CONTROL UNIT FOR OPERATING A DRIVING FUNCTION ON A SIGNAL SYSTEM

Description

[0001] The invention relates to a control unit for providing a driving function, in particular a driver assistance function, of a vehicle in connection with a signaling system.

[0002] A vehicle can have one or more driving functions that assist the driver in steering the vehicle, particularly in longitudinal control. For example, a brake assist system can automatically brake the vehicle when approaching an obstacle. The obstacle could also be a red traffic light detected by one or more of the vehicle's environmental sensors.

[0003] Traffic light systems can vary greatly at different intersections and / or in different countries. The varying design of traffic light systems can lead to inaccuracies in the detection of signals relevant to a particular vehicle. As a result, the reliability and / or convenience of a driving function can be compromised.

[0004] US 2013 / 0253754 A1 already discloses a control unit for determining traffic light information and taking the determined traffic light information into account as part of a driving function. Further prior art in this field is disclosed in DE 103 34 620 A1, EP 2 944 532 A2, DE 10 2014 013672 A1, and EP 2 650 857 A1.

[0005] The present invention addresses the technical problem of increasing the reliability and / or comfort of a driving function of a vehicle with respect to a signaling system.

[0006] The object is achieved by the independent claims. Advantageous embodiments are described, inter alia, in the dependent claims.

[0007] According to one aspect, a control unit for a vehicle (in particular for a road vehicle) is described. The control unit is configured to detect a signaling system located ahead, wherein the signaling system comprises at least one signal generator (also referred to in this document as a traffic light). The signaling system can be arranged, for example, at an access road to an intersection of several streets. The signaling system can be configured to permit or block different possible directions of travel through the intersection at different times.

[0008] The vehicle can include one or more environmental sensors configured to capture sensor data relating to the vehicle's surroundings. The signaling system can be detected based on the sensor data. Alternatively or additionally, the control unit can access digital map information relating to a road network traveled by the vehicle, with the digital map information indicating the position of various signaling systems. The signaling system located ahead (on a trajectory or route of the vehicle) can then be determined (if necessary) based on the digital map information.

[0009] A signal device may, for example, comprise one or more light signals, which may have different colors. In particular, a signal device may have a light signal of a first color (e.g., green), which indicates that a vehicle may enter an intersection. Furthermore, a signal device may have a light signal of a second color (e.g., red), which indicates that a vehicle should stop at the stop line of the signal device.

[0010] Furthermore, a signaling system can comprise one or more signal groups. A signal group can be considered a group of signal heads or traffic lights that operate simultaneously, thus simultaneously displaying the same active light signals. A signal group can be assigned to exactly one possible direction of travel. Alternatively, a signal group can be assigned to several different possible directions of travel.

[0011] The signaling system can comprise a plurality of signal heads, which are at least partially assigned to different possible directions of travel. In particular, the different signal heads can regulate the possible direction of travel through an intersection at a given time. Examples of possible directions of travel are: left turn, straight ahead, or right turn. The vehicle can approach the signaling system (and the intersection behind it) on one lane. The signaling system can then have different signal heads at different positions (typically running perpendicular to the lane), which can be at least partially assigned to different possible directions of travel.

[0012] The control unit is configured to determine digital map information that indicates and / or enables the assignment of the at least one signal generator to at least one possible direction of travel of the vehicle at the signaling system. In particular, the digital map information can display the respective assignment to a possible direction of travel for each of a plurality of different signal generators. The digital map information can display this information, if necessary, for different signaling systems in a road network.

[0013] The digital map information can be based on sensor data relating to the signaling system, which was recorded in advance by one or more environmental sensors of at least one vehicle (possibly a different vehicle and / or possibly the same vehicle). In particular, the association between the signal generator and the possible direction of travel can have been learned in advance on the basis of sensor data and stored as digital map information. The sensor data can have been recorded by one or more other vehicles (including vehicles that do not have the driving function described in this document). The digital map information can be stored on a memory unit of the vehicle. Alternatively or additionally, the digital map information can be received or have been received via a communication unit of the vehicle from a unit external to the vehicle (e.g. from a backend server).

[0014] The control unit is further configured to operate a driving function of the vehicle depending on the digital map information. The driving function may comprise at least partially automated longitudinal and / or lateral guidance of the vehicle. In particular, the driving function may comprise braking the vehicle until it reaches the signaling system. In other words, the driving function may comprise or be a brake assistance function with respect to the signaling system. Alternatively or additionally, the driving function may comprise automated (re-)starting of the vehicle at the signaling system. The driving function may be executed or aborted in the area of ​​the signaling system depending on the digital map information (in particular depending on the reliability of the digital map information).

