Patent ID: 12246745

DESCRIPTION

The details of one or more embodiments are set forth in the accompanying drawings and the description below. Other features will be apparent from the description, drawings, and from the claims.

In the following description of embodiments of the invention, specific details are described in order to provide a thorough understanding of the invention. However, it will be apparent to one of ordinary skill in the art that the invention may be practiced without these specific details. In other instances, well-known features have not been described in detail to avoid unnecessarily complicating the instant description.

In a method according to a first exemplary aspect, weather data for a road section lying in front of the ego vehicle in the driving direction are detected. A driver information display is generated and output, wherein the driver information display includes a graphic lane object which represents the road section lying in front of the ego vehicle. In doing so, the graphic lane object has a depiction parameter that is generated depending on the weather data.

The driver may therefore easily detect whether the conditions on the road section lying in front of the ego vehicle make it necessary to intervene in the controlling of the ego vehicle.

The detected weather data may comprise various pieces of information that for example influence properties of a road surface relevance to driving. Such relevant properties influence the transmission of forces between the road surface and tires of the vehicle.

In some embodiments, the weather data relate to precipitation and/or temperature. The driver may therefore easily detect very relevant influences.

“Relevant” in this case is for example wetness from current rain or rain in the recent past, hail, snowfall, hoarfrost, or ice. The temperature predominating in the region of the road section at the current or a past point in time may also have an influence on the properties of the road surface, for example at temperatures below or above the freezing point. The wind conditions may also be taken into account when for example snowdrifts are anticipated, or the road surface cools down more quickly.

The detected weather data relate to a road section that lies in front of the ego vehicle in the driving direction, i.e., that is to be driven by the ego vehicle in the near future. In order to determine the road section, it may be assumed that the entire roadway on the current lane of the ego vehicle is relevant up to a certain distance, such as 150 m or 250 m. The road section may furthermore be determined using a planned route that for example is provided by a navigation system and that makes it possible to also take into account a road section that for example lies after a curve or a turn.

The weather data may be detected in various ways. In some embodiments, the weather data are detected by means of sensors of the ego vehicle, for example by a temperature or rain sensor or a camera. The detection therefore occurs independently by means of the ego vehicle.

In some embodiments, a position of the ego vehicle is detected, and the weather data are detected using the detected position. Specialized detection apparatuses may therefore be used.

In doing so, the current position of the ego vehicle is detected for example, or the future position is forecast at which the ego vehicle will be located in the near future. The weather data are then provided for the detected position by an external unit, for example by a datalink from an online database, or by direct communication with or another vehicle an infrastructure apparatus. Alternatively or addition, weather data broadcast by radio may be received.

The data link between the ego vehicle and an external unit, for example an external server, may for example be wireless, for example through a local network or a larger network, such as the Internet. Furthermore, the link may be established by a telecommunications network such as a telephone network, or a wireless local network (Wi-Fi). Furthermore, the data link may occur by connecting a data cable. The link may also be established by another unit that itself may establish a link to the external server. For example, a data link may exist between the ego vehicle and a cell phone connected to the Internet, for example by a data cable or a radio connection such as by Bluetooth. For example, the link with the external server may be established over the Internet.

Methods from the field of communication between vehicles and other apparatuses (Car2X) may be used. For example, communication with an infrastructure apparatus (Car2Infrastructure) or another vehicle (Car2Car) may occur.

A prerequisite for detecting the weather data in this manner is for example that the position of the ego vehicle is determined so that the weather data relevant for this position may be received. The position is determined in a manner known per se, for example by means of a global navigation satellite system such as GPS.

In the method according to the present aspect, a driver information display is generated and output. Such a display may be designed in different ways and may include elements that are known per se. The display is generated and output for example in a way known per se by means of computing devices and display devices configured therefor. The display output by the driver information display comprises output that is of relevance for controlling the vehicle and its driving. These are for example movement data or states of vehicle systems, as well as if applicable informational and warning output from driver information systems.

The display may be output by means of known display units such as by means of a display, for example on a center console of the ego vehicle, or in an instrument cluster. Furthermore, output may be by means of a field-of-vision display so that at least part of the driver information display is projected into a user's eye so that the display appears superimposed over the visual perception of the physical environment. For example, methods and devices from the field of augmented reality may be used. Known field-of-vision displays such as head-up displays use, for example, the windshield of a vehicle or glasses for projecting.

The output display does not include, for example, an output of a video image that is detected by a camera of the ego vehicle. Instead, the output display data are generated by a computing unit, if applicable using video data from a camera, and the output graphic objects are shown schematically or simplified relative to real objects.

The driver information display may furthermore include control objects or control elements, for example like a graphic user interface. Such objects may for example represent adjustable parameters or activatable and deactivatable functions. They are for example designed selectable and/or actuatable, wherein user input is detected in a manner known per se and evaluated with reference to the particular object.

In the present aspect, the graphic lane object furthermore has a depiction parameter such as a color, hatching, texture or background image in the area of the lane object. Alternatively or in addition, an edge area of the lane object such as a depicted road marker may be depicted in various ways, for example in a certain color.

For example, it is detected that the surface of the road section lying in front of the ego vehicle is wet, or that rain is currently falling or has fallen in the recent past. The depiction parameter is then generated so that the lane object depicts a wet road. Analogously, a graphic depiction of a snow or ice-covered road may be generated. The depiction may also have a certain color or pattern, such as a hatching. Moreover, certain visual features may be depicted by using virtual objects in the display, such as a reflection of an object on the surface of the displayed lane object, or spray in a depiction of a vehicle on a wet road.

