterization of the system. The assistance parameter data set is typically defined by the vehicle manufacturer or a service provider, particularly a navigation data provider or similar entity, and stored in the driver assistance system. However, this results in the driver assistance system always reacting identically, meaning that from the vehicle user's perspective, it will also repeat errors. For example, if traffic sign recognition is based on an inaccurate assistance parameter data set, the traffic sign will be incorrectly identified, and the default value for driving operations will deviate from the value the vehicle user would actually expect. This reduces the user's acceptance of the driver assistance system. For this reason, the described procedure allows the user to influence the driving operation through interaction with the control element. The control element can be any control element of the vehicle, provided it is designed and configured to directly influence the vehicle's driving operation. For example, the control element serves to control the longitudinal and / or lateral movement of the vehicle; in particular, it is an accelerator pedal, a brake pedal, a gear selector lever, or a steering wheel. Using the control element, the user sets the current value for the operating parameter. In other words, the user influences the driving operation with the control element in such a way that the current value for the operating parameter is determined. The current value, in this context, refers to the value of the operating parameter at any given moment. If a deviation occurs between the actual value and the target value of an operating parameter due to user interaction with the control element, this is detected by the driver assistance system. Consequently, the assistance parameter data set is adjusted so that, based on the environmental data and the application of the adjusted assistance parameter data set, a target value is generated that is modified in the direction of the actual value, in particular, that it corresponds to the actual value. In other words, the assistance parameter data set is adjusted so that the target value replicates a driving behavior of the vehicle specified by the user. The adjusted assistance parameter data set is preferably stored and subsequently used to determine the target value.The described procedure already achieves a reliable adaptation of the driver assistance system to user specifications; in particular, the driver assistance system learns the driver's behavior or replicates this behavior. To enable particularly specific adaptation of the driver assistance system to the vehicle user, user- and / or vehicle-specific identification parameters are also used. These parameters describe the user and / or user behavior and / or the vehicle and / or the vehicle's driving operation. The assistance parameter data set used to determine the default value is to be identified based on the identification parameter, specifically by reading it from the data storage. For example, several assistance parameter data sets are stored in the data storage, and one of these is selected using the identification parameter and read from the data storage. Preferably, the data storage device contains several different assistance parameter data sets for different values ​​of the user- and / or vehicle-specific identification parameter. If the assistance parameter data set is adjusted, namely due to the detected deviation between the actual value and the target value, the adjusted assistance parameter data set is stored in the data storage device, again depending on the identification parameter. This means, in particular, that the adjusted assistance parameter data set is written to the data storage device as an assistance parameter data set, especially together with the current value of the user- and / or vehicle-specific identification parameter. The described procedure achieves a particularly effective adaptation of the driver assistance system to the user's preferences. This results in a particularly high level of user acceptance. A further development of the invention provides that, using environmental data for obstacle detection, obstacle data describing obstacles present in the vicinity of the vehicle is determined, and the target value of the operating parameter is determined based on this obstacle data. The driver assistance system operates based on the obstacle data, which describes the obstacles present in the vicinity of the vehicle. Where the plural "obstacles" is used in this description, it is understood that the number of obstacles actually present is situation-dependent. The number of obstacles present in the vicinity of the vehicle, or the number of obstacles described by the obstacle data, is arbitrary. Therefore, there may be no obstacle at all, only exactly one obstacle, or there may be several obstacles present or described by the obstacle data. Obstacle data is acquired during obstacle detection. During obstacle detection, the environmental data provided by the environmental sensing device is analyzed and examined for obstacles. If obstacles are detected, the obstacle data describing them is generated and provided. For each obstacle, the obstacle data contains at least one obstacle parameter that describes the corresponding obstacle. Obstacle parameters include, for example, one or more of the following: obstacle position, obstacle orientation, obstacle outline, obstacle direction of movement, obstacle speed, obstacle acceleration direction, obstacle acceleration, and obstacle type. The type of obstacle is determined, for example, through its classification. The type of obstacle preferably describes whether it is stationary or moving. A stationary obstacle is, for example, a structure, particularly a building, or vegetation, particularly a tree or the like, or a traffic sign. A moving obstacle is understood to be, for example, a road user other than the motor vehicle, i.e., in particular, a pedestrian or another vehicle, preferably another motor vehicle, a bicycle, or the like. Preferably, the type of obstacle also describes a type or class of the other motor vehicle; the