Vehicle system for navigation and/or driver assistance

Translation of description of equivalent WO 2009101163 A2

LO vehicle system for navigation and / or driver assistance

Field of the Invention

L5

The invention relates to the assistance, security and navigation technology for vehicles. In particular, the invention provides a vehicle system and a method for controlling the vehicle system relates.

> 0

Technological background

There are already advanced driver assistance systems to support

> 5 of the driver while driving and

Navigation systems for guiding a driver or a vehicle from a starting point to a desired destination. About one started by navigation systems ADAS Horizon (ADAS = "Advanced Driver Assistance System" /

30 Driver Assistance System) can road, signs, etc. are transmitted to driver assistance systems around the vehicle. In this way, an early response of the driver or the driver assistance system on forward-lying hazards or traffic situations is possible.

35 Summary of the Invention

It is an object of the invention to improve such systems to vehicle 5 or functionally expand.

This object is achieved by a vehicle system or a method for the control according to any one of the independent claims. Advantageous further developments are subject of the dependent claims LO.

According to an embodiment of the invention, a vehicle system is provided with a position module for determining a current vehicle position based on the

L5 spending a satellite signal sensor and at least one environmental sensor, vehicle sensor and / or

Traffic telematics receiver; an ADAS Horizon Provider, which provides an ADAS Horizon for driver assistance; a provider unit in the position module and the ADAS-

> 0 Horizon providers are provided, the provider unit communicatively coupled to a navigation unit, and the ADAS Horizon Provider is designed so that it can provide the ADAS horizon at a rate that is higher than the output of the satellite signal sensor. These

_5 Deployment of ADAS horizon can thus be carried out regardless of the refresh rate of the respective sensors (eg by a Kalman filter) and therefore the updating of the ADAS-horizon may be provided with update rates that are not triggered by a sensor

30 are. In the Provider unit a fusion of satellite and vehicle sensor signals is performed with ambient sensor data, thereby improving the accuracy of the ADAS-horizon can be increased. With this merger, for example, lane information an environment camera can be used to obtain a more accurate mapping of the vehicle on the road, thereby improving the accuracy, reliability, fault tolerance of 5 deployment of ADAS horizon, quality and timeliness of the ADAS-horizon is improved.

The phrase "at least one environmental sensor, vehicle sensor and / or traffic telematics receiver" in

LO this description means that at least is provided consisting of ambient sensor, vehicle sensor and traffic telematics receiver an element from the group. The preferred member of this group is in this context of the environment sensor and the ambient sensors.

L5

According to another embodiment, a vehicle system is provided which further comprises a navigation unit in which a digital map is storable. This leads to a further

> 0 increase in accuracy, because in addition available to the sensors a digital map.

According to a further embodiment, a vehicle system is configured with a dynamic module in which

_5 Dynamic data and updates are recorded with respect to factors of ADAS horizon. This also increases the accuracy of the expenditure of the vehicle system and ensures that daily changing conditions such as traffic jams, construction sites, etc. included in the ADAS Horizon creation with

30 are. According to another embodiment of the invention, a vehicle system is provided, wherein the navigation unit and the provider unit are designed so that a current environment of the vehicle performing map section 5 from the digital map of the navigation unit to the provider unit can be transmitted. Through this present in the Provider Unit Map of the provider unit is also available after failure of the navigation unit sets the environment of the vehicle of respective map section for

LO available. As a vehicle is often moved on the same lines, for example, as part of daily commuting to work, the provider unit is possibly exactly these cards section available. In addition, the card section is accountable compared to the complete map and

L5 memory technically easier and faster to handle, so that the performance of the provider unit is thereby improved.

According to a further embodiment of the invention is> 0, a vehicle system is provided in which the

Navigation unit and the provider unit are designed so that the navigation unit, based on the determined by the position module vehicle position, a current environment of the vehicle performing map section from _5 a digital map of the navigation unit to the provider unit can be transmitted. Because the navigation unit, the vehicle position of the provider unit receives the positioning more accurate, as well as automotive and environmental sensors can be included in the 30 position determination that the

Navigation unit would otherwise not be available. According to another embodiment of the invention, a vehicle system is provided in which the provider unit from the map on the current, determined by the position module 5 vehicle position assigns.

According to another embodiment of the invention, a vehicle system is provided, wherein the provider unit with an off the vehicle navigation unit

LO is communicatively coupled. This coupled with a navigation unit offboard sensors and devices can be saved in the vehicle and it can be used on large amounts of data, since a befindlicher outside the vehicle server very powerful

L5 can be carried out.

According to a further embodiment of the invention, a vehicle system is provided further with an automatic emergency call unit, which is provided in the provider unit> 0th Thus, the time until the arrival of

Help can be shortened in case of a breakdown or an accident, and indeed the understanding of those services can be ensured.

_5 According to another embodiment of the invention, a vehicle system is provided, wherein the provider unit is designed such that the certain position by the module, provides current vehicle position for transmission to the navigation unit. Because the

30 Navigation unit, the vehicle position of the

receives provider unit, the positioning is more accurate, as well as automotive and environmental sensors in the Positioning can be included, which would not be the navigation unit otherwise available.