[0015] By providing and taking into account digital map information that shows the assignment of signal heads of a signaling system to directions of travel, the comfort, reliability and availability of a vehicle's driving function in the area of ​​a signaling system can be increased.

[0016] The control unit can be configured to determine, based on the digital map information, a relevant signal generator of the signaling system that is relevant to the vehicle's planned direction of travel. In particular, the relevant signal generator can be selected from a plurality of signal generators of the signaling system depending on the vehicle's planned direction of travel. The driving function can then be operated depending on the relevant signal generator. The planned direction of travel can, for example, result from a route planned in the vehicle's navigation system.

[0017] The control unit can be configured to determine a status (i.e., a signaling state) of the relevant signaling device. The status can indicate, for example, which light signal of the relevant signaling device is activated (e.g., whether the traffic light is red or green). The current status of the relevant signaling device can be determined based on the sensor data from one or more of the vehicle's environmental sensors. The vehicle's driving function can then be operated depending on the status of the relevant signaling device.

[0018] For example, automatic braking of the vehicle can be performed if the relevant signal head indicates that the vehicle should stop at the signal head's stop line. On the other hand, automatic braking can be omitted if the relevant signal head indicates that the vehicle's intended direction of travel is permitted. This can further increase the comfort and reliability of a driving function in the vicinity of a signaling system.

[0019] The control unit can be configured to determine that the signal generator relevant for the planned direction of travel of the vehicle cannot be determined with sufficient reliability. In this case, a manual handover of vehicle control to the driver of the vehicle can be initiated. For example, an output can be sent to a driver of the vehicle stating that the driving function cannot be performed automatically because the relevant signal generator cannot be determined with sufficient reliability. Alternatively, in this case, at least temporary deactivation of the driving function can be initiated. Alternatively, in this case, a request regarding the automated execution of the driving function can be issued to the driver of the vehicle. In response to corresponding feedback from the driver, the driving function can then be performed automatically.On the other hand, the control unit can be configured to determine that the signal generator relevant to the vehicle's intended direction of travel can be identified with sufficient reliability. In this case, the driving function can be operated depending on the (current) status of the relevant signal generator.

[0020] In this way, a graduated behavior of the driving function can be provided. The graduated behavior of the driving function can depend on the reliability with which the relevant signal generator can be determined. If, for example, it is determined that the reliability is higher than a first (relatively high) reliability threshold, the driving function can be carried out automatically. If, for example, it is determined that the reliability lies between a second (reduced) reliability threshold and the first reliability threshold, an output can be sent to the user of the vehicle stating that the driving function can be carried out automatically after approval by the user. If, for example, it is determined that the reliability is below the second (reduced) reliability threshold, the driver of the vehicle can be instructed to take over the driving task manually.In this way, a comfortable driving function with relatively high availability can be provided even in a transitional phase (when the digital map information has at least partially reduced quality).

[0021] The behavior of the driving function can be determined in advance and / or at an early stage based on the digital map information. For example, it is possible to determine well in advance of reaching a signaling system how the driving function will behave at the signaling system (e.g., automated, automated after driver approval, or manually by the driver).

[0022] For example, the digital map information can provide data with varying quality or accuracy for different signaling systems. For one or more signaling systems, it may not be possible to provide any data relating to the signal heads of the signaling systems. For one or more other signaling systems, it may be possible to show that the signaling systems are complex signaling systems with several different signal heads, but that no clear assignment between signal heads and possible directions of travel is yet known. For one or more other signaling systems, it may be possible to show that the signaling systems each have several signal heads, but that these signal heads each form a signal group that applies to one or more possible directions of travel (or possibly to all possible directions of travel). For one or more other signaling systems, it may be possible toA clear association between signal heads and possible directions of travel is displayed. The reliability with which the signal head relevant for the vehicle's planned direction of travel can be determined typically depends on the quality and accuracy of the digital map information provided.

[0023] The control unit can compare or merge the sensor data from one or more of the vehicle's environmental sensors with the digital map information to determine the signal generator relevant to the vehicle's planned direction of travel. By comparing sensor data with the digital map information, the relevant signal generator can be determined with relatively high reliability, even if the digital map information is of relatively low quality or accuracy.

[0024] The control unit can be configured to determine the possible direction of travel assigned to the at least one signal generator solely on the basis of the sensor data from one or more environmental sensors of the vehicle only if the sensor data were or are recorded at a distance from the signaling system that is less than or equal to a distance threshold value (e.g. because an arrow indicating the possible direction of travel of a signal generator cannot otherwise be recorded with sufficient accuracy). On the other hand, the control unit can be configured to determine the possible direction of travel assigned to the at least one signal generator based on the digital map information even if the vehicle is still more than the distance threshold value away from the signaling unit. The relevant signal generator can therefore be determined at an early stage on the basis of the digital map information.In particular, the digital map information can be used to detect the relevant signal generator early and reliably within the sensor data of one or more of the vehicle's environmental sensors. This can increase the comfort, availability, and reliability of a driving function.

