A method for adapting a driving behavior of an at least in part automatically operated motor vehicle by an assistant system, computer program product, non-tra

Abstract

The invention relates to a method for adapting a driving behaviour (28) of an at least in part automatically operated motor vehicle (10) by an assistance system (12) of the motor vehicle (10), comprising the steps of: detecting a braking light (20) of a further motor vehicle (22) in front of another motor vehicle (24) by an detection device (14) of the assistance system (12), wherein the other motor vehicle (24) is in front of the motor vehicle (10); determining a driving behaviour (26) of at least the other motor vehicle (24) depending on the detected braking light (20) by an electronic computing device (16) of the assistance system (12); and adapting a driving behaviour (28) of the motor vehicle (10) depending on the determined driving behaviour (26) of the other motor vehicle (24) by the electronic computing device (16). Furthermore, the invention relates to a computer program product, a non-transitory computer-readable storage medium, as well as to an assistant system (12).

Description

[0001] The present invention relates to the field of automobiles. More specifically, the present invention relates to a method for adapting a driving behavior of 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 to a corresponding assistance system. BACKGROUND INFORMATION

[0002] Vehicle traffic is subject to many variables requiring braking and deceleration. A plurality of methods for increasing the passenger comforts for a smoother driving are known. SUMMARY OF THE INVENTION

[0003] It is an object of the present invention to provide a method, a corresponding computer program product, a corresponding non-transitory computer-readable storage medium, as well as a corresponding assistance system, by which a comfort for a user of the motor vehicle is raised.

[0004] This object is solved by a method, a corresponding computer program product, a corresponding non-transitory computer-readable storage medium, as well as a corresponding assistance system according to the independent claims. Advantageous embodiments are presented in the dependent claims.

[0005] One aspect of the invention relates to a method for adapting a driving behavior of an at least in part automatically operated motor vehicle by an assistance system of the motor vehicle. A braking light of a further motor vehicle in front of another motor vehicle is detected by a detection device of the assistant system, wherein the other motor vehicle is in front of the motor vehicle. A driving behavior of at least the other motor vehicle is determined depending on the detected braking light by an electronic computer device of the assistance system. A driving behavior of the motor vehicle is adapted depending on the determined driving behavior of the other motor vehicle by the electronic computer device.

[0006] Therefore, in order to reduce the braking forces and increase passenger comfort, light detection is utilized to increase passenger comfort and a smoother driving.

[0007] In particular, this may add safety and comfort since the ego motor vehicle can apply smooth and progressive braking.

[0008] In particular, the driving behavior from the further motor vehicle may also be detected and taken into consideration for adapting the driving behavior of the motor vehicle.

[0009] According to embodiment a braking of the motor vehicle is initiated as the adapted driving behavior.

[0010] In another embodiment the braking is initiated independently of a braking of the other motor vehicle.

[0011] In another embodiment the braking lights are detected through a windshield of the other motor vehicle.

[0012] In another embodiment the detection device is provided as a camera.

[0013] In another embodiment additionally the driving behavior of the further motor vehicle detected by a lidar sensor of the assistance system and / or a radar sensor of the assistance system detected is taken into consideration.

[0014] In particular, the present 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.

[0015] A still further aspect of the invention relates to a non-transitory computer-storage medium comprising at least a computer program product according to the preceding aspect.

[0016] Furthermore, the present invention relates to an assistance system for adapting a driving behavior of an at least in part automatically operated motor vehicle, comprising at least one detection device, and one electronic computer 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.

[0017] Furthermore, the present invention relates to a motor vehicle comprising at least the assistance system according to the preceding aspect. In particular, the motor vehicle is at least in part automatically operated. Alternatively, the motor vehicle may be fully automatically operated.

[0018] Advantageous embodiments of the method are to be regarded as advantageous embodiments 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 comprises means for performing a method according to the preceding aspect.

[0019] A computing unit / electronic computing device may in particular be understood as a data processing device, which comprises processing circuitry. The computing unit can therefore in particular process data to perform computing operations. This may also include operations to perform indexed accesses to a data structure, for example a look-up table, LUT.

[0020] In particular, the computing unit may include one or more computers, one or more microcontrollers, and / or one or more integrated circuits, for example, one or more application-specific integrated circuits, ASIC, one or more field-programmable gate arrays, FPGA, and / or one or more systems on a chip, SoC. The computing unit may also include one or more processors, for example one or more microprocessors, one or more central processing units, CPU, one or more graphics processing units, GPU, and / or one or more signal processors, in particular one or more digital signal processors, DSP. The computing unit may also include a physical or a virtual cluster of computers or other of said units.

[0021] In various embodiments, the computing unit includes one or more hardware and / or software interfaces and / or one or more memory units.

[0022] A memory unit may be implemented as a volatile data memory, for example a dynamic random access memory, DRAM, or a static random access memory, SRAM, or as a non-volatile data memory, for example a read-only memory, ROM, a programmable read-only memory, PROM, an erasable programmable read-only memory, EPROM, an electrically erasable programmable read-only memory, EEPROM, a flash memory or flash EEPROM, a ferroelectric random access memory, FRAM, a magnetoresistive random access memory, MRAM, or a phase-change random access memory, PCRAM. Further advantages, features, and details of the invention derive from the following description of preferred embodiments as well as from the drawings.

[0023] 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 figures and / or shown in the figures 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 DRAWINGS

[0024] The novel features and characteristic of the disclosure are set forth in the appended claims. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate exemplary embodiments and together with the description, serve to explain the disclosed principles. The same numbers are used throughout the figures 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 figures.

