METHOD AND DEVICE FOR DETERMINING AN ACCELERATION SPECIFICATION FOR A VEHICLE

Description

[0001] The invention relates to a method and a corresponding device for determining an acceleration specification for a vehicle, in particular for an automated longitudinal and / or lateral guidance of a vehicle.

[0002] A vehicle can have several different driving functions, particularly driver assistance functions, that support the driver in longitudinal and / or lateral control of the vehicle. For example, one driving function can automatically adjust the distance between the vehicle and a vehicle ahead of it when following a vehicle. Another driving function can automatically adjust the vehicle's speed when driving in clear water. Furthermore, another driving function can automatically adjust the vehicle's speed when changing lanes.

[0003] The driver of a vehicle can be enabled to operate several driving functions simultaneously. For example, the vehicle's adaptive cruise control and speed control can be operated simultaneously, and the lane change assistant can be activated based on these functions.

[0004] A driving assistance device described in US 2017 / 217436 A1 is equipped with: a first controller configured to generate a first acceleration request for accelerating a vehicle or a first deceleration request for decelerating the vehicle based on a predetermined reference speed or an inter-vehicle distance to a preceding vehicle; a second controller configured to generate a second deceleration request for decelerating the vehicle based on an overlap rate between the vehicle and an obstacle located in front of the vehicle; and a regulator configured to compare the required deceleration of the first deceleration request and the required deceleration of the second deceleration request according to their magnitude and output the deceleration request with the higher required deceleration.

[0005] This document deals with the technical task of increasing the comfort of automated longitudinal and / or lateral guidance of a vehicle during the parallel operation of several automated driving functions.

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

[0007] According to one aspect, a device for determining a vehicle acceleration specification for a vehicle during operation of a plurality of different automated driving functions in a vehicle is described. The individual automated driving functions can be configured to effect automated longitudinal and / or lateral guidance of the vehicle.The plurality of automated driving functions may in particular comprise: a distance controller for following the vehicle (which is designed to set the (longitudinal) distance of the vehicle from a vehicle in front to a set set distance); a speed controller for clear travel of the vehicle (which is designed to set the (longitudinal) travel speed of the vehicle to a set set travel speed); and / or a lane change assistant for changing the vehicle's lane (which is designed to automatically guide the vehicle from a currently traveled lane to an adjacent lane).

[0008] The individual driving functions can each have a controller with which one or more vehicle state variables can be set to a target value. One state variable can be the (longitudinal and / or lateral) acceleration of the vehicle. Thus, a corresponding number of controllers can be operated in the vehicle within the scope of the operation of the majority of automated driving functions. The different controllers can use different control algorithms.

[0009] The plurality of controllers may comprise: a trajectory control (e.g., for the cruise control); a P-controller (e.g., for the distance control); and / or a planning controller configured to plan a trajectory of the vehicle ahead in order to determine an acceleration specification (i.e., a target acceleration) for the vehicle (e.g., for the cruise control and / or for the lane change assistant).

[0010] The device is configured to determine, for a specific point in time (from a sequence of consecutive points in time), a corresponding plurality of function-specific acceleration specifications based on the plurality of controllers for the plurality of driving functions. The individual controllers of the parallel-operated driving functions can thus be operated (each independently of one another) to determine a function-specific acceleration specification (i.e., a target acceleration) for the vehicle.

[0011] The device can further be configured to determine the vehicle acceleration specification for the automated (longitudinal and / or transverse) guidance of the vehicle at the specific point in time based on the plurality of function-specific acceleration specifications. The device can in particular be configured to select one of the plurality of function-specific acceleration specifications, in particular the relatively smallest function-specific acceleration specification, as the vehicle acceleration specification. The device can, for example, be configured to select the function-specific acceleration specification from the plurality of function-specific acceleration specifications as the vehicle acceleration specification that has the relatively smallest value (taking the sign into account) and / or that aims at the lowest possible acceleration or the highest possible deceleration of the vehicle.

[0012] This allows a controller to be selected from a plurality of controllers for a specific time, whose function-specific acceleration setting is used for the automated (longitudinal and / or lateral) guidance of the vehicle. The controller with the lowest acceleration setting or the highest deceleration setting can be selected. This allows for robust (longitudinal and / or lateral) guidance of the vehicle even when multiple automated driving functions are operating.