EU vehicle classes are preferably used as a basis for this. It is intended that environmental data will be used to determine the target value of the operating parameter. For example, the environmental data could be directly incorporated into the target value. However, it is also possible that the environmental data could be considered only indirectly, namely by using obstacle data to determine the target value, with the obstacle data being based on or derived from the environmental data. In any case, a particularly reliable operation of the vehicle will be achieved. The invention provides that for environmental data from different data sources, a value of the operating parameter is determined for each source, and the adjustment of the assistance parameter data set is only carried out if the values ​​differ from one another and / or if, at least for one of the data sources, a confidence level indicates a sufficiently high accuracy of the at least one data source. The data sources are to be understood as, in particular, different environmental sensors and / or different types of environmental sensors. The different environmental sensors are, for example, of the same type but arranged differently on the vehicle, in particular with different detection ranges. The type of environmental sensing sensor(s) describes, for example, the medium used for the sensing process. The environmental sensing sensors mentioned—radar sensor, sonar sensor, lidar sensor, image sensor or camera, and sound sensor or microphone—differ from one another in terms of their type. For example, the sensor data from the radar sensor and the lidar sensor are evaluated separately and used independently to determine the operating parameters. Map data and environmental data provided by a road user are also differentiated according to their data source. The plan is to determine the operating parameter for each of the different data sources, resulting in multiple values ​​for the operating parameter. If these values ​​differ, it is assumed that the user intervention occurred due to faulty acquisition of the environmental data and / or an inaccurate assistance parameter dataset. Accordingly, the assistance parameter dataset will be adjusted as described, and only then. Additionally, it may be necessary to adjust the data only if one of the values ​​for the operating parameter matches the operating parameter obtained through the adjustment. Alternatively, or in addition, a confidence level will be determined for each data source, and only the environmental data from the data source with the highest confidence level(s) will be used.In particular, at least three different data sources are used, and only the contextual data of the data sources with the highest confidence levels are used. Furthermore, the confidence level can also arise from the fact that a particular piece of information has been recorded only once or several times over a period of time. The confidence level is chosen to be higher the more frequently the environmental data describes the specific information over time. For example, if it is observed that the vehicle user always adjusts the actual value by interacting with the control element at the same location and / or under the same conditions, particularly with the same or at least similar environmental data, it can be deduced that the environmental data is inaccurate or incomplete, and / or that the assistance parameter data set is leading to an incorrect target value. The assistance parameter data set is adjusted only after a certain number of occurrences of the information in the environmental data have been detected. For example, it may be possible to statistically determine the conditions under which the user adjusts the actual value. Preferably, the actual value is related to the surrounding data, i.e., a correlation is established between the actual value and the surrounding data. Statistical data collection is preferably carried out using a counter. This counter is incremented each time the user uses the control to adjust the actual value when certain surrounding data is present, particularly if the correlation between the actual value and the surrounding data is positive. If the counter exceeds a threshold, the adjustment of the assistance parameter data set is carried out in the manner described. A further development of the invention provides that the driving operation is carried out as assisted driving operation and includes the display of a message generated based on the operating parameter, and / or that the driving operation is carried out as at least partially autonomous driving operation and includes longitudinal and / or lateral control of the vehicle based on the operating parameter. The differences between assisted driving operation and autonomous driving operation have already been discussed. Ultimately, the driver assistance system can implement both assisted driving operation and autonomous driving operation, for example, exclusively or each temporarily. In the case of assisted driving, the execution of the driving operation includes displaying a notification to the user. This notification is generated based on the operating parameter and is displayed in any desired manner, for example, visually, audibly, or haptically. Preferably, the notification is a warning signal indicating to the vehicle user that their selected speed exceeds a permissible maximum speed determined based on environmental data. When autonomous driving is in operation, longitudinal and / or lateral guidance is provided depending on the operating parameter or its preset value. In any case, comprehensive support is provided to the user. A further development of the invention provides that at least one of the following parameters is used as an operating parameter: speed, steering angle, braking force, and distance to an obstacle ahead in the direction of travel. Speed ​​is understood to be the speed recommended and / or set by the driver assistance system for driving operations. For example, the speed is displayed to the user as part of a warning or is set as part of the longitudinal control of the vehicle. Preferably, the speed is