5 According to a further embodiment of the invention, a vehicle system is provided, wherein the navigation unit is a mobile, not fixed to the vehicle navigation unit. Mobile navigation devices have the advantage that they are also outside the vehicle, for

LO Hiking, can be used in private planes and boats. In addition, these navigation devices can be quickly and easily replaced with technological innovations. When using such a navigation device in the vehicle, these advantages with the above

combine L5 described advantages of accurate position determination.

According to a further embodiment of the invention, a vehicle system is provided, wherein the mobile> 0 navigation unit for wireless communication with the

Provider unit is designed. This prevents Ausleihern and wear of connectors and is user friendly.

_5 According to a further embodiment of the invention, a vehicle system is provided in which the

Navigation unit and the provider unit are designed so that parts of the map section can be transmitted in a prioritized ranking. Thus, in case of failure

30 of the navigation unit, the probability increased that the essential map areas are already transmitted when the navigation unit fails, what the safety of the Vehicle system increases.

Advantageously, depends on the ranking of a distance of the part of the map section of the current vehicle position 5, so that more parts are first transferred.

Additionally or alternatively it can be provided that the ranking of a likelihood of a further course of the road depends so higher

LO probability busy parts of the map section are first transferred.

According to a further embodiment of the invention, a vehicle system is provided in which the

L5 navigation unit has an additional provider unit having its own ADAS Horizon Provider, which provides an ADAS Horizon for driver assistance. This has the advantage of a redundancy of information available.

> 0

According to a further embodiment of the invention, a vehicle system is provided, wherein the navigation unit for communicating with a vehicle and designed navigation unit external ADAS-horizon Provider

_5 Is providing an ADAS Horizon for driver assistance. This coupled with a offboard ADAS Horizon Provider sensors and devices can be saved in the vehicle and it can be used on large amounts of data, since outside the

30 vehicle befindlicher server can be very powerful. According to a further embodiment of the invention, a vehicle system is provided, wherein the digital map on cryptographic methods is authenticated.

5 According to a further embodiment of the invention, a vehicle system is provided, wherein the digital map from the vehicle system can be used only after a test phase, during which the digital map for a specific period by comparison with environment and / or vehicle sensors LO authenticated. This ensures that no faulty or outdated map material is used.

According to a further embodiment of the invention, a vehicle system is provided in which a plurality L5 navigation units can be coupled with the provider and the provider unit unit is adapted to compare the outputs of the navigation units. Due to this redundancy, the reliability of the vehicle system is increased.

> 0 The same advantage of the embodiment in which a navigation unit is fixed to the vehicle and another a mobile navigation unit.

According to a further embodiment of the invention, a vehicle system is _5 provided, wherein the vehicle system comprises an update module via which map updates are einspielbar and saved separately from the existing map. Thus, there are several digital maps as a basis for comparison for comparison with the outputs of the Business environment 30 and / or vehicle sensors.

According to a further embodiment of the invention is the Vehicle system designed such that it compares the existing map and the map update with the issues of vehicle and / or environmental sensors and checked for plausibility and that card is used, the better the issues of the vehicle matches 5 and / or environmental sensors. This

Embodiment provides the advantage that a complex quality assurance process can be shortened in advance by the verification of map updates or even completely eliminated. This means that LO map updates recorded timely and delays can be drastically reduced by pre-conditional quality, without lowering the quality of the card and the subsequent back-level applications.

L5 According to another embodiment of the invention, a vehicle system is provided, wherein the vehicle system is designed so that the existing map area, is overwritten with the updated map section of the update module when the updated map area

> 0 has a higher compliance with the expenditure of the vehicle and / or environmental sensors. This ensures that the existing map is not overwritten prematurely and thus would no longer be available.

_5 According to another embodiment of the invention, a vehicle system is provided in which the ADAS Horizon Provider creates the ADAS Horizon based on detected traffic and / or road signs and / or track information. Thus, the vehicle might, or more precisely the

30 Provider unit the ADAS Horizon set completely independently available. According to a further embodiment of the invention, a vehicle system is provided further with an ADAS-horizon reconstruction module, which is designed to receive data from the ADAS-horizon provider, wherein the 5 ADAS-horizon reconstruction module comprises a further interface, via which it spending at least one element of the group consisting received from an environment sensor, a vehicle sensor, a traffic sensor or a telematics sensor and include the ADAS horizon reconstruction.

LO through the use of additional information within the ADAS Horizon reconstruction module dynamic data can be considered, which will not be considered by the ADAS Horizon Provider, which is often provided in the separate navigation system or can not be considered.

L5 Since the data is incorporated already in ADAS Horizon reconstruction module, no change needs to be more done on the ADAS application, so that dynamic information available to all the ADAS Horizon reconstruction module downstream systems.

> 0

According to a further embodiment of the invention, a vehicle system is provided with at least one environment sensor, vehicle sensor and / or traffic telematics receiver; and ADAS Horizon Provider,

_5 Of at least temporarily, solely based on the ambient sensor, vehicle sensor and / or a traffic telematics receiver ADAS Horizon for driver assistance created. This allows the vehicle without a navigation signals from a navigation satellite a

can create 30 ADAS Horizon and thus independently create an ADAS Horizon well in a dead time, failure or absence of a navigation device and a

10 can transmit driver assistance system. This embodiment can be combined with the embodiments mentioned in the summary, to achieve the advantages mentioned at the appropriate places: 5.