[0013] The device can be configured to operate at least one longitudinal and / or lateral guidance actuator (e.g. a drive motor, a braking device and / or a steering device) of the vehicle depending on the determined vehicle acceleration specification in order to effect the automated (longitudinal and / or lateral) guidance of the vehicle.

[0014] Furthermore, the device is configured to provide at least some of the plurality of controllers (in particular the one or more planning controllers) with feedback regarding the determined vehicle acceleration target. The feedback for a controller can indicate whether the controller actively participated in determining the vehicle acceleration target at the specific point in time or only passively provided a function-specific acceleration target. In particular, the feedback for the controller can indicate whether or not the function-specific acceleration target of the controller was used as the vehicle acceleration target at the specific point in time.

[0015] The feedback can then be taken into account by the part of the plurality of controllers when determining the respective function-specific acceleration target for a subsequent point in time (in particular for the point in time directly following the specific point in time in the sequence of points in time). In particular, the functioning of a controller for determining the function-specific acceleration target for the subsequent point in time can depend on the feedback regarding the vehicle acceleration target for the specific point in time.

[0016] By feeding information related to the determined vehicle acceleration target back to the individual controllers, particularly robust and comfortable operation of multiple automated driving functions can be enabled. In particular, this allows for smooth transitions between the driving functions that primarily affect the automated longitudinal and / or lateral guidance of the vehicle.

[0017] As already explained above, the plurality of controllers can comprise at least one planning controller which is configured to plan an acceleration of the vehicle at a future point in time, in particular a course of the acceleration of the vehicle at a sequence of future points in time, in order to determine the function-specific acceleration specification. In particular, the planning controller can be designed to plan one or more state variables of the vehicle (such as the acceleration) for a sequence of future points in time. In this way, particularly comfortable longitudinal and / or lateral guidance of the vehicle can be achieved. The planning of the acceleration course can be carried out, for example, using a polynomial approach or by quadratic optimization.

[0018] The device can be configured to determine the function-specific acceleration specification of the planning controller on the basis of the planned acceleration of the vehicle at the preceding point in time, in particular as the planned acceleration of the vehicle at the preceding point in time.

[0019] For example, for a non-planning controller (such as a P-controller), the acceleration setpoint for a specific point in time can be determined as a function-specific acceleration specification. On the other hand, for a planning controller, the planned acceleration of the vehicle at a future point in time (which follows the specific point in time, for example, by 0.5 seconds or more) can be used as the function-specific acceleration specification. This can further increase the comfort of transitioning between different controllers for different driving functions.

[0020] As already explained above, the feedback for a planning controller can indicate whether the planning controller actively participated in determining the vehicle acceleration command at that specific time, or only passively provided a function-specific acceleration command. In particular, the feedback can indicate whether or not the function-specific acceleration command of the planning controller was used as the vehicle acceleration command.

[0021] The planning of the planning controller for the subsequent point in time, in particular the course of the vehicle's acceleration predicted or planned by the planning controller, can then depend on whether the planning controller actively participated in determining the vehicle acceleration specification at the specific point in time (in particular whether the function-specific acceleration specification of the planning controller was used as the vehicle acceleration specification), or only passively provided a function-specific acceleration specification (in particular whether the function-specific acceleration specification of the planning controller was not used as the vehicle acceleration specification).

[0022] The planning controller can in particular be designed to determine the predicted and / or planned course of the acceleration of the vehicle for the subsequent point in time on the basis of the predicted and / or planned course of the acceleration of the vehicle for the specific point in time if the planning controller has actively participated in the determination of the vehicle acceleration specification at the specific point in time (in particular if the function-specific acceleration specification of the planning controller was used as the vehicle acceleration specification).

[0023] Alternatively or additionally, the planning controller can be designed to redetermine the predicted and / or planned course of the acceleration of the vehicle for the subsequent point in time without taking into account the predicted and / or planned course of the acceleration of the vehicle for the specific point in time if the planning controller has only passively provided a function-specific acceleration specification at the specific point in time (in particular if the function-specific acceleration specification of the planning controller was not used as the vehicle acceleration specification).

[0024] By adapting the operation of a planning controller depending on the feedback, the comfort of transitioning between different controllers for different driving functions can be further increased.