determined based on environmental data, in particular by means of traffic sign recognition. In this case, the speed corresponds in particular to a permissible maximum speed allowed for the vehicle at its current position. The steering angle describes the steering angle to be set on the vehicle's steering system. The steering angle is also displayed, for example, as part of a warning message or adjusted as part of the lateral control system. For instance, the steering angle is used in conjunction with a parking assistant or similar system. The braking force describes the braking force to be set on the braking system, which is determined based on environmental data and then displayed to the user and / or adjusted as part of the longitudinal control system. The distance to the obstacle ahead in the direction of travel refers to the distance to a road user located in front of the vehicle, particularly the nearest road user in that direction. Specifically, the distance is displayed to the user as part of a warning message or is set to a target value by appropriately adjusting the vehicle's longitudinal control.In any case, reliable user support is achieved. A further development of the invention provides that at least one of the following parameters is used as a user- and / or vehicle-specific identification parameter: position of the motor vehicle, speed of the motor vehicle, acceleration of the motor vehicle, environmental data, obstacle data, road information, setting of the motor vehicle's control element, and user behavior. The position of the motor vehicle is determined, for example, using a global navigation satellite system or otherwise, in particular using map data describing the motor vehicle's surroundings. Speed ​​describes the vehicle's current velocity, acceleration its current acceleration. Environmental and obstacle data are determined using the environmental sensing device and obstacle detection system, respectively. Road information is information about the road the vehicle is currently traveling on, such as the number of lanes, the speed limit, or the road's condition. A control setting refers to a user-defined setting, particularly one resulting from the user's interaction with the control. User behavior can also be used as an identification parameter. This behavior is determined, for example, using an interior sensor such as a camera. Based on this behavior, it can be determined whether the user is satisfied with the current operation of the driver assistance system or whether an adjustment is necessary. It may be possible to use only one of the aforementioned parameters as an identification parameter. However, preferably, several or even all of the aforementioned parameters are incorporated into the identification parameter. The described approach achieves a particularly targeted adaptation of the driver assistance system's operation to the user's preferences. A further development of the invention provides that, if the actual value of an operating parameter deviates from the target value, user input is requested, and the assistance parameter data set is adjusted accordingly. Thus, the adjustment of the assistance parameter data set is not intended to be unconditional. Rather, after the deviation of the actual value from the target value is detected, a dialogue with the user is first held to clarify whether the assistance parameter data set should be adjusted. For this purpose, user input is first requested, and then the assistance parameter data set is adjusted accordingly. The assistance parameter data set can also remain unchanged. It may be possible to configure the system to simply ask whether the assistance parameter data set should be adjusted so that the default value changes towards the actual value, specifically to the actual value. Alternatively, the default value resulting from the adjusted assistance parameter data set may be determined directly from the user's input. For example, the user could specify this default value during input, and the assistance parameter data set would then be adjusted so that the default value matches the user's input. This approach provides the user with extensive control over adjusting the assistance parameter data set. A further development of the invention provides that the assistance parameter data set is only adjusted if, firstly, the actual value deviates from the target value and, secondly, a confidence value for the environmental data and / or the obstacle data is less than a threshold value. Ultimately, two conditions are crucial for adjusting the assistance parameter data set. Firstly, the actual value must deviate from the target value, and secondly, the confidence value must be less than the threshold value. The confidence value represents the current accuracy of the environmental data or the obstacle data. The confidence value is provided, for example, by the environmental sensor(s). It may be intended that the confidence value is included in the obstacle data, specifically determined for each obstacle. In this case, the confidence value indicates the accuracy with which the obstacle data describes the respective obstacle. This approach, for instance, prevents the vehicle's target speed from being adjusted if a traffic sign indicating the maximum permitted speed is detected with high confidence. Conversely, if the confidence is low, it is assumed that the vehicle's occupant can better estimate the required speed than the driver assistance system. This approach, in turn, achieves the advantages already described. A further development of the invention provides that, when the actual value deviates from the target value, the confidence value for the environmental data and / or the obstacle data is reduced and stored depending on the user and / or vehicle-specific identification parameters. This approach is intended, in particular, to prevent the assistance parameter data set from being adjusted after a single deviation of the actual value from the target value. Instead, it is provided that the confidence value for the environmental data or the obstacle data is first reduced and then stored, depending on the identification parameters. The