According to a further embodiment of the invention, a vehicle system is provided with a position module for determining a current vehicle position; a ADAS-

LO Horizon Provider, which provides an ADAS Horizon for driver assistance, and a provider unit in the position module and the ADAS Horizon Provider are provided, the provider unit communicatively coupled to a mobile, not fixed to the vehicle navigation unit

L5 is coupled. Mobile navigation devices have the advantage that they can be used outside the vehicle, for hiking, in private planes and boats. In addition, these navigation devices can be quickly and easily replaced with technological innovations. Using

> 0 such a navigation device in the vehicle can be combined with the above-described advantages of accurate positioning of these benefits. This embodiment can be combined with the embodiments mentioned in the summary,

_5 To achieve the advantages mentioned in the corresponding places.

According to a further embodiment of the invention, a vehicle system is provided with an update module 30 that is a map update einspielbar; a

Version store, in which the map update is saved separately from an existing card; at least one

11 Vehicle sensor, ambient sensor and / or

Traffic telematics receiver; and a map update provider, which is designed such that it compares the map update with the outputs of the vehicle sensor, ambient sensor and / or 5 traffic telematics receiver and checked for plausibility. This embodiment has the advantage that a complex quality assurance process can be shortened in advance by the verification of map updates, or even eliminated. This leads to that map updates

LO timely recorded and delays due in advance

Quality assurance can be drastically reduced without lowering the quality of the card and on back-level applications. This embodiment can be combined with the embodiments mentioned in the summary

L5 combine to achieve the advantages mentioned in the corresponding places.

According to a further embodiment of the invention, a vehicle system is provided with an ADAS

> 0 Horizon Provider, which provides an ADAS Horizon for driver assistance, and an ADAS Horizon reconstruction module which is designed to receive data from the ADAS Horizon Provider, the ADAS Horizon reconstruction module having a further interface via which it issues

? 5 at least one element of the group consisting of a

received ambient sensor, a vehicle sensor, a traffic sensor or a sensor Telematics and ADAS Horizon modified based on these issues. By the use of additional information within the ADAS

30 horizon reconstruction module can be taken into account dynamic data obtained by the ADAS-horizon provider, which is often provided in the separated navigation system, not

12 be taken into account or can not be considered. Since the data is incorporated already in ADAS Horizon reconstruction module, no change to the ADAS application must be made so that these are dynamic data all 5 the ADAS Horizon reconstruction module downstream systems. This embodiment can be combined with the embodiments mentioned in the summary, to achieve the advantages mentioned at the appropriate places.

LO

According to another embodiment of the invention, a vehicle system is provided with a provider unit with an ADAS Horizon Provider, which provides an ADAS Horizon for driver assistance; at least one vehicle sensor,

L5 environment sensor and / or traffic telematics receiver; the

Provider unit with a navigation unit for receiving an ADAS horizon is communicatively coupled, and the ADAS Horizon Provider for modifying the receivable of the Provider Unit ADAS horizon based on the outputs of the

> 0, the vehicle sensor, the ambient sensor and / or

Traffic telematics receiver is adapted. This has the advantage that provided in the vehicle provider unit provides in each case by the own ADAS Horizon Provider an ADAS Horizon available. If this vehicle system

_5 Coupled to a (mobile) navigation system, which already can make a separate ADAS Horizon available, then through the coupling with the provider unit of the ADAS Horizon navigation unit by the downstream ADAS Horizon Provider the Provider Unit

30 bolstered by the inclusion of the vehicle-mounted environment and / or vehicle sensors and / or the traffic telematics receiver.

13 According to another embodiment, a method for controlling a vehicle system is provided, comprising the steps of: determining a current vehicle position 5 based on the outputs of a satellite signal sensor and at least one vehicle sensor, ambient sensor and / or traffic telematics receiver, and providing an ADAS horizon by an ADAS Horizon Provider driver assistance, wherein the ADAS-horizon is provided at a rate LO, which is higher than the output of the satellite signal sensor.

According to a further embodiment, a method for controlling a vehicle system is provided in which a L5 ADAS-horizon is at least temporarily created exclusively based on at least one vehicle sensor, environmental sensor, and / or traffic telematics receiver.

According to a further embodiment, a method> 0 for controlling a vehicle system is provided for

Card verification, comprising the steps of: importing a map updates in an update module; Save the map updates in a version store separately from an existing map, and compare and plausibility check _5 of map updates with the outputs of at least one vehicle sensor, ambient sensor and / or traffic telematics receiver.

According to a further embodiment, a method 30 is provided for controlling a vehicle system, comprising the steps of: providing a ADAS-horizon for driver assistance, and feeding outputs of at least one

14 Elements of the group consisting of an ambient sensor, a vehicle sensor, a traffic sensor or a telematics sensor in an ADAS Horizon reconstruction module, which is designed to receive data from the ADAS Horizon Provider 5, and modifying the ADAS-horizon based on the injection into the ADAS horizon reconstruction module.

Due to the specified exemplary embodiment, relate to the procedures, the advantages mentioned in connection with the LO corresponding devices can be achieved with these methods.

According to another embodiment of the invention, a program element is specified which, when executed on a processor L5 of a vehicle system, instructs the processor to perform the steps indicated above.