[0025] As already explained above, the device can be configured to repeat the steps described in this document at a sequence of consecutive points in time (in particular periodically) to enable permanently comfortable, parallel operation of multiple driving functions. In this case, a plurality of function-specific acceleration specifications can be determined at the respective point in time; a vehicle acceleration specification can be determined based on the plurality of function-specific acceleration specifications, and feedback regarding the determined vehicle acceleration specification can be provided to at least some of the plurality of controllers.

[0026] According to a further aspect, a (road) motor vehicle (in particular a passenger car or a truck or a bus or a motorcycle) is described which comprises the device described in this document.

[0027] According to a further aspect, a method for determining a vehicle acceleration specification for a vehicle during operation of a plurality of different automated driving functions in a vehicle is described. The method comprises, for a specific point in time, determining, based on a plurality of controllers for the corresponding plurality of driving functions, a corresponding plurality of function-specific acceleration specifications. Furthermore, the method comprises determining the vehicle acceleration specification for the automated driving of the vehicle at the specific point in time based on the plurality of function-specific acceleration specifications. Furthermore, the method comprises providing feedback regarding the determined vehicle acceleration specification for at least some of the plurality of controllers.The feedback can then be taken into account by the part of the majority of controllers when determining the respective function-specific acceleration specification for a subsequent point in time.

[0028] 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 carry out the method described in this document.

[0029] 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 the method described in this document.

[0030] For the purposes of this document, the term "automated driving" can be understood as driving with automated longitudinal or lateral guidance, or autonomous driving with automated longitudinal and lateral guidance. Automated driving can, for example, involve extended driving on the highway or temporary driving during parking or maneuvering. The term "automated driving" encompasses automated driving with any degree of automation. Examples of levels of automation include assisted, partially automated, highly automated, or fully automated driving. These levels of automation were defined by the Federal Highway Research Institute (BASt) (see BASt publication "Research Compact," issue 11 / 2012). In assisted driving, the driver continuously performs longitudinal or lateral guidance, while the system assumes the other function within certain limits.In partially automated driving (TAF), the system assumes longitudinal and lateral guidance for a certain period of time and / or in specific situations, whereby the driver must continuously monitor the system, as in assisted driving. In highly automated driving (HAF), the system assumes longitudinal and lateral guidance for a certain period of time without the driver having to continuously monitor the system; however, the driver must be able to assume control of the vehicle after a certain time. In fully automated driving (VAF), the system can automatically handle driving in all situations for a specific application; for this application, a driver is no longer required. The four levels of automation mentioned above correspond to SAE Levels 1 to 4 of the SAE J3016 standard (SAE - Society of Automotive Engineering). For example, highly automated driving (HAF) corresponds to Level 3 of the SAE J3016 standard.Furthermore, SAE J3016 also specifies SAE Level 5 as the highest level of automation, which is not included in the BASt definition. SAE Level 5 corresponds to driverless driving, where the system can automatically handle all situations like a human driver throughout the entire journey; a driver is generally no longer required.

[0031] 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.

[0032] The invention will be described in more detail below using exemplary embodiments. Figure 1 exemplary components of a vehicle; Figure 2a to 2c exemplary driving functions for automated longitudinal guidance of a vehicle; Figure 3 exemplary acceleration specifications of different driving functions of a vehicle; Figure 4 an exemplary device for determining an acceleration target for a vehicle; and Figure 5 a flowchart of an exemplary method for determining an acceleration target for a vehicle.

[0033] As stated at the beginning, this document deals with increasing the comfort of a vehicle when operating several automated driving functions. In this context, Fig. 1Example components of a vehicle 100. The vehicle 100 includes one or more environmental sensors 102 configured to capture environmental data (i.e., sensor data) relating to the surroundings of the vehicle 100. Example environmental sensors 102 include a camera, a radar sensor, a lidar sensor, an ultrasonic sensor, etc.

[0034] A (control) device 101 of the vehicle 100 can be configured to determine information relating to the surroundings of the vehicle 100 on the basis of the surroundings data, such as the distance to a vehicle driving in front of the vehicle 100, the course of a lane traveled by the vehicle 100, etc. The device 101 can further be configured to operate one or more longitudinal and / or lateral guidance actuators 103 of the vehicle 100 (e.g. a drive motor, a braking device and / or a steering device) on the basis of the surroundings data and / or on the basis of the determined surroundings information, in particular in order to effect automated longitudinal and / or lateral guidance of the vehicle 100.