[0025] As already explained above, the digital map information relating to the signaling system can be determined based on the sensor data from one or more vehicles. The control unit of a vehicle can be configured to determine, based on the sensor data, an expression of one or more features of the signaling system when driving past the signaling system. The one or more features can include: a number of different signal heads of the signaling system; and / or a position of the one or more different signal heads of the signaling system; and / or an assignment of a signal head of the signaling system to a possible direction of travel at the signaling system.Furthermore, the control unit of a vehicle can be configured to store the determined characteristics of one or more features of the signaling system as digital map information and / or to provide or use it to determine digital map information. This allows reliable digital map information to be provided with respect to a signaling system, thereby increasing the reliability and convenience of a driving function.

[0026] The digital map information can indicate that the signaling system has only one (single) signal group that applies to all possible directions of travel at the signaling system. This information can be displayed in a particularly efficient manner (e.g., by means of a set bit in the digital map information). Furthermore, this information can be reliably determined based on a relatively small number of crossings of the signaling system. If the digital map information indicates that the signaling system has only one single signal group, this enables a detected signal head to be clearly assigned to one (in particular, to all) possible directions of travel at the signaling system. The status or signaling state of the signal head relevant for the vehicle's planned direction of travel can thus be determined with a high degree of reliability (in particular with up to 100% reliability).

[0027] Alternatively or additionally, the digital map information can display the number of different signal groups in the signaling system. For example, the digital map information can indicate that the signaling system has exactly two different signal groups. This information can assist the vehicle's control unit in assigning the status of the sensor-detected signal heads in the signaling system to the different possible directions of travel. This can increase the reliability with which the status of the signal head relevant to the vehicle's direction of travel can be determined (possibly up to 100%).

[0028] Alternatively or additionally, the digital map information can display the (exact) assignment of different signal heads and / or different signal groups of the signaling system to different (possibly all) possible directions of travel on the signaling system. Alternatively or additionally, the digital map information can display information regarding the relative positioning of different (possibly all) signal heads and / or signal groups of the signaling system to one another. Such detailed information regarding a signaling system typically makes it possible to determine the status or signaling state of the signal head relevant for the planned direction of travel with a high degree of reliability (up to 100%). As a result, a driving function (e.g., a braking or starting maneuver) can be executed automatically with a high degree of probability.

[0029] The control unit can be configured to determine a route for the vehicle. For example, at the start of a journey, a destination can be entered into the vehicle's navigation system. A route for the vehicle can then be determined in advance. Furthermore, the control unit can be configured to detect a plurality of signaling systems along the route prior to the journey. The signaling systems can be determined or detected based on digital map information that indicates the position of signaling systems in a road network.

[0030] In addition, the control unit can be configured to determine digital map information for the plurality of signaling systems in advance of the journey along the route, wherein the digital map information for at least one or more of the plurality of signaling systems indicates and / or enables an assignment of signal transmitters to at least one possible direction of travel of the vehicle at the respective signaling system.

[0031] Based on the digital map information for the multitude of signaling systems, it can then be determined in advance of the journey along the route whether or not the driving function can be operated automatically for the (entire) journey along the route. In particular, a reliability value can be determined based on the digital map information. This value indicates the reliability with which a clear assignment between signal heads or signal groups and possible directions of travel can be determined at the respective signaling system. If it is determined that the (average) reliability is not sufficiently high for the route, automated execution of the driving function can be prevented for the entire route (if necessary after consulting a vehicle user). On the other hand, the driving function can be executed automatically for the entire route if necessary.This can further increase the comfort for a vehicle user (since the vehicle shows consistent driving behavior throughout the entire journey).

[0032] According to another aspect, a control unit for a vehicle is described. The aspects described in this document can also be applied to this control unit.

[0033] The control unit is configured to detect a signaling system ahead (e.g., based on sensor data and / or digital map information). The signaling system comprises at least one signal generator.

[0034] In addition, the control unit is configured to determine a reliability value that indicates the reliability with which a signaling state or status of the signaling system (in particular of the signal generator of the signaling system) relevant to the (planned) direction of travel of the vehicle can be determined. For this purpose, digital map information can be determined that indicates and / or enables an assignment of the at least one signal generator to at least one possible direction of travel of the vehicle on the signaling system. Alternatively or additionally, sensor data relating to the at least one signal generator can be determined. The reliability value can then be determined based on the digital map information and / or on the sensor data.