According to a further embodiment of the invention a computer readable medium is provided, on which a program element is> 0 is stored, which, when executed on a processor, instructs the processor to perform the steps indicated above.

Below 5 embodiments of the invention will be with reference to the figures? Described.

Brief Description of

. 30 Figure 1 shows a vehicle with the vehicle system according to the invention;

15 Fig. 2 shows a first embodiment of the vehicle system according to the invention;

Fig. 3 shows a second embodiment of the vehicle system 5 according to the invention;

Fig. 4 shows a third embodiment of the vehicle system according to the invention;

LO Fig. 5 shows a fifth embodiment of the vehicle system of the invention according to the invention, and

Fig. Figure 6 shows a sixth embodiment of the vehicle system of the invention according to the invention. L5

Detailed Description of the Invention

Figure 1 shows a vehicle 10 with the> 0 vehicle system according to the invention 11 (or 111, 211).

Figure 2 shows a first embodiment of the vehicle system according to the invention 11. The vehicle system 11 includes a navigation unit 12, a provider unit 13,? 5 sensors 14, a sensor 15 and a satellite signal

Driver assistance system 16 (ADAS = "Advanced Driver Assistance System") on.

In the navigation unit 12, a memory card 17 30 is provided in which a (complete) digital map or road map is stored. In this memory card 17 also updates (updates) are the digital map

16 or map sections stored this. The navigation unit 12 receives a current vehicle position from a position module 18 of the provider unit 13. Alternatively or additionally, the navigation unit 12 have their own 5 satellite signal sensor with the example signals of the navigation satellite systems GPS, Galileo, GLONASS, Compass or IRNSS can be received. The determined by the position module 18 position is a map matching module 19 ( "Map Matching Module") of

LO navigation unit 12 transmits. With the help of the position from the position module 18 here a map matching ( "map matching") is performed, in which the digital map, which is stored in memory card 17, the current vehicle position is assigned. To measurement inaccuracies

compensate L5, the measured position with the map information on the location and geometry of objects in the map are matched in the map matching module 19, so that for example the detected current vehicle position is corrected so that this position on and not

> 0 is next to a road. Further, the navigation unit 12, a navigation module 20 and a route calculation module 21 is provided, which can be accessed 19 both on the digital card in the memory 17 and the map matching of the map matching module. In navigation module

_5 20 a route guidance to a desired destination and the map display is performed. A route calculation module 21 takes a route creation. The two modules 20 and 21 serve the navigation for a driver, that correspond to the functions that are typically using navigation systems

30 connects. The navigation module 21 assumes the

Interface with the driver (for example, output as "in 200m turn left" or "Please contact"). The route calculation module 21

17 determines the route to the destination point as specified by the driver (eg quickest route, shortest route, etc.). This created Route 13 is provided an ADAS Horizon Provider 22 of the provider unit. Based on the map matching of the 5 map matching module 19, the created route of

Route calculation module 21 and the digital map of the map memory 17 the provider unit 13 is provided by a map detail module 23 is a section of the map, the current environment around the vehicle

LO 10 represents. This map will be within the

Provider unit 13 the ADAS Horizon Provider 22 provided. The navigation unit 12 is a standalone device that is connected via a fast connection to the provider unit. 13 can through this connection

L5 of the card memory 17 also get the updates for the digital map of the Provider Unit. 13 Through this coupling, with the provider unit 13 and the associated transmission of map updates, as well as the current vehicle position, it is not necessary that the navigation unit 12 to a

> 0 vehicle bus 24 (see FIG. 1) is connected, instead, the provider unit 13 is connected to the vehicle bus 24 to receive data from vehicle sensors 39, environmental sensors 40, traffic telematics receivers etc., which are also connected to the vehicle bus 24.

> 5

The provider unit 13 includes a map update provider 25 a map cache memory 26, a dynamic module 27, a local card memory 28, a map matching module 29 and as already mentioned, the position module 18 and the ADAS-

30 Horizon provider 22. In the dynamics module 27 all dynamic data and updates to the digital map and / or the ADAS Horizon are recognized, such as congestion data, new

18 Street guides, data from telematic services (eg C2X = "Car-to-X-Communication", as well as RDS / TMC, etc.), in particular traffic telematics services. These data receives the dynamic module 27 via transmission systems such as 5, for example, the Radio Data System (RDS), the real-time traffic information system (RTTI), general packet radio service (GPRS) or UMTS ( "Universal Mobile Telecommunications system"), DSRC ( "Dedicated Short Range Communication") by IEEE802.11p, etc. This dynamic

LO data is the map update provider directly and the 25

Local card module 28 provided and thus available to the other units. The map update provider 25 checks the dynamic data on authenticity and modifies the corresponding, in the

L5 card memory 17 or the local card module 28 stored map segments or overwrites the corresponding previous map section with the newly supplied map sections. In addition, updates to the digital map can be cached here, regardless of whether the

provides> 0 navigation unit 12 updates or not. Of the

Map cache 26 receives map section module 23 a map section, which is passed on to the local card module 28, where this map will be adjusted where necessary in accordance with the dynamic data. The

_5 Local card module 28 outputs the digital map, which relates to the surroundings of the vehicle 10 on the ADAS-horizon Provider 22 on. It also made on the envisaged between local card module 28 and ADAS Horizon Provider 22 map matching module 29 a balance this map section. The

30 map matching module 29 is similar to the local map on the basis of data from the sensors 14 and the position module 18th The map matching of the map matching module 29 takes place separately

19 from the card balance in the navigation unit 12 and is limited to the given map area. In addition, also the dynamic information to be considered.