[0035] The vehicle 100 may further include a user interface 104 for a driver of the vehicle 100. The driver of the vehicle 100 may be enabled to activate or deactivate an automated driving function via the user interface 104. Furthermore, the driver of the vehicle 100 may be enabled to specify an operating parameter of a driving function, such as a desired set distance of the vehicle 100 from a vehicle in front and / or a desired set speed of the vehicle 100.

[0036] As explained above, several driving functions of the vehicle 100 can be operated simultaneously, in particular driving functions that simultaneously act on the longitudinal or lateral guidance of the vehicle 100. Fig. 2aFor example, it shows an automatic distance controller with which the distance 201 of the vehicle 100 to a vehicle 100 in front can be automatically adjusted to the stored set distance. For this purpose, a controller, e.g., a P controller, can be used that is designed to adjust the actual distance 201 to the stored set distance.

[0037] Fig. 2bshows a cruise control as a further automated driving function, in which the driving speed 211 of the vehicle 100 is set to a stored set speed during clear travel on a roadway 210. Within the scope of the controller used in the driving function, trajectory planning can take place, in which the state of the vehicle 100, in particular the state with respect to the position of the vehicle 100, with respect to the driving speed 211 of the vehicle 100 and / or with respect to the acceleration of the vehicle 100, is planned for a specific future planning horizon. The actual driving speed 211 of the vehicle 100 can then be set depending on the trajectory planning. Carrying out trajectory planning enables clear travel with a particularly high level of driving comfort. The trajectory planning can be carried out using a specific planning approach, e.g., with a polynomial approach.

[0038] Fig. 2c shows a lane change assistant as a further automated driving function, in which the driving speed 211 of the vehicle 100 can be adjusted based on a planned driving trajectory 221 for a lane change. Within the scope of the controller used in this driving function, trajectory planning can again be performed for a specific planning horizon, whereby the planning approach can differ from the planning approach for a clear drive. For example, a quadratic optimization can be performed to plan a trajectory for a lane change.

[0039] In a vehicle 100, several controllers can thus be operated simultaneously, each of which has an influence on the automated guidance, in particular on the automated longitudinal guidance, of the vehicle 100. The parallel operation of different controllers can, in particular during a transition between different controllers, possibly lead to automated interventions that are perceived as uncomfortable by an occupant of the vehicle 100, such as a jerk of the vehicle 100. This can be brought about in particular by the different controllers making different specifications with regard to the acceleration of the vehicle 100, as shown for example in Fig. 3 shown.

[0040] Fig. 3shows exemplary acceleration specifications in relation to the acceleration 301 of the vehicle 100, which can be determined by different controllers of the vehicle 100. For example, a first controller (e.g. the one in connection with Fig. 2a described distance controller) a first acceleration specification 311 for a first time 315 can be made. By a second controller (e.g. the one in connection with Fig. 2b described speed controller), for example, a course 320 with respect to the acceleration 301 as a function of time 302 can be planned (as part of the trajectory planning). The device described in this document can be designed to determine a second acceleration specification 321 of the second controller on the basis of the course 320 (e.g. as acceleration 301 of the course 320 for a second time 325).

[0041] In a corresponding manner, a third acceleration specification 331 of a third controller can be determined if necessary (e.g. the one in connection with Fig. 2c described controller for a lane change). The third acceleration specification 331 can be determined, for example, as acceleration 301 of an acceleration curve 330 planned by the third controller at a third time 335.

[0042] Thus, at a specific point in time during the operation of the vehicle 100, different acceleration specifications 311, 321, 331 may exist, which are to be implemented at this specific point in time by the one or more actuators 103 of the vehicle 100. Fig. 4shows an exemplary device 400 for determining the vehicle acceleration specification 402 for operating a vehicle 100 based on a plurality of function-specific acceleration specifications 311, 321, 331 provided by a corresponding plurality of controllers 410, 420, 430 of the vehicle 100. For this purpose, the device 400 comprises a calculation unit 401, in particular a selection unit, for determining the vehicle acceleration specification 402 based on the plurality of acceleration specifications 311, 321, 331. The device 400, in particular the calculation unit 401, can be designed to select the smallest acceleration specification 311, 321, 331 from the plurality of acceleration specifications 311, 321, 331 as the vehicle acceleration specification 402.