The driver information display does not include, for example, any depiction of image data that are detected by a camera. Instead, the instantiations of the depicted objects are generated by a computing unit.

In some embodiments, a course of a road of the road section and a radius of curvature of a curve of the course of a road are determined. Movement data of the ego vehicle are detected, and by using the detected movement data and the detected radius of curvature, a criticality is determined. The graphic lane object has a highlight feature that is generated depending on the determined criticality. The driver may thereby quickly perceive if he must intervene in the controlling of the ego vehicle in order to ensure safe negotiating a curve.

The detected course of the road comprises for example information on whether, and to what extent, a route traveled by the ego vehicle has a lateral curvature. The detected data may also relate to other properties of the road, such as an inclination of the road in a direction longitudinal or transverse to the driving direction of the ego vehicle. For example, the data detected on the course of the road include information on the geometric nature of the road. The ego vehicle travels for example on a road that may have several lanes. Typically, the ego vehicle follows the course of one of the lanes as it is driving, wherein a lane change to another lane may be made if desired. The detection of the course of the road may include the course of the currently used lane, or several lanes.

In some embodiments, the detected movement data of the ego vehicle include its current speed or a forecast speed upon entering the curve. The output may therefore beneficially be adapted very precisely to the actual requirement.

The current speed of the ego vehicle may be detected in a manner known per se by means of sensors of the ego vehicle. Furthermore, it may be determined, for example by means of a driver assistance system, which speed the ego vehicle will have upon reaching a certain position, for example when entering the curve. If for example the ego vehicle is already being braked at the current point in time, the speed at which the ego vehicle will foreseeably reach the beginning of the curve is accordingly determined. Braking may be accomplished for example by actively using a brake device, or the ego vehicle may already be decelerated by the driver releasing the gas pedal or letting the ego vehicle coast.

Furthermore, other movement data may be detected such as an acceleration in a direction along and/or transverse to the driving direction.

Moreover, other vehicle parameters may be detected, and the criticality is furthermore determined by using the other vehicle parameters. Since data may also be taken into account beyond the movement data of the ego vehicle, the criticality may therefore be assessed very precisely.

In addition to the movement data of the ego vehicle, i.e., for example the speed, other data may also be detected that influence the safe negotiation of the curve and for example the frictional connection between the tires of the ego vehicle and the road surface. This comprises, for example, data on the type, the composition, the state and the age of the tires of the vehicle or chassis adjustments.

The determined criticality quantitatively indicates, for example, the urgency with which a manual intervention by the driver is needed in order to ensure safe driving. For example, it may be necessary to manually adapt the speed of the ego vehicle, and/or manually apply a certain steering torque. In doing so, a physical model is used for example in order to determine whether centrifugal forces arise at a speed and the determined radius of curvature of the curve that would lead to a departure from the lane, or respectively the planned trajectory. In doing so, for example additional parameters are taken into account that for example affect the transmission of force between the road and the vehicle.

Moreover, it may be taken into account that standards and regulations for driver assistance systems in the area of transverse control provide limit values for the maximum steering torque to be automatically applied. That is, if required by the radius of a curve and the speed of the ego vehicle, the driver must then manually apply additional steering torque in order to achieve an overall steering torque above the threshold value. The criticality therefore depends for example on the steering torque that must be applied in order to safely negotiate the curve at the current speed of the ego vehicle. This may be calculated by using a physical model depending on the radius of curvature of the curve and the speed, as well as if applicable other parameters.

The criticality may furthermore depend on the type of measures to be introduced. For example, a first value of the criticality may be determined if a deceleration of the vehicle must be initiated in order to drive on the curve with an unchanged level of assistance from a driver assistance system. A second value of the criticality may be determined if a steering intervention is needed. Furthermore, a third value of the criticality may be determined if both a deceleration as well as a steering intervention must be done manually in order to safely negotiate the curve.

In some embodiments, a position of the ego vehicle is determined, and the course of the road is detected by means of map data depending on the position. This also allows the radius of curvature to be determined very easily. For example, the map data may already include information on the radius of curvature of the curve.

The position is detected in a manner known per se, for example by means of a navigation satellite system such as GPS. The map data are also provided in a manner known per se, for example from a memory unit of a navigation system of the ego vehicle, or from an external unit with which at least a temporary datalink exists.

In some embodiments, the course of the road is detected by a sensor of the ego vehicle. This ensures that the driver information display is generated using the correct radius of curvature.

Sensors that are known per se may be used such as a camera, a lidar sensor or a radar sensor. An actual radius of curvature may then be determined from the data detected by the ego vehicle's sensors. The sensors of the ego vehicle each have a detection area. For example, a radar sensor may detect data at a specific spatial angle and up to a specific distance from the ego vehicle. The sensors may be directed in the driving direction, against the driving direction or to the side, and may detect data in correspondingly arranged detection areas.

This contrasts with a radius of curvature determined only by using map data that depends on the precision and correctness of the map data. Deviations may however occur for example when traffic routing is changed, for example at a building site when an obstacle makes a detour necessary, or when a curve may be driven with different radii. For example, the detected course of the road may be fused with data determined by using map data, for example to supplement the data on positions in which detection by the vehicle's sensors is impossible, or in order to check the plausibility of the data.