5 The location module 18 determines with reference to the sensors 14 and the satellite signal sensor 15, the current vehicle position and gives it to the map-matching modules 19 and 29 on. The satellite signal sensor 15 can be integrated into the provider unit 13 or separately, and for data exchange

LO be connected to the Provider Unit. 13 With the

Satellite signal sensor 15, for example, signals of the navigation satellite systems GPS, Galileo, GLONASS, Compass or IRNSS received. The sensors 14 include vehicle sensors, environmental sensors or

L5 traffic telematics receiver for receiving

Traffic telematics services (C2X) that supply preferably via vehicle-to-vehicle communication or vehicle-zuInfrastruktur communication position and environment information. As used in this specification

> 0 vehicle sensor includes sensors such as distance sensors, speed sensors, steering angle sensors, wheel speed sensors 39,

Yaw rate sensors, etc., ie the vehicle sensors are sensors that a state of the vehicle or

_5 Vehicle parts capture, especially the capture

Vehicle sensors a motion state of the vehicle. In the environment sensors are sensors, such as cameras 40, a radar, lidar sensors or ultrasonic sensors, etc., ie, environment sensors are sensors,

30 which detect the surroundings of the vehicle, wherein the

Environment sensors are mounted on the vehicle and independently, ie without information signals from the outside, objects around the vehicle

20 capture. The mentioned traffic telematics receiver communicate preferably via an automotive WLAN after IEEE 802.11p standard, wherein a communication on vehicle-to-vehicle communication, vehicle-to-infrastructure 5 communication, RDS, TMC, RTTI, GPRS, UMTS or DSRC takes place. This communication relates to location information, the subject vehicle environment information (for example, object information, lane or route information, traffic flow information)

LO route information or traffic flow information (the latter two also outside the vehicle surroundings). For example, as can the detected by a vehicle traveling ahead by environment sensor information to following vehicles by vehicle-to

L5 vehicle communication are received. Generally, the sensors 14 in addition to the position information also information (eg object information or routing information such as track information) that can be used for the purpose of the map matching, therefore

> 0, the sensors 14 also directly coupled to the map matching module 29th However, the map matching is connected downstream of the position determination by the position module 18th

_5 The ADAS Horizon Provider 22 gets over the local card module 28 and the map matching module 29 a section from the navigation unit 12, or more precisely 23 from the map section module This map section covers the current environment of the vehicle 10 for a particular

30 period from, for example, of T seconds or longer. Moreover, the currently selected route from the route calculation module 21 on the ADAS Horizon Provider 22

21 transmitted. Based on this map section, the current route and the position from the position module 18 (on the map matching module 29) ADAS Horizon is created. The ADAS-horizon is a horizon of expectations for further 5 road and traffic history, on the basis of

Driver assistance system a driver support while driving. The provider unit 12, or more precisely the ADAS Horizon Provider 22 may update the ADAS horizon at a higher rate than the output rate of the

LO satellite signal sensor providing 15 (GPS rate) because the position module 18 is a model-based or model-based position determination is used, which uses the outputs of several of the various sensors 14 and 15, in order to calculate the current vehicle position. These

L5 calculation can be carried out regardless of the refresh rate of the respective sensors (eg by a Kalman filter) and therefore the updating of the ADAS horizon can be provided with update rates that are not triggered by a sensor 14, 15th By the

> 0 Provider unit 13 a fusion of satellite and vehicle sensor signals is performed with ambient sensor data and traffic telematics information, the accuracy of the ADAS-horizon can be increased. With this merger, for example, a lane information

_5 Environment camera can be used to obtain a more precise mapping of the vehicle on the road, thereby improving the accuracy, reliability, reliability of the provision of the ADAS-horizon, quality and timeliness of the ADAS-horizon is improved.

30

Furthermore, it can be determined for example by setting the camera in the map matching map matching module 29,

22 that only two lanes available (eg due to an accident), although according to maps three lanes should be present. This information can be used directly as an input parameter for the generation of ADAS horizon. 5 In addition, can be read and done so in the map matching module 29 a balance existing in the card signs with reality by signs recognition, the kind of traffic signs or even the place name of signs / road signs. It can also

LO information of a radar can be used to estimate the course of the lane and to compare this information with the map information. This procedure ensures that the ADAS Horizon respectively maps the currently valid road situation, and not

L5 road situation at the time of recording of the card data.