[0043] The device 400 may further be configured to provide at least some of the controllers 410, 420, 430 with feedback 403 regarding the vehicle acceleration specification 402. The feedback 403 may include or indicate the value of the vehicle acceleration command 402; and / or information about whether the acceleration command 311, 321, 331 of the respective controller 410, 420, 430 has been incorporated into the value of the vehicle acceleration command 402 or not, or whether the respective controller 410, 420, 430 actively or only passively participates in determining the vehicle acceleration command 402.

[0044] The respective controller 410, 420, 430 can then adapt its respective operation based on the feedback 403. For example, the trajectory planning of a controller 420, 430 can be performed anew (based on the respective current state of the vehicle 100) if the feedback 403 indicates that the acceleration command 321, 331 determined by the controller 420, 430 was not taken into account as the vehicle acceleration command 402.

[0045] The above-mentioned determination of a vehicle acceleration specification 402 can be repeated at a sequence of points in time, e.g., at a specific repetition rate (e.g., 1 Hz or more, or 10 Hz or more, or 100 Hz or more). This can ensure consistently comfortable operation of a vehicle 100.

[0046] In the overall longitudinal control chain of a vehicle 100, several different controllers 410, 420, 430 with different control approaches can thus be implemented. The different controllers 410, 420, 430 can be designed for different driving tasks (with different control methods), in particular to ensure the most comfortable and / or safe driving behavior of the vehicle 100 for the respective driving task. The measures described in this document are aimed at achieving cooperative behavior of the plurality of different controllers 410, 420, 430 and ensuring smooth transitions between the controllers 410, 420, 430 actively considered.

[0047] As in connection with the Figure 2a to 2cAs explained, a path guidance controller 410 can be used for following a leading vehicle 200. A controller 420 with one planning approach can be used for clear travel. Furthermore, a controller 430 with a different planning approach can be used for a lane change or lane change preparation.

[0048] The specifications 311, 321, 331 of the various controllers 410, 420, 430 can be merged into a target acceleration 402 for the vehicle 100. Depending on the controller, a directly specified target acceleration 311 (for the current (specific) time 315) or a predicted target acceleration 321, 331 (for a future time 325, 335) can be taken into account.

[0049] A minimum selection of the specified target accelerations 311, 321, 331 can be made as the vehicle target acceleration 402. Thus, the controller 410, 420, 430 with the lowest acceleration requirement or with the greatest deceleration request can be prioritized.

[0050] Via feedback 403, the controllers 410, 420, 430 can be informed about the currently prioritized controller 410, 420, 430. During this time, the one or more non-prioritized controllers 410, 420, 430 remain in a passive state and continue to output (e.g., periodically) their individual target acceleration 311, 321, 331. Furthermore, the currently prioritized target acceleration 402 can be fed back to the controllers 410, 420, 430 as feedback 403. This allows for a particularly reliable smooth transition between the controllers 410, 420, 430.

[0051] One driving situation in which transitions between different controllers 410, 420, and 430 may occur is the execution or preparation of a lane change on a highway. This can initially involve clearing the lane and / or following the lane, which must be smoothly transitioned into a lane change maneuver.

[0052] Fig. 5shows a flowchart of a (possibly computer-implemented) method 500 for determining a vehicle acceleration specification 402 for a vehicle 100 when operating a plurality of different automated driving functions in a vehicle 100. The different automated driving functions can each be directed towards automated longitudinal and / or lateral guidance of the vehicle 100. Within the scope of each individual driving function, a (separate) controller can be operated, in particular to repeatedly, for example periodically, determine an acceleration specification (i.e., a target acceleration) for the vehicle 100. The acceleration specification, which is determined on the basis of the controller of a driving function, is referred to in this document as a "function-specific acceleration specification." The acceleration specification can refer to a specification for the longitudinal acceleration and / or a specification for the lateral acceleration of the vehicle 100.In the vehicle 100, for example, 2 or more, or 3 or more driving functions can be operated in parallel, each of which has an influence on the automated longitudinal and / or lateral guidance of the vehicle 100.

[0053] The method 500 can be repeated (periodically at a specific frequency of, for example, 1 Hz or more, or 10 Hz or more, or 100 Hz or more). In this case, the method 500 can comprise, for one or at a specific point in time, determining 501, based on the plurality of controllers 410, 420, 430 for the corresponding plurality of driving functions, a corresponding plurality of function-specific acceleration specifications 311, 321, 331. Thus, several controllers 410, 420, 430 can be operated separately in order to provide several different function-specific acceleration specifications 311, 321, 331 for a specific point in time from the sequence of points in time.