The graphic lane object, that for example is comprised by the driver information display, is generated so that it permits the user, or respectively the driver of the ego vehicle, to bring graphic elements from the driver information display into a spatial relationship with the road that actually lies in front of the ego vehicle. The lane object may relate to the lane currently being used by the ego vehicle. It may furthermore relate to a lane on which the ego vehicle will foreseeably negotiate the curve, for example if, before entering the curve, a lane change is to be carried out. The lane object may furthermore include a plurality of lanes, for example the lane currently being driven on by the ego vehicle, and at least one spatially adjacent lane, for example an adjacent lane for the same driving direction.

The graphic lane object represents the actual course of the road, for example such that the user may assign a virtual position within the driver information display to a physical location on the road located in front of the ego vehicle. In terms of its detail content, the depiction of the lane object may be reduced or schematic relative to reality. For example, the view of the physical lane from the perspective of the driver of the ego vehicle may be represented mathematically on the graphic lane object by a projection and transformation. For example, the image may be on a lane object designed as a straight road section, or a lane object with a certain predetermined curvature may be provided on which the real course of the lane is imaged.

In some embodiments, the graphic lane object is generated so that it corresponds to a perspective depiction of the course of the lane, and includes a radius of curvature such that an actual radius of curvature of the curve is output.

The graphic lane object comprises for example a perspective view of a curved road, wherein the curvature of the graphic lane object corresponds substantially to the radius of curvature detected for the physical course of the road. The actual course of the road is therefore represented very realistically by the graphic lane object. The lane object is for example generated from a perspective that corresponds to a view from a virtual position just above the ego vehicle.

The highlight feature of the graphic lane object to highlight a curved area is configured in a manner known per se and may comprise a highlighted depiction for example by means of color, brightness, contrast, transparency, saturation or shape which directs the attention of a user to a certain object. Colors for highlighting that are typically also used for outputting warnings may for example be red, yellow and green. In contrast, certain color depictions may evoke a deemphasized highlight, for example with gray, dark or less strongly saturated coloration. Furthermore, a highlight may be achieved by means of a depiction of the lane object that changes over time, for example by a periodic change of the depiction, for example by flashing or pulsing, or by the sudden appearance or disappearance. A change in the depiction over time may refer to a shape or a one-time or periodically depicted change in size of the depicted graphic object. The highlight feature may also be configured as another graphic object such as a frame or a border of the lane object.

The form of the highlight feature depends on the determined criticality. For example, with a low criticality, the highlight feature may be configured so that it evokes a weak emphasis, for example a depiction of the lane object without a border, or a colored design that is configured to make surrounding graphic objects similar for example in terms of brightness, color and contrast. With a higher criticality, a border or a further highlighted object may be displayed, or the depiction of the lane object may be different from the surrounding graphic objects for highlighting, for example by a contrast-rich depiction in terms of brightness and/or color, or by using a signal color such as yellow or red.

In some embodiments, a current daylight status is detected, and the driver information display furthermore includes a daylight object that is generated depending on the detected daylight status. The driver may therefore detect the environmental conditions very comprehensively by using the display.

The daylight status may also be detected in a manner known per se, for example by sensors of the vehicle such as a camera or light sensor, or by receiving data from an external unit. Furthermore, a current time and, if applicable, a date may be detected in order to determine the daylight status. In doing so, for example the position of the vehicle, for example the latitude, may be taken into account.

The daylight object includes for example a depiction of a moon or a sun. Furthermore, stars may also be depicted. The daylight object may be arranged in the driver information display at a position that corresponds to a virtual horizon above the graphic lane object.

In the method, it may furthermore be evaluated whether a lane change to an adjacent lane may be carried out safely. Depending on this, a graphic depiction feature of a lane object may be generated in the display. As a result, the driver may easily identify whether it is possible to carry out a lane change to a specific lane safely.

A lane change is safe when there is no risk of collision with a further road user or further a object; optionally legal restrictions such as prohibited overtaking or a prohibited lane change may be taken into consideration. Objects and further road users are detected in an environment of the ego vehicle by means of the sensors. For example, road users on the adjacent lane for which a lane change is to be evaluated are relevant.

It is detected whether a different road user is currently located in a region of the adjacent lane on which the ego vehicle would travel in the case of a lane change. It is also detected whether a different road user will be located at a future time in such a region if the ego vehicle were to travel in this region, if it were to undertake a lane change. This may relate to other road users who currently travel adjacent to the ego vehicle, who approach at a greater speed from behind or who travel at reduced speed in the driving direction in front of the ego vehicle. An acceleration of a further road user may also be detected and taken into consideration.

Alternatively or additionally, the safety of a lane change may be determined in a different manner. In this case, different environment data may also be detected and different features may be determined using the environment data.

In some embodiments, the graphic depiction feature of the adjacent lane object relates to a brightness, color, transparency, a contrast, or a pattern. The driver may identify in a particularly simple manner, for example by the depiction of a flat graphic object, whether a safe lane change is possible.

Alternatively or additionally, other known ways of graphic depiction may be used and, for example, the highlighting of specific objects in a graphic depiction. For example, dynamic depiction modes may also be used, for example by a parameter of the depiction periodically changing, such as for example by changing the brightness with flashing or pulsing or by a periodic color change.

In some embodiments, the driver information display also comprises a graphic traffic sign object, wherein the traffic sign object is arranged, for example, on the lane object or on its edge. This allows recommended measures to be made very clear to the driver.

The traffic sign object may be displayed, for example, such that it appears in the manner of a marking on the graphic lane object applied to the road surface. It may also be depicted as a virtual traffic sign arranged adjacently or above the lane in the driver information display.