[0035] The control unit is configured to operate a driving function of the vehicle, in particular an automatic braking maneuver at the signaling system or an automatic starting maneuver at the signaling system, depending on the reliability value.

[0036] Furthermore, the control unit is configured to determine, on the basis of the reliability value, whether the signaling state of the signaling system (in particular of the signal generator of the signaling system) relevant to the direction of travel of the vehicle can be determined with a sufficiently high level of reliability for automatic execution of the driving function or not.

[0037] If it has been determined that the signaling state cannot be determined with a sufficiently high level of reliability, an output is then generated for a user of the vehicle in the form of a confirmation request to confirm the determined signaling state. The control unit can be configured to automatically execute the driving function, in particular an automatic braking maneuver at the signaling system or an automatic starting maneuver at the signaling system, only if it has been determined that the signaling state can be determined with a sufficiently high level of reliability or if the determined signaling state has been confirmed by the user of the vehicle. This can increase the comfort for a user of the vehicle and the safety of the vehicle.

[0038] According to one aspect, a method for operating a driving function of a vehicle is described. The method comprises detecting a signaling system located ahead, wherein the signaling system comprises at least one signal generator. Furthermore, the method comprises determining digital map information that indicates an assignment of the at least one signal generator to at least one possible direction of travel of the vehicle on the signaling system. The method further comprises operating the driving function of the vehicle depending on the digital map information.

[0039] According to a further aspect, a method for determining digital map information relating to a signaling system is described. The method comprises capturing sensor data while driving past the signaling system using one or more environmental sensors of a vehicle. Furthermore, the method comprises determining an expression of one or more features of the signaling system based on the sensor data, wherein the one or more features comprise an assignment of a signal generator of the signaling system to a possible direction of travel at the signaling system. The method further comprises determining digital map information relating to the signaling system based on the determined expression of the one or more features of the signaling system.

[0040] According to a further aspect, a road vehicle (in particular a passenger car or a truck or a bus or a motorcycle) is described which comprises the control unit described in this document.

[0041] According to another aspect, a software (SW) program is described. The SW program can be configured to be executed on a processor (e.g., on a vehicle control unit) and thereby to perform one of the methods described in this document.

[0042] According to a further aspect, a storage medium is described. The storage medium can comprise a software program configured to be executed on a processor and thereby to carry out one of the methods described in this document.

[0043] It should be noted that the methods, devices, and systems described in this document can be used both alone and in combination with other methods, devices, and systems described in this document. Furthermore, any aspects of the methods, devices, and systems described in this document can be combined in a variety of ways. In particular, the features of the claims can be combined in a variety of ways.

[0044] The invention will be described in more detail below using exemplary embodiments. Figure 1 exemplary components of a vehicle; Figure 2 an exemplary signaling system; Figure 3 an exemplary traffic situation; Figure 4a a flowchart of an exemplary method for determining digital map information for a road network; and Figure 4ba flowchart of an exemplary method for operating a driving function of a vehicle.

[0045] As stated at the outset, this document deals with increasing the reliability, availability and comfort of a driving function, in particular a driver assistance system, of a vehicle in connection with a signalling or traffic light system.

[0046] Fig. 1shows exemplary components of a vehicle 100. The vehicle 100 includes one or more environmental sensors 103 (e.g., one or more image cameras, one or more radar sensors, one or more LIDAR sensors, one or more ultrasonic sensors, etc.) configured to capture environmental data relating to the surroundings of the vehicle 100. Furthermore, the vehicle 100 includes one or more actuators 102 configured to influence the longitudinal and / or lateral guidance of the vehicle 100. Exemplary actuators 102 include: a braking system, a drive motor, a steering system, etc.

[0047] The control unit 101 can be configured to provide a driving function or a driver assistance function based on the sensor data from one or more environmental sensors 103. For example, an obstacle on the travel trajectory of the vehicle 100 can be detected based on the sensor data. The control unit 101 can then control one or more actuators 102 (e.g., the braking system) to prevent a collision of the vehicle 100 with the obstacle.

[0048] Particularly within the context of automated longitudinal guidance of a vehicle 100, speed signs and / or the road layout can be taken into account in addition to a vehicle in front. Furthermore, the status of a traffic light system can be taken into account, so that the vehicle 100 can decelerate to the stop line of the traffic light at a red light relevant to its own (planned) direction of travel and / or accelerate (if necessary again) at a green light.

