A method for determining a route for an at least in part automatically operated motor vehicle by an assistance system, a corresponding computer program

Abstract

A method for determining a route 18 for an at least in part automatically operated motor vehicle 10 by an assistance system 12. Comprising the steps of providing a route model 22 for the surroundings

Description

[0001] The present invention relates to the field of automobiles. More specifically, the present invention relates to a method for determining a route for an at least in part automatically operated motor vehicle by an assistance system of the motor vehicle. Furthermore, the present invention relates to a corresponding computer program product, a corresponding non-transitory computer-readable storage medium, as well as a corresponding assistance system. BACKGROUND INFORMATION

[0002] A major benefit of autonomous driving is to allow a driver to conduct non-driving tasks while in the motor vehicle, but the driver is often interrupted due to constraints of a so-called conditional driving level in part. This means that for example the driver has to be able to take over the driving task in a predetermined time interval after getting an appropriate information from the assistance system that for example an automated operation is not available anymore.

[0003] One major benefit of Autonomous (or Automated) Driving (AD) is to allow the driver to conduct non-driving tasks while in the car, for example write email, review reports, watch a movie, but the driver can be interrupted due to the constraints of Level 3 AD, which could lead to frustration especially when transient interruptions occur frequently. SUMMARY OF THE INVENTION

[0004] It is an object of the present invention to provide a method, a computer program product, a corresponding non-transitory computer-readable storage medium, as well as a corresponding assistance system, by which a more comfortable driving of the at least in part automatically operated motor vehicle may be realized.

[0005] This object is solved by a method, corresponding computer program product, a corresponding non-transitory computer-readable storage medium, as well as a corresponding assistance system. Advantageous forms of embodiments are presented in the dependent claims.

[0006] One aspect of the invention relates to a method for determining a route for an at least in part automatically operated motor vehicle by an assistance system of the motor vehicle. A route model for the surroundings of the motor vehicle is provided by an electronic computing device of the assistance system, wherein the route model is configured for optimizing a route concerning a maximization of usage of an at least in part automated operation mode of the motor vehicle. At least the destination of the motor vehicle is captured for a predetermined trip of the motor vehicle by an input device of the assistance system. The route is determined depending on the provided route model and the captured situation such that the route comprises a maximum usage of the automated operation mode.

[0007] Therefore, the solution utilizes strategies and analyzes available data, for example map, traffic pattern, weather or furthermore, to identify a suitable route that would keep the motor vehicle in an automated driving operation mode, for example a so-called SAE level 3, engaged more persistently, in particular with a longer duration and fewer interruptions. For example, for an assistance system having a certain speed limit, a route that may be configured for driving behind a consistently slower vehicle, for example a heavy truck, may provide a more stable environment. For the assistance system that is permitted to operate only on dry pavement, a detour that avoids an area with recent precipitation, as well as short-term forecast of precipitation, may be advantageous.

[0008] Without automated driving, most drivers generally prefer to reach the destination sooner (rather than later) because an earlier arrival means less time for human driving, which yields more time to do meaningful activities elsewhere.

[0009] With automated driving available, however, circumstances exist where allowing a later arrival may result in less time needed for human driving, which could give more time to perform productive (i.e., non-driving) tasks while in the vehicle.

[0010] This invention aims to maximize such opportunities within the driver’s preference parameters, by seeking route conditions through a trip, in particular from origin to destination, that would likely reduce Human Driving Time (HDT, how many minutes the driver must operate the vehicle) and / or Takeover Request Frequency (TRF, how often the driver needs to be asked to resume the driving responsibility).

[0011] According to an embodiment a current position of the motor vehicle is taken into consideration for determining the route.

[0012] In another embodiment a first route, which takes longer time but has a longer usage of automated operation mode, is preferred to a second route, which takes shorter time but has a shorter usage of automated operation mode.

[0013] In another embodiment the current surroundings are taken into consideration for determining the route.

[0014] In another embodiment a current weather situation and / or a current traffic situation is taken into consideration.

[0015] In another embodiment a leading vehicle is determined and an automated driving operation behind that leading vehicle is used for maximization of the usage of the automated operation mode.

[0016] Furthermore road preferences, for example lane marking conditions, wider lanes, less glare can be taken into consideration. Furthermore, a Fleet-based learning of locations to avoid, for example where takeover requests occur frequently, can be taken into consideration.

[0017] In particular the presented method is a computer-implemented method. Therefore, another aspect of the invention relates to a computer program product comprising program code means for performing a method according to the preceding aspect.

[0018] Furthermore, the present invention relates to a non-transitory computer-readable storage medium comprising at least one computer program product according to the preceding aspect.

[0019] A still further aspect of the invention relates to an assistance system for determining a route for an at least in part automatically operated motor vehicle, comprising at least one input device and one electronic computing device, wherein the assistance system is configured for performing a method according to the preceding aspect. In particular, the method is performed by the assistance system.