[0025] The drawings show in:

[0026] Fig. 1 a schematic top view according to an embodiment of a motor vehicle comprising an embodiment of an assistance system; and

[0027] Fig. 2 a schematic flow chart according to embodiment of the method.

[0028] In the figures the same elements or elements having the same function are indicated by the same reference signs. DETAILED DESCRIPTION

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] Fig. 1 shows a schematic top view according to embodiment of a motor vehicle 10. The motor vehicle 10 is at least in part automatically operated or fully automatically operated. The motor vehicle 10 comprises an assistance system 12. The assistance system 12 is configured for adapting a driving behaviour of the motor vehicle 10. In particular, the assistance system 12 comprises at least one detection device 14, for example a camera, and one electronic computer device 16. Furthermore, the assistance system 12 may comprise another detection device 18, for example a lidar sensor and / or a radar sensor.

[0034] According to an embodiment of the method a driving behaviour 28 of the at least in part automatically operated motor vehicle 10 is adapted by the assistance system 12. A braking light 20 of a further motor vehicle 22 in front of another motor vehicle 24 is detected by the detection device 14, wherein the other motor vehicle 24 is front of the motor vehicle 10. A driving behaviour 26 of at least the other motor vehicle 24 is determined depending on detected braking light 20 by the electronic computing device 16. The driving behaviour 28 of the motor vehicle 10 is adapted depending on the determined driving behaviour 26 of the other motor vehicle 24 by the electronic computing device 16.

[0035] In particular, a braking of the motor vehicle 10 is initiated as the adapted driving behavior 28. In particular, the braking is initiated independently of a braking of the other motor vehicle 24.

[0036] Furthermore, the braking lights 20 are detected through a windshield of the other motor vehicle 24.

[0037] In another embodiment the detection device 14 is provided as a camera.

[0038] Additionally a driving behavior 30 of the further motor vehicle 22 detected by the lidar sensor of the assistance system 12 and / or the radar sensor of the assistance system 12 is taken into consideration.

[0039] In particular, Fig. 1 shows that the motor vehicle 10 may use the information for the motor vehicles 22, 24 in front in order to smoother take off or deacceleration when the traffic is stopped, for example at a traffic light where the motor vehicle 10 can’t see the traffic light. In particular, when it is predicted that the car in front of the ego motor vehicle 10, in particular the other motor vehicle 24, might brake soon or accelerate.

[0040] Therefore, the braking light 20 of the further motor vehicle 22 is detected through the windshield of the other motor vehicle 24 via vision system, for example via stereo multipurpose camera. This adds to the confidence of existence of the further motor vehicle 22. In particular, only getting some reflection from a radar lidar may be not enough. It also adds the confidence of the velocity information of the further motor vehicle 22. In particular, when the braking lights 20 are on, the further motor vehicle 22 is going to brake and therefore the velocity must decrease. When the further motor vehicle 22 starts braking, the other motor vehicle 24 may brake shortly after to avoid collision with the further motor vehicle 22. This information can be used for predicting the trajectory of the other motor vehicle 24. The motor vehicle 10 may already start braking before the other motor vehicle 24 is slowing down or brake lights from the other motor vehicle 24 turns on.

[0041] Fig. 2 shows a schematic flow chart according to the embodiment of the method. In particular first step S1, the method starts, wherein the braking light detection is activated. In a second step S2, it is detected, if the braking light 20 is on. If not, a third step S3 is provided, wherein no change of the driving behavior 26, 30 of the other motor vehicle 24 and the further motor vehicle 22 is predicted.

[0042] If the braking lights detection is activated a fourth step S4 is performed, wherein an object confidence is applied to the further motor vehicle 22. In a fifth step S5 an object trajectory is applied to the further motor vehicle 22 is applied, wherein this is in particular the driving behavior 30. After the fifth step S5 a sixth step S6 is performed, wherein the driving behavior 26 of the other motor vehicle 24 is applied. In a seventh step S7 the motor vehicle 10 starts to brake. signs motor vehicle assistance system detection device electronic computing device further detection device braking light further motor vehicle other motor vehicle driving behavior driving behavior driving behavior steps of the method

Claims

1. A method for adapting a driving behavior (28) of an at least in part automatically operated motor vehicle (10) by an assistance system (12) of the motor vehicle (10), comprising the steps of:- detecting a braking light (20) of a further motor vehicle (22) in front of another motor vehicle (24) by an detection device (14) of the assistance system (12), wherein the other motor vehicle (24) is in front of the motor vehicle (10);- determining a driving behavior (26) of at least the other motor vehicle (24) depending on the detected braking light (20) by an electronic computing device (16) of the assistance system (12); and- adapting a driving behavior (28) of the motor vehicle (10) depending on the determined driving behavior (26) of the other motor vehicle (24) by the electronic computing device (16).

2. The method according to claim 1, characterized in thata braking of the motor vehicle (10) is initiated as the adapted driving behavior (28).

3. The method according to claim 2, characterized in thatthe braking is initiated independently of a braking of the other motor vehicle (24).

4. The method according to any one of claims 1 to 3, characterized in thatthe braking light (20) is detected through a windshield of the other motor vehicle (24).

5. The method according to any one of claims 1 to 4, characterized in that the detection device (14) is provided as a camera.

6. The method according to claim 5, characterized in that additionally a driving behavior (30) of the further motor vehicle (22) detected by a lidar sensor of the assistance system (12) and / or a radar sensor of the assistance system (12) is taken into consideration.

7. The method according to any one of claims 1 to 6, characterized in that additionally the driving behavior is adapted depending on a signal from another detection device (18).

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 the computer program product according to claim 8.

10. An assistance system (12) for adapting a driving behavior (28) of an at least in part automatically operated motor vehicle (10), comprising at least one detection 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.

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