[0049] Traffic light systems can be constructed very heterogeneously in different countries and can also have varying levels of complexity with regard to the direction of travel and traffic light assignment. For example, different directions of travel can be controlled by a first group of signals, and another direction by another group of signals. The repeating signals of a group can also be geographically located at different points at an intersection. It can therefore be difficult for a control unit 101 to recognize, based on the sensor data, which one or more signals of a traffic light system (i.e., which signal generators and / or signals of a signaling system) at an intersection are relevant for the planned direction of travel of the vehicle 100 and which are not (particularly if the vehicle 100 is still relatively far away from the traffic light system).

[0050] Fig. 2 shows an example of a signaling or traffic light system 200. The Fig. 2The signaling system 200 shown has four different signal heads 201 arranged at different positions on the approach to an intersection. The left signal head 201 has an arrow 202 pointing to the left, indicating that this signal head 201 is for left-turning vehicles. The two middle signal heads 202 have an arrow 202 pointing upwards (or no arrow 202), indicating that these two signal heads 201 are for straight-ahead travel. The individual light signals of these two signal heads 201 form signal groups. Furthermore, the right signal head 201 has an arrow 202 pointing to the right, indicating that this signal head 201 is for right-turning vehicles.

[0051] The Fig. 2The signaling system 200 shown is only one example of many different possible configurations of a signaling system 200. A signaling system 200 can have a relatively large number of different characteristics. Exemplary features are, the number of signal heads 201; the positions of the one or more signal heads 201; and / or the assignment of a signal head 201 to a possible direction of travel across an intersection.

[0052] Fig. 3shows, by way of example, a vehicle 100 moving along a roadway toward a signaling system 200. The one or more environmental sensors 103 of the vehicle 100 can be configured to capture sensor data (in particular image data) relating to the signaling system 200. The sensor data can then be analyzed (e.g., using an image analysis algorithm) to determine characteristics of one or more features of the signaling system 200. In particular, based on the sensor data, it can be determined which signaling device 201 of the signaling system 200 is relevant for the (planned) direction of travel of the vehicle 100. Furthermore, the status of the relevant signaling device 201 (e.g., the color, such as red, yellow, or green) can be determined.

[0053] The quality and / or reliability with which the characteristic of a feature of a signaling system 200 can be determined based on the sensor data typically depend on the distance 311, 312 of the vehicle 100 to the signaling system 200. Furthermore, current weather conditions typically have a significant influence on the quality and / or reliability of the determined characteristic of a feature. Furthermore, the quality and / or reliability can be different for different features. For example, the one or more environmental sensors 103 can be designed such that a signaling system 200 and, if applicable, the number of signaling devices 201 and, if applicable, the status of the individual signaling devices 201 can already be reliably detected based on the sensor data at an initial (relatively large) distance 311. On the other hand, the reliable detection of the direction of travel of the individual signaling devices 201 (e.g.by recognizing the arrows shown 202) may only be possible at or below a second (relatively small) distance 312. The first distance 311 may be, for example, 100-120 m. The second distance 312 may be, for example, 40-50 m.

[0054] Due to the reduced reliability of the determined characteristic of at least one of the features of a signaling system 200, the operation of a driving function of a vehicle 100 may be impaired. In particular, the automated longitudinal function of the vehicle 100 may be impaired if, for a signaling system 200 ahead, it cannot be clearly determined which signal generator 201 is assigned to the current and / or planned direction of travel of the vehicle 100. In particular, it may not be possible to reliably determine whether the vehicle 100 must brake at the signaling system 200 ahead or whether the vehicle 100 can enter the intersection controlled by the signaling system 200 ahead. This may only be determined when the vehicle 100 is at a relatively short distance 312 from the signaling system 200, which may, however, lead to reduced comfort for an occupant of the vehicle 100 (e.g.since due to the relatively small distance 312, a relatively strong deceleration of the vehicle 100 must be effected).

[0055] The vehicle 100 can have a storage unit 104 on which digital map information relating to the road network traveled by the vehicle 100 is stored. The digital map information can display characteristics of one or more features of one or more signaling systems 200 in the road network. In particular, the digital map information for a signaling system 200 can display the assignment of the one or more signal transmitters 201 to different possible directions of travel. In other words, the digital map information can display which signal transmitter 201 is responsible for authorizing which direction of travel. The digital map information can optionally be received by a communication unit 105 of the vehicle 100 via a wireless communication connection (e.g., a WLAN or LTE communication connection).