The by ADAS Horizon Provider 22 provided ADAS Horizon is transmitted to the driver assistance system 16, in which an ADAS Horizon reconstruction module 30 is provided that the

> 0 ADAS horizon from the ADAS Horizon preferably compressed transmitted to the driver assistance system 16 is reconstructed. The ADAS Horizon reconstruction module 30 serves as a link between the ADAS Horizon Provider 22 and ADAS applications. The provider unit 13 described

_5 Thus comprises communication units (see dynamics module 27) with the outside world (Wifi, GSM / UMTS / ..., C2X, ...) and interfaces to one or more communication units, satellite signal sensor 15 and interfaces to this, connection to the vehicle bus 24, position module 18 and ADAS-

30 Horizon Provider 22, ideally in a single device. Further, in the provider unit 13 also Ecall module 31 is provided, which automatically notifies emergency services in an emergency. There

23 a position determination is necessary for an automated emergency call (eCall), it is advantageous if the position module 18 and the Ecall module 31 are provided in the same device. 5

The breakdown of this embodiment in the navigation unit 12 and unit 13 providers with the functionality described above ensures that the driver assistance system 16 (or other vehicle systems or

LO ADAS applications) received an ADAS horizon, even if the navigation unit 12 (or an infotainment unit with integrated navigation unit) temporarily becomes unavailable or fails. The division described the navigation unit 12 to lower safety standards

L5 are developed and thus faster with new

Functions are provided, which is important in the field of infotainment. This weighting towards functionality is called "Feature Driven". In contrast, the provider unit 13 is designed so that it higher

met> 0 safety standards, which is necessary for driver assistance systems, this weighting is called "Safety Driven '. By dividing therefore the probability of failure of the ADAS-horizon compared to a solution is purely lowered based on a navigation unit,

? 5 because the provider unit 12 can be designed for higher safety standards. Another advantage of this division is that it allows the data rate can be kept constant, as the provider unit 13 is designed for higher safety standards and no

has 30 user interface, creating a source of interference for the

Calculation (response to user input) is eliminated. By shifting the sensor fusion in the provider unit 13 as

24 a central location ensures that all vehicle systems receive the same ADAS Horizon and this is the best possible in each case.

5 In the embodiment just described are the

Navigation unit 12, the provider unit 13, the sensors 14, the satellite signal sensor 15 and the driver assistance system 16 integrated into the vehicle 10th However, it is also possible that the navigation unit 12 outside the vehicle 10

LO is arranged and the provider unit 13 communicates wirelessly with the navigation unit 12, the navigation unit 12 is then, for example, shifted to a server outside the vehicle. In this way it is also possible for the ADAS-horizon only on the basis of offboard

create L5 navigation.

In a variant of this first embodiment can be provided an additional fusion unit, which is provided outside of the provider unit 13 and a

> 0 comprehensive sensor fusion performs that can be supported with the map data. According to this modification, and the ADAS Horizon Provider can be paged in the merged entity. The other provided in the provider unit 13 modules remain in this modification will continue in the

_5 Provider unit. 13

Figure 3 shows a second embodiment of the vehicle system according to the invention 111. If in a previous driver assistance system digital maps and map data 30 are used, so this sets into the

Vehicle integrated (navigation) module ahead. However, many drivers use a mobile navigation device, as these devices

25 are cheaper, can be exchanged easily and thus can be improved even during the lifetime of the vehicle.

5 This is where this embodiment. In the first embodiment, an architecture has been proposed, which ensures by means of a cached map section and / or sensors that driver assistance systems will still get card information LO when the navigation unit fails or temporarily not respond. This embodiment extends this basic idea now on the connection of mobile devices.

The vehicle system 111 includes a mobile navigation unit L5 112, a provider unit 113, sensors 114 and a

Driver assistance system 116 ( "ADAS" = Advanced Driver Assistance System) on.

In the navigation unit 112, a map storage 117> 0 is provided in which a digital map or road map is stored. The navigation unit 112 receives a current vehicle position from a position module 118 of the provider unit 113. In addition, the navigation unit 112 its own satellite signal sensor, such as signals of the navigation satellite systems GPS, Galileo, GLONASS, Compass or IRNSS can be received with the> 5, have. The determined by the position module 118 position is transmitted to a map matching module 119 of the navigation unit 112, which, like the map-matching module 19 30 performs a map matching. Further, in the

Navigation unit 112, a navigation module 120 and a route calculation module 121 is provided for the

26 Description of the respective modules 12, 20 and 21 of the first embodiment applies. The created route of the route calculation module 121 is provided to a 112 ADAS Horizon Provider 122 of the provider unit. The 5 provider unit 113 is provided by a map detail module 123, a portion of the map is available, representing the current environment around the vehicle. This map will be 122 asked the ADAS Horizon Provider available within the Provider Unit 113th The

LO navigation unit 112 is a standalone, mobile device (or other mobile device with digital maps and navigation function) and by means of a wireless (eg, Bluetooth, WiFi) or wired (USB) communication technology with the provider unit 113 (or the

L5 vehicle) connected. Instead of a navigation device can be used for mobile navigation unit 112 and a smartphone with appropriate navigation function and navigation software or similar systems.