The depicted traffic sign object may be configured according to a physical traffic sign which is detected in the environment of the traveled road or the curve when, for example, a warning sign, a speed limit, and/or prohibited overtaking has been identified. The traffic sign object may also reproduce a driving recommendation of a driver assistance system, for example in order to recommend to the driver to brake the vehicle to a specific speed.

A driver information system according to the a second exemplary aspect includes a detection unit that is configured to detect weather data for a road section lying in front of the ego vehicle in the direction driving. It furthermore includes a control unit that is configured to generate and output a driver information display. In this case, the driver information display includes a graphic lane object that represents the lane section lying in front of the ego vehicle, wherein the graphic lane object has a depiction parameter, and the control unit is configured to generate the depiction parameter depending on the weather data.

The driver information system is for example designed to implement the above-described method.

In some embodiments of the driver information system, the display unit comprises a field-of-vision display for outputting the driver information display. The display may therefore be very easily perceived by the driver. It may furthermore be very easily set in relation to the physical environment of the ego vehicle.

For example, a head-up display, or a display apparatus that is known per se in the field of so-called augmented reality may be used. For example, glasses are known that project a graphic depiction into the eye of a user so that the graphic depiction appears superimposed on the natural perception of the eye. In this manner, information additional may be output in a particularly perceptible manner.

The invention will now be explained based on further exemplary embodiments with reference to the drawings.

Specific references to components, process steps, and other elements are not intended to be limiting. Further, it is understood that like parts bear the same or similar reference numerals when referring to alternate FIGS. It is further noted that the FIGS. are schematic and provided for guidance to the skilled reader and are not necessarily drawn to scale. Rather, the various drawing scales, aspect ratios, and numbers of components shown in the FIGS. may be purposely distorted to make certain features or relationships easier to understand.

A vehicle with an exemplary embodiment of the driver information system is described with reference toFIG.1.

An ego vehicle1comprises a detection unit2which is coupled to a control unit3. Said ego vehicle further comprises a display unit4and a driver assistance system6which are also coupled to the control unit3. In the exemplary embodiment, the control unit3comprises an evaluation unit5and is wirelessly coupled by a data connection to an external unit10, in the exemplary embodiment an external server10. The ego vehicle1furthermore comprises a lighting apparatus7as well as a trailer hitch8that is also coupled to the control unit3.

The detection unit2in the exemplary embodiment is designed in a manner known per se and comprises a camera that detects image data in a detection area that extends from the ego vehicle1at a certain angle in the driving direction forward. It furthermore comprises front, lateral and rear radar sensors that detect data in other detection areas around the ego vehicle1.

The display unit4is also designed in a manner known per se and is integrated in the exemplary embodiment as a display in an instrument cluster of the ego vehicle1. In other exemplary embodiments, the display unit4comprises a head-up display that is configured so that a display is projected into the field of vision of a driver of the ego vehicle1so that the display is superimposed on the natural perception of the driver. In other exemplary embodiments, more additional apparatuses are provided for outputting displays, such as those known from the field of augmented reality. Alternatively or in addition, the display unit4may comprise a central display in the area of a center console of the ego vehicle1, or another display in the ego vehicle1. Moreover, the display unit4may comprise several displays.

The driver assistance system6comprises several driver assistance modules by means of which the driver of the ego vehicle1is assisted in various ways in the controlling of the ego vehicle1. These are not specified further in the exemplary embodiment. Systems are provided for example for assisting with longitudinal control, for example an assistant for maintaining a given distance from a preceding vehicle, as well as for maintaining a given speed, as well as for assisting with transverse control, for example an assistant for maintaining a travel lane, for example by using road markers, or by following behind a preceding vehicle. Output may be generated by the driver assistance system6and for example output by means of the display unit4, for example in order to display warnings or recommended driving maneuvers to the driver. Furthermore, various driver assistance modules may actively intervene in control devices of the ego vehicle1.

The lighting apparatus7comprises various apparatuses that serve as lighting that is detectable outside of the ego vehicle1. In the exemplary embodiments, headlamps are included for generating daytime driving light, low beams, high beams and a parking light. Furthermore, turn signals as well as side marker lights and other signal lights are included. Furthermore, taillights, brake lights, retro-reflectors, rear fog lights and backup lights are included that for example are arranged on the rear of the ego vehicle1so that they are visible for traffic approaching from the rear.

The trailer hitch8is designed in a manner known per se and comprises elements that are suitable for coupling to the attached device. This may for example be a trailer. Electrical connections are also provided for this by means of which, for example, a lighting system of a trailer may be controlled. The trailer hitch in the exemplary embodiment furthermore comprises sensors that detect a mounted mass as well as, if applicable, traction of a trailer, for example in order to determine the presence of a trailer as well as, if applicable, its type.

An exemplary embodiment of the method will be explained with reference toFIG.2. In doing so, the aforementioned ego vehicle explained with reference toFIG.1with an exemplary embodiment of the driver information system will be referenced and further specified by the description of the method.

An ego vehicle21that corresponds in the exemplary embodiment to the ego vehicle1shown inFIG.1drives in a driving direction indicated by an arrow22on a road20that has two lanes20a,20b. A traffic sign25is arranged in the area of the road20. A preceding vehicle23is located on the same lane20bas the ego vehicle21, whereas an oncoming vehicle24is located on the adjacent lane20a. The road20has a course with curves, wherein in the exemplary embodiment shown inFIG.2, the ego vehicle1is approaching a right-hand curve followed by a left-hand curve.