preferred identification parameter in this case is the vehicle's position. This allows for the determination of whether the user repeatedly sets an actual value that deviates from the target value at a specific position. The confidence score is reduced, for example, by requiring that the deviation of the actual value from the target value be detected at least twice, three times, or four times, particularly depending on the identification parameter, before the assistance parameter data set is adjusted. This procedure ensures that the assistance parameter data set is not unintentionally altered. The invention further relates to a driver assistance device for a motor vehicle, in particular for carrying out the method according to the explanations within the scope of this description, wherein the driver assistance device is provided and configured to acquire environmental data describing the environment of the motor vehicle at least temporarily by means of an environment sensing device of the motor vehicle, wherein, based on the environment data and using an assistance parameter data set of the driver assistance device, a target value of an operating parameter for carrying out driving operation of the motor vehicle is determined and the driving operation is carried out using the target value, and wherein, in the event of a deviation of an actual value of the operating parameter from the target value due to an interaction of a user of the motor vehicle with a control element, the assistance parameter data set is adjusted in such a way as tothat the target value determined using the adapted assistance parameter data set changes in the direction of the actual value. The driver assistance system is also designed and configured to read the assistance parameter data set from a data storage device to determine the target value using a user- and / or vehicle-specific identification parameter, and to store it in the data storage device when adapting it depending on the user- and / or vehicle-specific identification parameter. The driver assistance system is designed and configured to determine a value for the operating parameter for environmental data from different data sources and to adjust the assistance parameter data set only if the values ​​differ and / or if at least one of the data sources has a confidence level indicating sufficiently high accuracy. The advantages of this approach and this design of the driver assistance system have already been mentioned. Both the driver assistance system and the procedure for operating it may be further developed as described in this document, and reference is made to these details. 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. 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, in particular the scope of the claims. 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, particularly within the scope of the claims, are also to be considered as encompassed by the invention. The invention is explained in more detail below with reference to the exemplary embodiments shown in the drawing, without limiting the invention. Figure 1 shows a schematic representation of a traffic situation with several motor vehicles, based on which a method for operating a driver assistance system of one of the motor vehicles is explained. Figure 1 shows a schematic representation of a traffic situation for a motor vehicle 1. The motor vehicle 1 is traveling on a roadway 2, in the illustrated example a roadway 2 with several lanes 3. Other road users 4, also motor vehicles, are present on the roadway. Also shown is an oncoming roadway 5 with lanes 6, on which additional road users 7 are located. The motor vehicle 1 has an environmental detection system that detects the area surrounding the motor vehicle 1. In the present embodiment, both road users 4 and road users 7 are present in the environment, so they are recognized and evaluated as obstacles. The vehicle 1, or rather a driver assistance system of the vehicle 1, performs autonomous driving. This means that the vehicle 1 operates autonomously without any user intervention at a control element that would influence the driving process. During driving, a target value for an operating parameter is determined based on environmental data and using an assistance parameter data set from the driver assistance system. The operating parameter describes how the driving process is carried out. For example, the operating parameter describes a target speed to which the actual speed of the vehicle 1 is set during longitudinal control.Additionally or alternatively, the operating parameter describes a distance from an obstacle lying in front of the motor vehicle 1 in the direction of travel, in particular from one of the road users 4. In the vicinity of motor vehicle 1, there is also a traffic sign 8, in the illustrated embodiment a traffic sign indicating a maximum permissible speed on the roadway 2. The traffic sign 8 is detected using the environmental detection device, for example by means of an image sensor or a camera of the environmental detection device. Accordingly, the speed used as an operating parameter is set to the maximum speed indicated by the traffic sign, provided that the distance to the road user 4 allows this. However, if it is detected that the user of vehicle 1 is intervening in the driving operation, namely by interacting with a control element of vehicle 1, the assistance parameter data set is adjusted to account for this changed driving behavior. In particular, the assistance parameter data set is adjusted so that, when determining the target value of the operating parameter based on the environmental data, a target value is obtained that corresponds to the currently existing actual value of the operating parameter. This modified assistance parameter data set is saved. In a similar traffic situation, the driver assistance system will take the modified assistance parameter data set into account, so that no adjustment of the actual value by the user is necessary; instead, the default value of the operating parameter corresponds to the user's expectations from the outset. To achieve a particularly targeted adaptation of the assistance parameter data set, it is read from a data storage device using a user- and / or vehicle-specific identification parameter. This data storage device preferably contains several assistance parameter data sets. If the assistance parameter data set is modified, it is also stored in the data storage device, depending on the identification parameter, so that it is subsequently available for operating the driver assistance system. REFERENCE MARK LIST: 1 Motor vehicle 2 Roadway 3 Lane 4 Road user 5 Oncoming lane 6 Lane 7 Road user 8 Traffic sign