[0056] The control unit 101 of the vehicle 100 can be configured (e.g., based on the current position of the vehicle 100 and on the basis of a planned route and / or on the basis of the sensor data of the one or more environmental sensors 103) to determine that the vehicle 100 is approaching a signaling system 200 ahead. Furthermore, the control unit 101 can determine the characteristics of one or more features of the signaling system 200 ahead on the basis of the (stored and / or received) digital map information. In particular, the digital map information can be used to determine which signal generator 201 of the signaling system 200 is assigned to the current or planned direction of travel of the vehicle 100. Furthermore, the current status of the assigned signal generator 201 can be determined on the basis of the sensor data. Based on this, an automated driving function (e.g.,an automated longitudinal guidance of the vehicle 100). In particular, the characteristics of the one or more relevant features of a signaling system 200 can be determined even at a relatively large distance 311 of the vehicle 100 from the signaling system 200, whereby the reliability, availability, and comfort of an automated driving function can be increased.

[0057] A vehicle 100 may be configured to use information relating to a signaling system 200 that is or has been passed by the vehicle 100 to create and / or supplement the digital map information. The digital map information may be created and / or supplemented locally by the vehicle 100 and / or centrally by a central unit 300 (e.g., by a backend server) (see Fig. 3). In the immediate vicinity of a signaling system 200, the one or more environmental sensors 103 of a vehicle 100 can typically capture sensor data that precisely indicate the characteristics of one or more features of the signaling system 200. In particular, the association between signal generators 201 and possible directions of travel can be determined precisely and reliably in the immediate vicinity based on the captured sensor data.

[0058] The vehicle 100 can be configured to transmit the determined information (e.g., the sensor data and / or the determined characteristics of the one or more features) via a wireless communication connection 301 to the central unit 300 (in conjunction with an identifier for the respective signaling system 200, for example, in conjunction with the position of the signaling system 200). The central unit 300 can then, based on the information provided by a plurality of vehicles 100, create and update digital map information that displays the characteristics of one or more features for a plurality of different signaling systems 200. The digital map information can then be provided to the individual vehicles 100 to support the operation of automated driving functions (as explained above).

[0059] It is thus possible to learn the intersection complexity and the attributes or characteristics of an intersection (in particular of the one or more signaling systems 200 of an intersection) by driving over it multiple times with one or more vehicles 100 in order to be able to optimally adapt the functionality of a driving function or an assistance function with respect to a signaling system 200 of the intersection on the basis of this information.

[0060] For example, sensor data relating to the intersection (in particular relating to a signaling system 200 of the intersection) can be recorded via the front cameras 103 of one or more vehicles 100 when crossing an intersection. Based on the sensor data, the signals, the floor markings and / or the directional arrows 202 of one or more signal heads 201 of the signaling system 200 can be determined. A signal head 200 can be viewed as a set of traffic lights that regulate the same one or more directions of travel. Thus, based on the sensor data, an assignment of the different directions of travel to the one or more signal heads 201 can be determined. This information relating to a signaling system 200 can be stored for later use (e.g., as part of a digital map for a road network).

[0061] When executing a driving function (e.g., an automated braking function), the stored information relating to a signaling system 200 can then be taken into account. In particular, the driving function can be executed if it is determined that the signaling system 200 comprises only one signal generator 201 (which is thus relevant for all possible directions of travel). If, in a complex signaling system 200, the relevant signal generator 201 cannot be clearly determined, a driver of the vehicle 100 can be requested to take over manually, or automatic intervention of the driving function can be prevented. On the other hand, if reliable, stored, or provided digital map information relating to a signaling system 200 is available, the driving function can be executed automatically depending on the available information.The operation of an automated driving function can thus depend on the amount of (predetermined) information available with respect to a signaling system 200. The amount of available information increases with the number of considered crossings by vehicles 100. Thus, the degree of automation of a driving function of a vehicle 100 can be continuously increased.

[0062] Fig. 4ashows a flowchart of an exemplary method 410 for determining digital (map) information regarding a signaling system 200. The digital (map) information can indicate the position of the signaling system 200 in a road network. Furthermore, the digital (map) information can indicate the characteristics of one or more (static or unchanging) features of the signaling system 200. The method 410 can be executed at least partially by one or more vehicles 100 and / or at least partially by a vehicle-external (central) unit 300.

[0063] The method 410 comprises capturing 411, using one or more environmental sensors 103 of a vehicle 100, sensor data during a journey past the signaling system 200. In particular, sensor data can be captured during a plurality of journeys past the signaling system 200 and used to determine the digital (map) information. By taking into account the sensor data from a plurality of journeys, the accuracy and reliability of the digital (map) information can be increased.

[0064] Furthermore, the method 410 includes determining 412 an expression of one or more (static) features of the signaling system 200 based on the sensor data. The one or more features can include: a number of different signal heads 201 of the signaling system 200 (a signal head 201 can be a traffic light with one, two, or three light times, which can be activated individually or, if necessary, partially together); a position of the one or more different signal heads 201 of the signaling system 200; and / or an assignment of a signal head 201 of the signaling system 200 to a possible direction of travel at the signaling system 200.