By means of the detection unit2, the ego vehicle21detects the course of the road lying in front of it in the driving direction. To do this, in the exemplary embodiment, image data are detected by means of the camera included in the detection unit2and evaluated in another step in order to determine the course of the road. To do this, for example the geometric configuration of the road20, or respectively the lane20bcurrently being driven on by the ego vehicle1is determined. Alternatively or in addition, other sensors of the ego vehicle1are provided for detecting in other exemplary embodiments.

By using the data detected by the detection unit2, the road markers that divide the two lanes20a,20bfrom each other are also detected. Moreover, additional road markers (not shown inFIG.2) at the edges of the road20are detected. Demarcation marker classes are determined for the road markers, in the present case a “dashed line” and “solid line”, for different areas of the middle line between the lanes20a,20b, and a “solid line” for the edge markers of the road20. In other exemplary embodiments, a road marker of the demarcation marker class “double solid line”, “parallel broken and solid line” or a similar configuration may also be determined. In addition, a curb or a transition from the road20to an adjacent shoulder may be detected as a demarcation marker and correspondingly classified.

In addition, in the exemplary embodiment, the current position of the ego vehicle1is detected and, by using this position, map data are provided that include information on the course of the road. A fusion of the map data as well as the detected sensor data is performed, and the actual course of the road in the driving direction lying in front of the ego vehicle1is determined.

By means of the detection unit2, the ego vehicle21also detects weather data. In the exemplary embodiment, a rain sensor as well as the camera are used for this. Alternatively or in addition, in other exemplary embodiments, relevant weather data are retrieved from an external unit10by using the determined position of the ego vehicle21. Furthermore, data on the weather at the position of the ego vehicle21provided from an infrastructure or for example by a radio station may be detected.

The detected weather data include information on rain and snow, both at the current point in time as well as in the recent past. From this it is inferred whether the road section lying in front of the ego vehicle21is wet, or has slippery snow. Furthermore, the weather data relate to the danger of slippery ice. For example, the current temperature of the air or the road surface is taken into account for this; if the temperature lies below the freezing point or another threshold value, an icy road is assumed. Other types of precipitation such as hail or sleet are also taken into account.

Furthermore, the detection unit detects movement data from the ego vehicle21, for example its current speed and acceleration. In other exemplary embodiments, a speed and acceleration of the ego vehicle at a later point in time is forecast, for example for a forecast point in time of the entry of the ego vehicle21into a curve. In other exemplary embodiments, furthermore, other data on the ego vehicle21are detected, for example on the nature of its tires and adjustments of its chassis that affect the behavior of the ego vehicle while negotiating a curve.

The evaluation unit5determines the radius of curvature of the curve lying in front of the ego vehicle21based on the detected course of the road. In other exemplary embodiments, the radii of curvature of other curves may also be determined, for example to enable more foresighted driving. Then, the information on the speed of the ego vehicle21and the radius of curvature of the curve lying in front of the ego vehicle21are used to determine a value of criticality.

To determine the criticality, the steering torque for the ego vehicle21needed to negotiate the curve at the current or forecast speed is determined, for example by the driver assistance system6. The determined steering torque is compared with a threshold value that is defined in the driver assistance system6for a maximum steering torque for automatic assistance in holding the lane20b. If this threshold value is exceeded, the driver assistance system6cannot intervene automatically to assist with a sufficiently large steering torque in order to enable the ego vehicle21to safely negotiate the curve. That is, the driver of the ego vehicle21must intervene in the controlling of the ego vehicle21by applying additional steering torque and/or reducing the speed by decelerating the ego vehicle21.

In other exemplary embodiments, it is determined alternatively or in addition whether the ego vehicle1may physically negotiate the curve safely at the detected or forecast speed. If it is determined that this is impossible or is associated with risks, it is defined as a higher criticality. In doing so, for example the physically possible transmission of force between the tires of the ego vehicle1and the road surface is taken into account. With a higher criticality, for example braking the ego vehicle1or selecting a greater curve radius is necessary.

In the exemplary embodiment, different driver assistance modules of the driver assistance system6may be activated, wherein different levels of automation may also be achieved. The driver may for example select a low automation level in which the longitudinal and transverse control of the ego vehicle1are substantially manual. The driver may add modules that output warnings or recommendations with respect to controlling; this corresponds to a low automation level. Moreover, the driver may enable modules that take over individual tasks of longitudinal and transverse control; this corresponds to a higher automation level. Furthermore, the driver may enable driver assistance modules that automatically support both longitudinal control as well as transverse control; this corresponds to an even higher automation level. The threshold value for the steering torque that a driver assistance module for transverse control may apply may depend on the specific module or the driver assistance system6.

While driving, the control unit3generates a driver information display that is output by the display unit4. An exemplary embodiment of such a display is shown as an example inFIG.3.

The driver information display comprises an ego object31that is configured as a perspective view of the ego vehicle21from the rear from a slightly elevated virtual position so that an area lying in front of the ego vehicle21may also be depicted. The display furthermore comprises a lane object30that is arranged so that the ego object31is displayed thereupon. The lane object30represents the current lane20bon the road20actually being driven by the ego vehicle21.

In some exemplary embodiments, other graphic objects are displayed for other and for example adjacent lanes that for example are configured analogously to the shown lane object30.

In the exemplary embodiment, the lane object30is bordered by a broken left30aand a solid right road marker30b. The depicted marker types correspond to the actual markers on the lane20aaccording to the previously determined demarcation marker classes. In other exemplary embodiments, the road markers may be generated by using other criteria, for example in order to symbolize whether a lane change is permissible and possible in the direction of a road marker.