[0020] The electronic computing device may comprise electronic means, for example processors, circuits in particular integrated circuits, and further electronic means for performing a method according to the preceding aspect.

[0021] Furthermore, the present invention relates to a motor vehicle which is at least in part electrically automatically operated comprising at least the assistance system according to the preceding aspect.

[0022] Advantageous forms of embodiments of the method are to be regarded as advantageous forms of the computer program product, the non-transitory computer-readable storage medium, the assistance system, as well as the motor vehicle. The assistance system as well as the motor vehicle therefore comprises means for performing a method according to the preceding aspect.

[0023] Further advantages, features, and details of the invention derive from the following description of a preferred embodiment as well as from the drawing. The features and feature combinations previously mentioned in the description as well as the features and feature combinations mentioned in the following description of the figure and / or shown in the figure alone can be employed not only in the respectively indicated combination but also in any other combination or taken alone without leaving the scope of the invention. BRIEF DESCRIPTION OF THE DRAWING

[0024] The novel features and characteristic of the disclosure are set forth in the appended claims. The accompanying drawing, which is incorporated in and constitutes a part of this disclosure, illustrates exemplary embodiments and together with the description, serves to explain the disclosed principles. The same numbers are used throughout the figure to reference like features and components. Some embodiments of system and / or methods in accordance with embodiments of the present subject matter are now described below, by way of example only, and with reference to the accompanying figure.

[0025] The only Fig. 1 shows a schematic side view according to the embodiment of motor vehicle comprising an embodiment of an assistance system.

[0026] In the figure the same elements or elements having the same function are indicated by the same reference signs. DETAILED DESCRIPTION

[0027] While the disclosure is susceptible to various modifications and alternative forms, specific embodiments thereof have been shown by way of example in the drawing and will be described in detail below. It should be understood, however, that it is not intended to limit the disclosure to the particular forms disclosed, but on the contrary, the disclosure is to cover all modifications, equivalents, and alternatives falling within the scope of the disclosure.

[0028] The terms “comprises”, “comprising”, or any other variations thereof, are intended to cover a non-exclusive inclusion so that a setup, device or method that comprises a list of components or steps does not include only those components or steps but may include other components or steps not expressly listed or inherent to such setup or device or method. In other words, one or more elements in a system or apparatus preceded by “comprises” or “comprise” does not or do not, without more constraints, preclude the existence of other elements or additional elements in the system or method.

[0029] In the following detailed description of the embodiment of the disclosure, reference is made to the accompanying drawing that forms part hereof, and in which is shown by way of illustration a specific embodiment in which the disclosure may be practiced. This embodiment is described in sufficient detail to enable those skilled in the art to practice the disclosure, and it is to be understood that other embodiments may be utilized and that changes may be made without departing from the scope of the present disclosure. The following description is, therefore, not to be taken in a limiting sense.

[0030] In the present document, the word "exemplary" is used herein to mean "serving as an example, instance, or illustration". Any embodiment or implementation of the present subject matter described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

[0031] Fig. 1 shows a schematic side view according to the embodiment of a motor vehicle 10 comprising at least an assistance system 12. The assistance system 12 comprises at least an input device 14, for example a touch sensitive display device, and one electronic computing device 16. The assistance system 12 is configured for determining a route 18 for the at least in part automatically operated motor vehicle 10. The at least in part operated motor vehicle 10 therefore comprises means for an at least in part automatically performed longitudinal and lateral guidance of the motor vehicle 10.

[0032] The electronic computing device 16 may comprise processors, circuits, in particular integrated circuits, and further electronic means for performing method steps.

[0033] According to the shown embodiment, the motor vehicle 10 is driving behind a further motor vehicle 20, in particular for example a heavy truck or a van.

[0034] According to an embodiment a method for determining the route 18 is provided, wherein a route model 22 for the surroundings 24 of the motor vehicle 10 are provided by the electronic computing device 16, wherein the route model 22 is configured for optimizing the route 18 concerning a maximization of a usage of an at least in part automated operation mode of the motor vehicle 10. At least a destination 24 of the motor vehicle 10 for a predetermined trip of the motor vehicle 10 is captured by the input device 14 of the assistance system 12. The route 18 is determined depending on the provided route model 22 and the captured destination 24 such that the route 18 comprises a maximum usage of the automated operation mode. In other words, the key criterion should be how much productive (uninterrupted) time the driver may gain. Specifically, minimizing the human driving without significantly increasing the total time necessary to reach the destination. Factors to estimate and evaluate may include the cumulative duration of autonomously driven sections, the cumulative duration of human-driven sections, number of such sections, and persistence of each automated driving section.