[0065] The method 410 further comprises determining 413 (e.g., updating) digital (map) information relating to the signaling system 200 based on the determined characteristics of one or more features of the signaling system 200. Thus, digital (map) information relating to a signaling system 200 can be reliably determined and provided, in particular based on the sensor data from different vehicles 100. The digital (map) information can be used to improve the operation of a driving function (in particular a driver assistance function) of a vehicle 100 in the area of ​​a signaling system 200.

[0066] Fig. 4bshows a flowchart of an exemplary method 420 for operating a driving function of a vehicle 100. The driving function can comprise at least partially automated longitudinal and / or lateral guidance of the vehicle 100. In particular, the method 420 is designed to increase the reliability and / or comfort of the driving function in the area of ​​a signaling system 200. The method 420 can be executed by the control unit 101 of a vehicle 100.

[0067] The method 420 includes detecting 421 a signaling system 200 located ahead. The signaling system 200 can be detected, for example, based on sensor data from one or more environmental sensors 103 of the vehicle 100. In this case, the vehicle 100 can be located at a distance from the signaling system 200 that is greater than the second distance threshold 312 (but less than the first distance threshold 311).

[0068] The signaling system 200 may include at least one signal generator 201. In particular, the signaling system 200 may include multiple signal generators 201 for at least partially different possible directions of travel of the vehicle 100 at the signaling system 200. The vehicle 100 may be located at a distance from the signaling system 200 that does not (yet) allow the association between signal generators 201 and possible directions of travel to be reliably determined based on the sensor data.

[0069] The method 420 further comprises determining 422 digital (map) information (determined and / or provided in advance) that indicates an assignment of the at least one signal generator 201 to at least one possible direction of travel of the vehicle 100 at the signaling system 200. The digital (map) information can be stored on a memory unit 104 of the vehicle 100 and / or can be or have been received via a communication unit 105 of the vehicle 100. The digital (map) information can have been determined in advance of the execution of the method 420, e.g., according to the method 410.

[0070] Furthermore, the method 420 includes operating 423 the driving function of the vehicle 100 depending on the digital (map) information relating to the signaling system 200. The digital (map) information can possibly indicate, with relatively high reliability, the signal generator 201 that is relevant for a planned direction of travel of the vehicle 100. In such a case, the driving function can also be executed in the area of ​​the signaling system 200. On the other hand, the digital (map) information may not clearly indicate which signal generator 201 is relevant for the planned direction of travel of the vehicle 100. In such a case, a takeover request can be issued to the driver of the vehicle 100 and / or the driving function can be deactivated at least in the area of ​​the signaling system 200.The method 420 thus makes it possible to increase the reliability and / or comfort of a driving function in the area of ​​a signaling system 200.

[0071] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and figures are intended only to illustrate the principle of the control unit according to the invention; the scope of protection, however, is defined by the subject matter of the claims.

Claims

1. Control unit (101) for a vehicle (100), wherein the control unit (101) is configured - to detect a signalling installation (200) in front of it, the signalling installation (200) comprising at least one signal generator (201); - to determine digital map information which indicates and / or enables an assignment of the at least one signal generator (201) to at least one possible direction of travel of the vehicle (100) at the signalling installation (200); - to determine a reliability value indicating a reliability with which a signalling state of the signalling installation (200) that is relevant to a direction of travel of the vehicle (100) can be determined; - to operate a driving function of the vehicle (100) on the basis of the digital map information and the reliability value, and - to determine, on the basis of the reliability value, whether or not the signalling state of the signalling installation (200) that is relevant to the direction of travel of the vehicle (100) can be determined with a sufficiently high level of reliability for automatic execution of the driving function; and - to generate a confirmation request to a user of the vehicle (100) confirming the determined signalling state if it has been determined that the signalling state cannot be determined with a sufficiently high level of reliability.

2. Control unit (101) according to Claim 1, wherein the control unit (101) is configured - to determine, on the basis of the digital map information, a relevant signal generator (201) of the signalling installation (200) that is relevant to a planned direction of travel of the vehicle (100); - to determine a status of the relevant signal generator (201); and - to operate the driving function of the vehicle (100) on the basis of the status of the relevant signal generator (201).

3. Control unit (101) according to Claim 2, wherein - the vehicle (100) comprises one or more environmental sensors (103) which are configured to acquire sensor data in relation to an environment of the vehicle (100); and - the control unit (101) is configured to determine the status of the relevant signal generator (201) based on the sensor data.