> 0 The provider unit 113 includes a map cache memory 126, a map matching module 129, and as already mentioned, the position module 118 and the ADAS-horizon provider 122. The provider unit 113 is connected to the vehicle bus 24 to data from the sensors 114, such as

_5 Vehicle sensors 39, environmental sensors 40,

etc, obtain traffic telematics receivers. The provider unit 113 is preferably located in the vehicle 10 and is not part of the mobile navigation device. The map cache 126 receives map section module 123

30 a map section. The map cache memory 126 outputs the digital map, which relates to the environment of the vehicle on the ADAS-horizon provider 122 on. In addition, via the

27 between map matching module 129 and ADAS Horizon Provider 122 proposed map matching module 129 made an adjustment this map section. The map matching module 129 is similar to the local map on the basis of data from the sensors 114 and the 5 position module 118th The map matching of the map matching module 129 is separate from the card balance in the navigation unit 112 and is limited to the given map area. The transmission of the map section from Map of module 123 to

LO provider unit 113, or more precisely to the map cache memory 126 can be configured such that first information is transmitted in the vicinity of the vehicle 10 and only then the more distant. Likewise, first the probably busy parts of the map to be transferred (eg

L5 main roads) and then the improbable parts, etc. The map section is selected such that it covers the current environment of the vehicle 10 for a period of T seconds or longer. This ensures that even the case of a failure of connection or failure

> 0 navigation unit 112 long enough map data to

Available, where appropriate, to send a warning to the driver and the functionality of the provider unit 113 and the driver assistance system 116 to adapt in a transitional period so that no more card is required.

> 5

The position module 118 determined based on the sensors 114, the current vehicle position and gives it to the map-matching modules 119 and 129 on. The sensors 114 include vehicle sensors (such as

30 distance sensors, speed sensors,

Steering wheel angle sensors, wheel speed sensors, yaw rate sensors, etc.), environmental sensors (such as cameras, a

28 Radar, etc.) or traffic telematics receiver (C2X). Furthermore, the sensors 114 include a satellite signal receiver, with the example signals of the navigation satellite systems GPS, Galileo, GLONASS, Compass or IRNSS received 5 can. Alternatively, can also be integrated in the provider unit 113 of the satellite signal receiver. In addition to the position information, the sensors provide 114 also information (eg object information) that can be used for the purpose of the map matching, so the LO sensors 114 are also coupled directly even with the map matching module 129th

The ADAS Horizon Provider 122 gets over the map cache 126 and the map matching module 129

L5 is a section from the navigation unit 112, or more precisely from the map section module 123. From this information, as in the first embodiment, an ADAS Horizon described created, which is the driver assistance system 116 is provided. In

> 0 In other words expressed created in the provider unit 113 on the basis of the map section, the position from the position module 118 and possibly the route from the route calculation module 121, a map matching and, based on an ADAS-Horiziont generated.

> 5

This division provides the advantages already described in connection with the first embodiment, which will not be repeated at this point.

30 By combining the above-described mobile

Navigation unit 112 and the navigation device with the provider unit 113 are also caused by the

29 Position module 118 determined position signals from the provider unit 113 (ie, the vehicle) transmitted to the mobile navigation unit 112th These position signals the mobile navigation device already 5 can provide a better navigation than that without the

Connection to the provider unit 113 (or the vehicle 10) would be possible, because not common only satellite signals are in the position module 118 as navigation devices used but in addition the further above

LO-mentioned vehicle and environmental sensors in

Position determination are the basis. Does the mobile navigation device 112 via additional position information sources that are not available in the vehicle 10 (eg, via communication links), so can

L5 the determined position with this information, for example the map matching in the map matching module 119, improved.

All blocks or modules of the provider unit 113 must be> 0 not physically realized in the same controller. Likewise, the sensors 114 may be implemented separately. It is also possible that an additional provider unit is in the mobile navigation device 112 and an additional ADAS horizon to the vehicle 10 received _5 (see sixth embodiment). This further redundancy for the calculation of the ADAS-horizon and errors in the transmission results (eg on the map, or ADAS-horizon) can be detected by a not for map area suitable end ADAS horizon. 30

If the vehicle 10 in addition to the above-described navigation unit 112 already built

30 Navigation device available, so it is conceivable that the information of the built-in navigation device be enriched by data from the mobile navigation unit 112, if this information is not available in the installed device to 5 available. Characterized in addition, a comparison of the

Map sections are created by incorporating GPS and mobile navigation unit 112 and error in the map are revealed. This redundancy of information leads to increased safety compared with LO only a card source.

It is also conceivable that the mobile navigation device 112 the ADAS Horizon not calculated itself but sends the location to a server and this calculates the ADAS Horizon, L5 which is then transmitted to the mobile navigation device 112 and forwards them to the vehicle 10 becomes.

To ensure that the card details are safe and> 0 trustworthy, these via cryptographic methods to authenticate. For this purpose, for example, a

must be the vehicle manufacturer to place a key which encrypts the data and / or certified in order to be accepted by the vehicle 10 or the provider unit 113 _5. If the card data is not authenticated, then the data can still be used under some circumstances if they were a pre-defined period of time is confirmed by the (Business environment) sensor data. This ensures that the mobile navigation devices comply with certain quality standards 30, otherwise they will not get a key by the vehicle manufacturer.

31 If two or more different mobile navigation devices connected (eg a PNA ( "Portable Navigation Assistant" / mobile navigation system) and a mobile phone with navigation function, so the information or 5 position and navigation outputs of these units can be compared. Thus, in addition, the reliability of evaluate information and increase availability.

According to a modification of the second embodiment LO is at the navigation unit 112 to a

Server, which is arranged outside of the vehicle 10 and takes over the function of the above-described navigation unit 112th This constitutes a so-called off-board navigation, in which the data are retrieved via the air interface of the server L5. Such an off-board navigation can be used in place of a navigation device or both types of systems are used in parallel in the mix or.