The lane object30represents the detected course of the physical lane20bon which the ego vehicle21is currently located. A curve located in front of the ego vehicle21is represented by a curve area32of the lane object30. Its geometric shape is generated so that it reproduces the actual radius of curvature of the curve in the perspective depiction.

The lane object30is generated with the curve area32depending on the criticality determined for the curve. In the exemplary embodiment, the road markers32a,32bthat border the side of the depicted lane in the curve area32are configured so that the driver is notified of a necessary manual intervention. This is done by depicting in a certain color, such as red, when the value of the determined criticality exceeds a threshold value. In the exemplary embodiment, the road markers32a,32bin the curve area32are then no longer generated so that they reproduce the actual markers on the lane20b; instead, they are depicted as solid in order to notify the driver of their importance in the curve.

In other exemplary embodiments, the lane object30has other highlight features than the color of the road markers32a,32bin the curve area32such as a color of the surface of the depicted lane32so that the highlighting is over a large area. In other exemplary embodiments, other depictions may be generated depending on the value of the criticality, for example with other colors that are determined by using the criticality value and a scale. Furthermore, dynamic depictions may be generated, for example with flashing objects.

In the exemplary embodiment, the driver information display furthermore comprises depictions of traffic signs33a,33bthat signal a speed limit and a prohibition on passing in the area of the curve. These traffic signs33a,33bmay also be displayed in the area of the lane object30so that they appear on its surface, or they may be displayed like actual traffic signs25on the edge of the lane object30. The traffic signs33a,33bin the exemplary embodiment correspond to an actual traffic sign25arranged on the edge of the road20; in other exemplary embodiments, traffic signs may however also be generated by using driving recommendations of the driver assistance system6, for example when a certain maximum speed for safely negotiating a curve was determined, or when the area of the curve is assessed as being unsafe for passing.

In other exemplary embodiments, acoustically and/or haptically perceptible warning messages may furthermore be output depending on the criticality. Furthermore, other optical warning messages may also be displayed, for example by means of a warning symbol.

In another exemplary embodiment, the driver assistance system6is configured to determine whether a speed is reached upon entering the curve that permits safely negotiating the curve. If, despite the highlighting of the curve section32in the driver information display, the driver does not initiate suitable measures, safety measures may be automatically initiated in order to bring the ego vehicle1,21into a safe state. Accordingly, braking may for example be performed that brings the ego vehicle1,21to a safe speed.

In the exemplary embodiment, it is furthermore proposed that the graphic depiction of the ego vehicle31in the driver information display is arranged at a fixed position. The depiction therefore corresponds to a perspective from a fixed point relative to the ego vehicle21, for example from a position of the driver, or a position arranged above the ego vehicle21. The depiction is generated so that a movement is depicted while driving so that other objects that present the environment of the ego vehicle21move relative to the depicted ego object31. It is shown for example that the lane markers30A,30B move relative to the ego object31, and the arrangement of the lane object30also changes relative to the ego object31. For example, the lane object30changes while negotiating the curve so that its curvature is changeably depicted, and the lane object30again runs completely straight for example at the exit of the curved area, or respectively with a changed detected radius of curvature.

In another exemplary embodiment, further road users are detected and output as road user objects on the driver information display. The road user objects are displayed relative to the ego object31so that the physical position and speed of the associated road users is discernible from the display. The road user objects are also depicted as rotated corresponding to the course of the road so that they for example are visible obliquely from the side when they are driving on an area of the road that is curved relative to the orientation of the ego vehicle21.

In another exemplary embodiment, the display unit4comprises a head-up display, and at least the lane object30of the driver information display is displayed in this manner. It may for example be displayed so that it appears to be superimposed on the lane20bactually perceived from the position of the driver. The curve area32is then highlighted so that the driver may evaluate the criticality in the area lying in front of him and may discern that a manual reduction of speed or an additional application of steering torque is required to safely negotiate the curve.

Another exemplary embodiment of a driver information display that is generated and output in the method while taking into account weather data will be explained below with reference toFIGS.4A,4B and4C. The display is similar to the display explained above with reference toFIG.3. Only additional features will therefore be explained. Comparable objects are identified with the same reference numbers.

In this exemplary embodiment, the driver information display furthermore comprises graphic elements40a,40bfor adjacent lanes. These are positioned laterally next to the lane object30on which the ego object31is arranged and continue the road to the side in a perspective depiction. In the exemplary embodiment, only road markers30a,30bare shown at the edges of the lane object30for the vehicle's own lane20b. In this case as well, the depicted marker types correspond to the actual markers on the road20according to the previously determined demarcation marker classes.

In the case shown inFIG.4A, it was detected that the surface of the road is dry. The driving objects30,40a,40bare shown without any structuring, for example uniformly black or gray.

In the case shown inFIG.4B, it was detected that the surface of the road is wet. The graphic objects for depicting one's own lane30as well as the left30aand right30badjacent lanes are depicted with a pattern that represents raindrops in this example. In other exemplary embodiments, other forms of structuring may be depicted; furthermore, dynamic depictions such as moving structures in the area of the graphic objects30,40a,40bare also conceivable. In another exemplary embodiment, other objects are also depicted such as further road users whose mirror images are depicted on the road depicted as wet with rain. Furthermore, spray may be depicted in the area of road user objects that move over the road.