4. Control unit (101) according to one of the preceding claims, wherein - the digital map information is based on sensor data relating to the signalling installation (200) which have been acquired in advance by an environmental sensor (103) of at least one vehicle (100); and / or - the digital map information is stored on a storage unit (104) of the vehicle (100); and / or - the digital map information has been received or is received from a unit (300) outside the vehicle via a communication unit (105) of the vehicle (100).

5. Control unit (101) according to one of Claims 2 to 4, wherein - the signalling installation (200) comprises a plurality of signal generators (201) which are at least partially assigned to different possible directions of travel; and - the control unit (101) is configured to select the relevant signal generator (201) from the plurality of signal generators (201) on the basis of the planned direction of travel of the vehicle (100).

6. Control unit (101) according to one of the preceding claims, wherein - the driving function includes at least partially automated longitudinal and / or lateral guidance of the vehicle (100); and / or - the driving function includes possible braking of the vehicle (100) until the signalling installation (200) is reached; and / or - the driving function includes automatic starting of the vehicle (100) at the signalling installation (200).

7. Control unit (101) according to one of Claims 2 to 6, wherein the control unit (101) is configured - to determine that the signal generator (201) relevant to the planned direction of travel of the vehicle (100) cannot be determined with sufficient reliability; and - in response to this, to cause a manual handover of the guidance of the vehicle (100) to a driver of the vehicle (100) and / or to cause at least temporary deactivation of the driving function and / or to output a request for the automated execution of the driving function to the driver of the vehicle (100); or - to determine that the signal generator (201) relevant to the planned direction of travel of the vehicle (100) can be detected with sufficient reliability; and - to operate the driving function depending on the basis of the status of the relevant signal generator (201).

8. Control unit (101) according to one of the preceding claims, wherein - the vehicle (100) comprises one or more environmental sensors (103) which are configured to acquire sensor data in relation to an environment of the vehicle (100); - the control unit (101) is configured to determine the possible direction of travel associated with the at least one signal generator (201) on the basis of the sensor data alone only when the sensor data were acquired at a distance (312) from the signalling installation (200) which is less than or equal to a distance threshold value; and - the control unit (101) is configured to already determine the possible direction of travel associated with the at least one signal generator (201) on the basis of the digital map information when the vehicle (100) is still more than the distance threshold value away from the signalling unit (200).

9. Control unit (101) according to one of the preceding claims, wherein - the vehicle (100) comprises one or more environmental sensors (103) which are configured to acquire sensor data in relation to an environment of the vehicle (100); - the control unit (101) is configured to determine a manifestation of one or more features of the signalling installation (200) on the basis of the sensor data when driving past the signalling installation (200); - the one or more features comprise: - a number of different signal generators (201) of the signalling installation (200); and / or - a position of the one or more different signal generators (201) of the signalling installation (200); and / or - an assignment of a signal generator (201) of the signalling installation (200) to a possible direction of travel at the signalling installation (200); and - the control unit (101) is configured to store the determined manifestation of the one or more features of the signalling installation (200) as digital map information or to provide or use it for the determination of digital map information.

10. Control unit (101) according to one of the preceding claims, wherein the digital map information indicates - that the signalling installation (200) has only one signal group that applies to all possible directions of travel at the signalling installation (200); and / or - a number of different signal groups of the signalling installation; and / or - an assignment of different signal generators (201) and / or different signal groups of the signalling installation (200) to different possible directions of travel at the signalling installation (200); and / or - information relating to a relative positioning of different signal generators (201) and / or different signal groups of the signalling installation (200) with respect to each other.

11. Control unit (101) according to one of the preceding claims, wherein the control unit (101) is configured - to determine a driving route of the vehicle (100); - to detect a multiplicity of signalling installations (200) on the driving route prior to a journey along the driving route; - to determine digital map information for the multiplicity of signalling installations (200) prior to the journey along the driving route; and - to already determine whether or not the driving function can be operated automatically on the journey along the driving route on the basis of the digital map information for the multiplicity of signalling installations (200) prior to the journey along the driving route.

12. Control unit (101) according to one of the preceding claims, wherein the control unit (101) is configured to perform the driving function, in particular an automatic braking manoeuvre at the signalling installation (200) or an automatic starting manoeuvre at the signalling installation (200), automatically only when it has been determined that the signalling state can be determined with a sufficiently high level of reliability or if the signalling state determined has been confirmed by the user of the vehicle (100).

13. Control unit (101) according to one of the preceding claims, wherein the control unit (101) is configured - to determine digital map information which indicates and / or enables an assignment of the at least one signal generator (201) to at least one possible direction of travel of the vehicle (100) at the signalling installation (200); and / or - to determine sensor data relating to the at least one signal generator (201); and - to determine the reliability value based on the digital map information and / or the sensor data.