[0054] The method 500 further comprises determining 502 the vehicle acceleration specification 402 for the automated (longitudinal and / or transverse) guidance of the vehicle 100 at the specific point in time based on the plurality of function-specific acceleration specifications 311, 321, 331. In particular, the function-specific acceleration specification 311, 321, 331 can be selected from the plurality of function-specific acceleration specifications 311, 321, 331 as the vehicle acceleration specification 402 which (taking the sign into account) has the smallest value (where a positive value corresponds to an acceleration of the vehicle 100 and where a negative value corresponds to a deceleration of the vehicle 100).

[0055] The automated longitudinal and / or lateral guidance of the vehicle 100 can then be effected at the specific time based on the determined vehicle acceleration specification 402. In particular, at least one longitudinal and / or lateral guidance actuator 103 of the vehicle 100 can be operated to implement the determined vehicle acceleration specification 402. This allows for reliable and comfortable operation of multiple driving functions in a vehicle 100.

[0056] Furthermore, the method 500 may include providing 503 a feedback signal 403 relating to the determined vehicle acceleration specification 402 for at least some of the plurality of controllers 410, 420, 430. The feedback signal 403 may, in particular, indicate to a controller 410, 420, 430 whether the function-specific acceleration specification 311, 321, 331 determined by the controller 410, 420, 430 was incorporated into the determined vehicle acceleration specification 402 at the specific time. In particular, the controller 410, 420, 430 can be indicated as feedback 403 whether the function-specific acceleration command 311, 321, 331 determined by the controller 410, 420, 430 was used as the vehicle acceleration command 402 at the specific time or not. Furthermore, the value of the vehicle acceleration command 402 can be provided as feedback 403.

[0057] Feedback 403 can be taken into account by the portion of the plurality of controllers 410, 420, 430 when determining the respective function-specific acceleration command 311, 321, 331 for a subsequent point in time from the sequence of points in time. In particular, the function-specific acceleration command 311, 321, 331 determined by a controller 410, 420, 430 for the subsequent point in time can depend on feedback 403 with respect to the vehicle acceleration command 402 determined for the specific point in time. Thus, the reliability and comfort of the automated longitudinal and / or lateral guidance of a vehicle 100 can be further increased when operating multiple driving functions.

[0058] The measures described in this document can thus increase the comfort of the automated (longitudinal) guidance of a vehicle 100 during parallel operation of several automated driving functions.

[0059] 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 proposed methods, devices, and systems by way of example.

Claims

1. Device (101, 400) for ascertaining a vehicle acceleration specification (402) for a vehicle (100) during operation of a plurality of different automated driving functions in a vehicle (100); wherein the device (101, 400) is configured, for a specific point in time - on the basis of a plurality of controllers (410, 420, 430) for the plurality of driving functions, to ascertain a corresponding plurality of function-specific acceleration specifications (311, 321, 331); and - to ascertain the vehicle acceleration specification (402) for automated guidance of the vehicle (100) at the specific point in time on the basis of the plurality of function-specific acceleration specifications (311, 321, 331); characterized in that the device (101, 400) is configured - to provide feedback (403) with respect to the ascertained vehicle acceleration specification (402) to at least a part of the plurality of controllers (410, 420, 430); wherein the feedback (403) is taken into consideration by the part of the plurality of controllers (410, 420, 430) in the ascertainment of the respective function-specific acceleration specification (311, 321, 331) for a subsequent point in time.

2. Device (101, 400) according to Claim 1, wherein the device (101, 400) is configured to select a, in particular the relatively smallest function-specific acceleration specification (311, 321, 331), of the plurality of function-specific acceleration specifications (311, 321, 331) as the vehicle acceleration specification (402).

3. Device (101, 400) according to Claim 2, wherein the device (101, 400) is configured to select the function-specific acceleration specification (311, 321, 331) from the plurality of function-specific acceleration specifications (311, 321, 331) as the vehicle acceleration specification (402), which is intended for the least possible acceleration or the highest possible deceleration of the vehicle (100).