In the case shown inFIG.4C, it was detected that the road is at least partially covered with snow. Analogous to the case shown inFIG.4B, the objects for the lanes30,30a,30bare depicted structured in this case as well, wherein a pattern of a snow surface is shown. In this case as well, other forms of structuring as well as dynamic depictions are conceivable.

In other exemplary embodiments, the graphic objects for the lanes30,40a,40bare depicted such that other features of their surface are represented. These may be for example contaminants, oil or markers on the road.

With reference toFIGS.5A to5D, other displays will be explained that may be generated and output with the method taking into account different types of road markers. In this case as well, the driver information system explained with reference toFIG.1will be assumed, and the objects will be identified if possible with the reference numbers already used above.

In the case shown inFIG.5A, no road markers were recognized on the road20. Only the ego object31that represents the ego vehicle21is depicted as well as a lane object30that is shown as uniformly gray in the exemplary embodiment. In other exemplary embodiments, other depictions are possible; however, the display is such that no objects comparable with a road marker are displayed. The driver may see from this display that the ego vehicle21is being driven without orientation from recognized road markers so that for example driver assistance systems for transverse control may only be used restrictedly or not at all.

In the case shown inFIG.5B, it was recognized that the lane20bon which the ego vehicle21is located is bordered on the left and right by lane markers. These were assigned the demarcation marker classes of “broken road marker”, or respectively “solid road marker”. Furthermore, adjacent lanes were recognized. In addition to the ego object31and the lane object30that represents the currently used lane20b, the driver information display also comprises graphic objects for the left40aand right40badjacent lanes as well as road markers30a,30bthat are generated according to the detected demarcation marker classes and represent essential characteristics, i.e., the broken, or respectively solid embodiment corresponding to the actual road markers.

In the case shown inFIG.5C, it was recognized that, different than the case shown inFIG.5B, the lane20bof the ego vehicle21is not bordered by a right lane marker. Instead, a transition from the road to a shoulder area was detected. In contrast to the case shown inFIG.5B, this is output by the driver information display in that the graphic object40bdepicts a shoulder area for the right adjacent lane that borders the lane object number30with the ego object31.

The case shown inFIG.5Ddiffers from that inFIG.5Bin that the current lane20bof the ego vehicle21is bordered on the right by a curb. This is displayed in the driver information display in that a graphic demarcation object30bthat represents a curb is depicted on the right next to the lane object30.

In other exemplary embodiments, road markers may also be guardrails, vegetation or roadside structures, or other demarcation markers and structures according to the various demarcation marker classes.

With reference toFIGS.6A to6C, other displays will be explained that may be generated and output using the method for a planned lane change. In this case as well, the driver information system explained with reference toFIG.1will be assumed, and the objects will be identified if possible with the reference numbers already used above.

FIGS.6A to6Ceach include an ego object31that represents the ego vehicle21. This is displayed statically and always arranged at the same position within the driver information display. The movement of the ego vehicle21is depicted in that the depicted environment moves relative to the ego object31as it appears from the coordinate system of the ego vehicle21. For example, structures of the road move relative to the static ego object31, including curved areas as well as road markers30a,30b, corresponding to the actual proper movement of the ego vehicle21on the road20.

The perspective of the display is generated from a position slightly behind and above the virtual ego object31. Each display comprises a lane object30that represents the currently used lane20bof the ego vehicle21, as well as adjacent lane objects40a,40bfor adjacent lanes20a.

In all cases, a preceding vehicle23was also detected that will now be represented by a road user object61which is arranged in the depiction in front of the ego object31. The depiction is generated such that the displayed distance between the ego object31and object of the proceeding vehicle61represents the actual distance between the vehicles. That is, by using the display, the driver may perceive the actual distance and may for example notice changes.

The further road user is depicted by the virtual road user object61so that essential features of its real appearance relevant to the depiction are reproduced in the display. In this regard, the vehicle type and the color of the further road user23are detected in the exemplary embodiment. The detection takes place by a camera of the ego vehicle1. Alternatively or in addition, in other exemplary embodiments, a datalink to the additional road user23is also established, particularly by means of Car2Car communication. The graphic road user object61assigned to the preceding road user23is then generated so that it correctly reproduces the depiction of the vehicle type. Alternatively or in addition, in other exemplary embodiments, other features of the preceding vehicle23may also be reproduced in the depiction of the corresponding graphic road user object63.

FIGS.6A to6Cfurthermore include a horizontal line arranged in front of the ego object31on the lane object30that depicts a set minimum distance of the ego vehicle21from the preceding vehicle23.

In the case shown inFIG.6A, it was detected that the current lane20bis bordered on the right by a solid line and on the left by a broken line. The detected road markers were assigned to corresponding demarcation marker classes, and the demarcation markers are reproduced by depictions of corresponding road markers30a,30b.

Furthermore, a further road user located at the approximate level of the ego vehicle21was detected on a lane adjacent on the left. The display comprises a corresponding graphic road user object62on a left adjacent lane object40athat reproduces the real arrangement of the vehicles. In this driving situation, it was determined that the ego vehicle21cannot safely change to the left adjacent lane. The left adjacent lane object40ais therefore not highlighted but is rather colored a uniform gray.

In the case shownFIG.6B, an additional road user was also detected on an adjacent lane, but this time on the right adjacent lane, however. The driver information display therefore comprises a road user object63in the area of the right adjacent lane object40b. It was determined that a lane change to the left adjacent lane may be done safely. The left adjacent lane object40ais therefore highlighted. In this and other exemplary embodiments, various highlights may be used, for example by means of hatching, color, brightness, or by a dynamic effect such as flashing.