Claims

Method for operating a driver assistance device for a motor vehicle (1), wherein environmental data describing the environment of the motor vehicle (1) are acquired at least temporarily by means of an environment sensing device of the motor vehicle (1), wherein, on the basis of the environment data, a target value of an operating parameter for carrying out driving operation of the motor vehicle (1) is determined using an assistance parameter data set of the driver assistance device and the driving operation is carried out using the target value, and wherein, in the event of a deviation of an actual value of the operating parameter from the target value due to an interaction of a user of the motor vehicle (1) with a control element, the assistance parameter data set is adapted such that the target value determined using the adapted assistance parameter data set changes in the direction of the actual value,wherein the assistance parameter data set for determining the target value is read from a data storage device using a user- and / or vehicle-specific identification parameter and, when adjusted depending on the user- and / or vehicle-specific identification parameter, is stored in the data storage device, characterized in that a value of the operating parameter is determined for environmental data from different data sources and the adjustment of the assistance parameter data set is only carried out if the values ​​differ from each other and / or at least for one of the data sources a confidence value indicates a sufficiently high accuracy of the at least one data source. Method according to claim 1, characterized in that the driving operation is carried out as assisted driving operation and includes a display of a hint generated on the basis of the operating parameter, and / or that the driving operation is carried out as at least partially autonomous driving operation and includes longitudinal and / or lateral control of the motor vehicle (1) on the basis of the operating parameter. Method according to one of the preceding claims, characterized in that at least one of the following parameters is used as an operating parameter: speed, steering angle, braking force and distance from an obstacle ahead in the direction of travel. Method according to one of the preceding claims, characterized in that at least one of the following parameters is used as a user- and / or vehicle-specific identification parameter: position of the motor vehicle (1), speed of the motor vehicle (1), acceleration of the motor vehicle (1), environmental data, obstacle data, road information, setting of the control element of the motor vehicle (1) and behavior of the user. Method according to one of the preceding claims, characterized in that, in the event of a deviation of the actual value of the operating parameter from the target value, an input is requested by the user and the adjustment of the assistance parameter data set takes place depending on the input. Method according to one of the preceding claims, characterized in that the assistance parameter data set is only adjusted if, firstly, the actual value deviates from the target value and, secondly, a confidence value for the environment data and / or the obstacle data is less than a threshold value. Method according to claim 6, characterized in that, in the event of a deviation of the actual value from the target value, the confidence value for the environmental data and / or the obstacle data is reduced and stored depending on the user- and / or vehicle-specific identification parameter. Driver assistance device for a motor vehicle (1), in particular for carrying out the method according to one or more of the preceding claims, wherein the driver assistance device is provided and configured to acquire environmental data describing the environment of the motor vehicle (1) at least temporarily by means of an environment sensing device of the motor vehicle (1), wherein, on the basis of the environment data and using an assistance parameter data set of the driver assistance device, a target value of an operating parameter for carrying out driving operation of the motor vehicle (1) is determined and the driving operation is carried out using the target value, and wherein, in the event of a deviation of an actual value of the operating parameter from the target value due to an interaction of a user of the motor vehicle (1) with a control element, the assistance parameter data set is adjusted in such a way thatthat the target value determined using the adapted assistance parameter data set changes in the direction of the actual value, wherein the driver assistance device is also designed and configured to read the assistance parameter data set from a data storage device to determine the target value using a user- and / or vehicle-specific identification parameter and to store it in the data storage device when adapting it depending on the user- and / or vehicle-specific identification parameter, characterized in that the driver assistance device is further designed and configured to determine a value of the operating parameter for environmental data from different data sources and to adapt the assistance parameter data set only whenif the values ​​differ from each other and / or at least for one of the data sources a confidence level indicates a sufficiently high accuracy of at least one data source. Computer program product comprising commands that cause the driver assistance device according to claim 8 to execute the method according to one or more of claims 1 to 7.

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