4. Device (101, 400) according to any one of the preceding claims, wherein - the plurality of controllers (410, 420, 430) comprises at least one planning controller (420, 430), which is configured, to ascertain the function-specific acceleration specification (321, 331), to plan an acceleration (301) of the vehicle (100) at an upcoming point in time (325, 335), in particular a course (320, 330) of the acceleration (301) of the vehicle (100) at a sequence of upcoming points in time (302); and - the device (101, 400) is configured to ascertain the function-specific acceleration specification (321, 331) of the planning controller (420, 430) on the basis of the planned acceleration (301) of the vehicle (100) at the upcoming point in time (325, 335), in particular as the planned acceleration (301) of the vehicle (100) at the upcoming point in time (325, 335).

5. Device (101, 400) according to any one of the preceding claims, wherein - the plurality of controllers (410, 420, 430) comprises at least one planning controller (420, 430); - the feedback (402) for the planning controller (420, 430) indicates whether the planning controller (420, 430) has actively participated in the ascertainment of the vehicle acceleration specification (402) at the specific point in time, or has only passively provided a function-specific acceleration specification (321, 331); and - planning of the planning controller (420, 430), in particular a course (320, 330) of the acceleration (301) of the vehicle (100) predicted by the planning controller (420, 430), for the subsequent point in time is dependent on whether the planning controller (420, 430) has actively participated in the ascertainment of the vehicle acceleration specification (402) at the specific point in time, or has only passively provided a function-specific acceleration specification (321, 331).

6. Device (101, 400) according to Claim 5, wherein the planning controller (420, 430) is designed - to ascertain the predicted course (320, 330) of the acceleration (301) of the vehicle (100) for the subsequent point in time on the basis of a predicted course (320, 330) of the acceleration (301) of the vehicle (100) for the specific point in time if the planning controller (420, 430) has actively participated in the ascertainment of the vehicle acceleration specification (402) at the specific point in time; and / or - to ascertain the predicted course (320, 330) of the acceleration (301) of the vehicle (100) for the subsequent point in time again without taking into consideration a predicted course (320, 330) of the acceleration (301) of the vehicle (100) for the specific point in time if the planning controller (420, 430) has only passively provided a function-specific acceleration specification (321, 331) at the specific point in time.

7. Device (101, 400) according to any one of the preceding claims, wherein the plurality of automated driving functions comprises - a distance controller for a following drive of the vehicle (100); - a speed controller for a free drive of the vehicle (100); and / or - a lane change assistant for a lane change of the vehicle (100).

8. Device (101, 400) according to any one of the preceding claims, wherein the plurality of controllers (410, 420, 430) comprises - a path guidance controller; - a P controller; and / or - a planning controller, which is designed to plan an upcoming trajectory of the vehicle (100) in order to ascertain the function-specific acceleration specification (321, 331).

9. Device (101, 400) according to any one of the preceding claims, wherein the device (101, 400) is configured to operate a longitudinal and / or lateral guidance actuator (103) of the vehicle (100) as a function of the ascertained vehicle acceleration specification (402).

10. Device (101, 400) according to any one of the preceding claims, wherein the device (101, 400) is configured, at each of a sequence of successive points in time - to ascertain a plurality of function-specific acceleration specifications (311, 321, 331); - to ascertain a vehicle acceleration specification (402) on the basis of the plurality of function-specific acceleration specifications (311, 321, 331); and - to provide feedback (403) with respect to the ascertained vehicle acceleration specification (402) to the part of the plurality of controllers (410, 420, 430).

11. Method (500) for ascertaining a vehicle acceleration specification (402) for a vehicle (100) during operation of a plurality of different automated driving functions in a vehicle (100); wherein the method (500) comprises for a specific point in time: - ascertaining (501), on the basis of a plurality of controllers (410, 420, 430) for the plurality of driving functions, a corresponding plurality of function-specific acceleration specifications (311, 321, 331); and - ascertaining (502) the vehicle acceleration specification (402) for automated guidance of the vehicle (100) at the specific point in time on the basis of the plurality of function-specific acceleration specifications (311, 321, 331); characterized in that the method (500) further comprises: - providing (503) feedback (403) with respect to the ascertained vehicle acceleration specification (402) for at least a part of the plurality of controllers (410, 420, 430); wherein the feedback (403) is taken into consideration by the part of the plurality of controllers (410, 420, 430) in the ascertainment of the respective function-specific acceleration specification (311, 321, 331) for a subsequent point in time.