[0035] In particular, one major benefit of the assistance system 12 is to allow the driver / user of the assistance system 12 to perform non-driving tasks while in the motor vehicle 10, but this may be interrupted due to an abortion of the automated driving mode, for example by returning the driving task to the driver. In particular, the so-called driver is generally defined as a licensed person sitting in the driver’s seat. More specifically, the driver is expected to be either responsible for all driving related tasks outside an automated mode or during automated mode not to pay attention to the route or traffic conditions, but he has to be ready to resume the driving task within a few seconds when requested by the assistance system 12. This may also be regarded as the so-called fallback-ready user.

[0036] For example, conditions that must be met to enable the automated mode is that the motor vehicle 10 is on a freeway without any intersections, bicycles or pedestrians. Furthermore, a good lighting / visibility condition, for example daylight, good weather, no harsh glare, or no tunnel has to be expected. Furthermore, good roadway conditions, for example clear lane markings, has to be expected. Furthermore, traffic congestions, for example a lead vehicle directly ahead in the same line, within 100 m, the speed up to 60 km / h are expected. Furthermore, properly functioning sensors, for example no physical damage, no field of view obstruction are expected. Furthermore, a high-definition map data is available, in particular, a high precision map coverage, near real-time updated is expected. Furthermore, no construction zone, wherein reality matches the map data with high confidence, is provided.

[0037] Without the assistance system 12, most drivers prefer a route with an earlier, rather than later, destination arrival, because it would give them more time to do meaningful activities elsewhere. With the assistance system 12 according to the invention, however, circumstances exist where this common preference might not hold true. For example, due to the existing speed limit of 60 km / h to enable the current level 3 assistance system 12, some drivers may see a net gain of productivity when choosing not to rush to the destination 24. Specifically driving behind consistently slower-moving vehicles can keep the automated driving mode engaged more consistently, in particular with a longer duration, and few interruptions.

[0038] For example, identifying frequently or steadily slower-flowing lanes, in particular based primarily on historical data of lane-level traffic speed patterns, recent trends and real-time traffic data for lane selection purposes is provided. Furthermore, slower lanes can be found on the usual, for example quickest, freeway route to the destination. Routes on alternative freeways could also be effective. Furthermore, finding slower- moving vehicles, for example heavy trucks, that tend to be in the identified slower-flowing lanes may be provided. Under certain scenarios, an express bus could be advantageous as a lead vehicle, too. Furthermore, asking the driver if a slower-moving vehicle, in particular found ahead, would be desirable as a lead vehicle for the automated operation mode to follow is provided.

[0039] In particular, a routing with alternative freeways with more favorable traffic / weather conditions or different destinations may be provided. Furthermore, a different time for more favorable traffic or weather conditions may be advantageous. Furthermore, for example, driving in tandem or in a convoy with other automated motor vehicles for additional efficiency may be used. Signs motor vehicle assistance system input device electronic computing device route further motor vehicle route model destination surroundings

Claims

1. A method for determining a route (18) for an at least in part automatically operated motor vehicle (10) by an assistance system (12) of the motor vehicle (10), comprising the steps of:- providing a route model (22) for the surroundings (26) of the motor vehicle (10) by an electronic computing device (16) of the assistance system (12), wherein the route model (22) is configured for optimizing the route (18) concerning a maximization of a usage of an at least in part automated operation mode of the motor vehicle (10);- capturing at least a destination (24) of the motor vehicle (10) for a predetermined trip of the motor vehicle (10) by an input device (14) of the assistance system (12); and- determining the route (18) depending on the provided route model (22) and the captured destination (24) such that the route comprises a maximum of usage of the automated operation mode.

2. The method according to claim 1, characterized in thata current position of the motor vehicle (10) is taken into consideration for determining the route (18).

3. The method according to claim 1 or 2, characterized in thata first route, which takes longer time but has a longer usage of automated operationmode, is preferred to a second route, which takes shorter time but has a shorter usage of automated operation mode.

4. The method according to any one of claims 1 to 3, characterized in thatthe current surroundings (26) are taken into consideration for determining the route (18).

5. The method according to any one of claims 1 to 3, characterized in thata current weather situation and / or a current traffic situation is taken into consideration.

6. The method according to any one of claims 1 to 5, characterized in thata leading vehicle is determined and an automated driving operation behind that leading vehicle is used for maximization of the usage of the automated operation mode.

7. The method according to any one of claims 1 to 6, characterized in thatroad preferences and / or fleet-based learning locations to avoid are taken into consideration.

8. A computer program product comprising program code means for performing a method according to any one of claims 1 to 7.

9. A non-transitory computer-readable storage medium comprising at least a computer program product according to claim 8.

10. An assistance system (12) for determining a route (18) for an at least in part automatically operated motor vehicle (10), comprising at least one input device (14) and one electronic computing device (16), wherein the assistance system (12) is configured for performing a method according to any one of claims 1 to 7.12

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