In the case shown inFIG.6C, it was furthermore detected proceeding from the case explained above with reference to FIG.6B, that the driver of the ego vehicle21has activated a left blinker. With this, he signals that he wants to carry out a lane change to the left. The ego object31is output in the depiction with a shining flashing light. Since in the depicted driving situation the lane change to the left may be done safely, an arrow65is displayed as a signal object65in addition to the highlighting of the left adjacent lane object40a. The case is for example configured to be the color green. In other exemplary embodiments, the color may depend on whether the lane change may be done safely; if this is not the case, the arrow65may for example be colored red. Furthermore, the signal object65may also be configured differently, for example like chaser lights or with another symbol.

In the case shown inFIG.6C, it was furthermore detected that the left adjacent lane is bordered on the left by a solid line. Moreover, the current lane20bof the ego vehicle21is bordered on the right by a solid line. These road markers are correspondingly displayed inFIG.6Cby using demarcation objects30a,30b,66.

In other exemplary embodiments, it is detected that the further road user23is planning a certain driving maneuver. To accomplish this, light signals from a turn signal are evaluated, or information is received via a Car2Car link. A driving maneuver object is displayed for the road user object61that signals that the preceding vehicle23is for example planning a lane change.

With reference toFIGS.7A to7C, other displays will be explained that may be generated and output with the method taking into account impending oncoming traffic, if applicable. In this case as well, the driver information system explained with reference toFIG.1will be assumed, and the objects will be identified if possible with the reference numbers already used above.

In the case shown inFIG.7A, no oncoming traffic was detected on the lane of the ego vehicle21as well as on the adjacent lanes. In this case, the depiction comprises the lane object30as well as right and left bordering adjacent lane objects40a,40b. Furthermore, an ego object31as well as a preceding vehicle23is depicted by a road user object61.

In the cases shown inFIGS.7B and7C, it was recognized that oncoming traffic may be anticipated in the lane20aarranged on the left in the driving direction next to the current lane of the ego vehicle21. The depictions differ from the depiction depicted above with reference toFIG.7Ain terms of a graphic oncoming traffic warning object71,72that is arranged on the adjacent lane object40a. The depiction is for example like a road marker placed on a road surface.

In the exemplary embodiment, the oncoming traffic warning object71,72moves with the ego object31. In other exemplary embodiments, the oncoming traffic warning object71,72in the coordinate system of the depicted road surface may be static so that the ego object31appears to move past the oncoming traffic warning object71,72. In this case, the oncoming traffic warning object71,72may repeatedly appear in multiple executions, for example in periodic intervals as long as oncoming traffic on the adjacent lane20ais to be anticipated.

Alternatively or in addition, in other exemplary embodiments, an oncoming road user object is depicted in the area of a lane object when it was determined that oncoming traffic is to be anticipated on the lane. The oncoming road user object may be configured so that it depicts an actual oncoming road user. It may furthermore be displayed even if no further road user was detected in order to warn the driver of the potential occurrence of oncoming traffic. The depiction of the oncoming road user object may differ if it represents an actually detected road user, or if it is only being displayed as a warning.

In another exemplary embodiment, states of the lighting system7of the ego vehicle1are detected, and the depiction of the ego object31in the driver information display is generated so that it reproduces the states of various elements of the lighting apparatus7. For example, rear lights and headlamps may be displayed illuminated or unilluminated corresponding to the detected states.

In another exemplary embodiment, an operating state of a trailer hitch of the ego vehicle is 1 detected. A trailer hitch of the ego vehicle1is detected. If it is detected that a trailer object is on the trailer hitch, then the ego object31is generated in combination with a graphic depiction of a trailer.

The display is such that the ego object31with the graphic trailer depiction is displayed in a perspective from the rear such that a road section of the road object30lying in front of the ego object31in the depiction is visible.

The trailer depiction may differ depending on the type of trailer object, for example in terms of its size, shape and color. For example, a schematically simplified image of the real trailer object is reproduced by the graphic trailer depiction.

LIST OF REFERENCE NUMERALS

1Ego vehicle2Detection unit; sensor3Control unit4Display unit5Evaluation unit6Driver assistance system7Lighting apparatus8Trailer device10External unit; external server20Roadway20aLane20bLane20cRoad marker21Ego vehicle22Arrow23Preceding vehicle24Oncoming vehicle25Traffic sign30Lane object30a,30bRoad marker (depiction)31Ego vehicle (depiction)32Curve area (depiction)32a,32bRoad marker in curve area (depiction)33a,30bTraffic sign (depiction)40a,40bAdjacent lane (depiction)61Road user object, preceding vehicle (depiction)62,63Road user object, vehicle on adjacent lane (depiction)65Signal object, arrow71,72Oncoming traffic warning object

The invention has been described in the preceding using various exemplary embodiments. Other variations to the disclosed embodiments may be understood and effected by those skilled in the art in practicing the claimed invention, from a study of the drawings, the disclosure, and the appended claims. In the claims, the word “comprising” does not exclude other elements or steps, and the indefinite article “a” or “an” does not exclude a plurality. A single processor, module or other unit or device may fulfil the functions of several items recited in the claims.

The term “exemplary” used throughout the specification means “serving as an example, instance, or exemplification” and does not mean “preferred” or “having advantages” over other embodiments.

The mere fact that certain measures are recited in mutually different dependent claims or embodiments does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims should not be construed as limiting the scope.