> 0 The second embodiment with the first

Embodiment methods presented for using dynamic data and map updates are combined.

_5 By this second embodiment, it is possible to use mobile navigation devices or other mobile device with Maps and / or navigation skills as a basis for ADAS Horizon for driver assistance systems. About the cryptographic protection of

30 map data is ensured that a certain

Quality of the map data is maintained and only tested map data can be used.

32 In the following, a third embodiment is described, which is a further development of the preceding embodiments, particularly of the first 5 embodiment.

Figure 4 shows a third embodiment of the vehicle system according to the invention.

LO Referring to Figure 4 only describes the elements that go beyond the illustrated in FIG. 2 Incidentally true the description of Figure 2 here.

If an update via a according to this embodiment

L5 update module 232 digital for a map in a

fed map update provider 225, so this update is stored parallel to the existing map in a version control system 233 of the map update provider 225, so that in addition to the existing map

> 0 card memory 17 or at the Ticket cache memory 26 one or more update versions in the version store 233 are accessible. If the vehicle 10 is now moving in an area relating to one or more of the data stored in the version store 233 updates, then one or all for this area

_5 Relevant updates with the outputs of the sensors 14, preferably the ambient sensors, compared and examined whether the attributes are correct, ie, whether the outputs of the sensors 14 correspond to the updates. Thus, road signs, for example, be checked by video sensor. Of the

30 course of the road can be in my map matching function that is implemented in the map update provider 225, checked. In this map matching can in addition to the sensors 14 and the

33 determined by the position module 18 current vehicle position are used. In addition to the updates also the existing card in the cache memory 26 may also be checked for plausibility as the update. Makes the 5 map matching that of the current traffic situation and the current road coincides more with a road the previous card, then this is used. That is, from the plurality of available maps extracts from the map cache memory 26 and the corresponding updates is

LO that map section is selected as a new map section that best matches the outputs of the sensors 14 and / or the position module 18th After verification, the card is used, respectively, which is better suited to reality. This card is also referred to as "current" and

L5 thus used as a standard. The other versions of the

Map section will however only be discarded if a greater number of confirmations for the "current" version of the map section is done.

> 0 If a navigation desired through an area in which no confirmation of map updates is done, it can either be set by a user option, which card is used, that is, whether the latest version or getting a verified version should be used, or if

? 5 all versions to be used and a path is selected, the results in all cases the goal.

Those map updates, which have passed through the quality assurance process described above, as 30 such marked and provided with a status and / or time stamp, which indicates when the map data have been verified. According to this embodiment may be provided,

34 that these map updates can be used immediately as the current and all previous versions, ie older than the time stamp are discarded.

5 This embodiment has the advantage that a complex quality assurance process can be shortened in advance by verifying or map updates can be omitted. This means that map updates recorded timely and delays can be drastically reduced by pre-conditional LO quality, without lowering the quality of the card and the subsequent back-level applications.

In the following, a fourth embodiment will be described, which L5 described above with the

is embodiments wholly or partially combined.

In connection with the first embodiment has been extensively the fusion of sensor data, in particular

> 0, the fusion of navigation satellite signals with vehicle and / or environmental sensors and telematics receivers described, resulting in a higher quality and accuracy of position determination as well as a lock-up of a dead time of a navigation device, a

to bridge _5 navigation satellite signal sensor.

In the solution described in this embodiment can create the ADAS Horizon even without GPS and map-based vehicle system. Here this 30 embodiment is described with reference to FIG. 2

In this embodiment, the map matching module 29

35 is designed such that it even can provide the necessary input parameters available to the ADAS Horizon Provider 22 when no digital map exists. That is, is a digital card before, as described in the first embodiment 5, then can use the methodology described below, the card data are based, or it may order the redundancy of this data can be achieved, for example, to identify and correct can fault. This merger results in higher availability and quality

LO of ADAS horizon and a redundancy in the ADAS-

Horizon based digital map, which increases the availability and security as an improved ADAS horizon is made possible by a merger of the two sources, as already mentioned above, in connection with the first embodiment

described L5.

This fourth embodiment goes one step further and also provides an ADAS Horizon available when temporarily or permanently without a digital map and / or

> 0 Navigation Satellite signal is available. In this

Case, the map matching module 29 is designed such that it also only on the basis of the sensors 14, in particular the environment sensors necessary for creating the ADAS horizon input parameters.

> 5

For this purpose, this embodiment enables, by means of environmental sensors to obtain a representation of the environment. So video sensors can detect the lane and road signs, provide radar or lidar or ultrasonic sensors

30 data on vehicles or objects in general in the area, etc. This data can be used to create a path prediction (or road forecast).

36 In addition, such as a steering wheel angle sensor, speed sensor, yaw rate sensor, etc., vehicle sensors are used to support the information of environmental sensors on a vehicle model to interpolate or extrapolate 5. These detected by the sensors 14 data is then used as input parameters to create based on these data one ADAS-horizon. This ADAS-horizon may be used to replace a map-based ADAS-horizon if no LO digital card in the vehicle 10 is available.

The so created ADAS Horizon can also be the navigation unit 12 or the navigation module 20 provided, if the current environment is not included in the map data of the navigation unit L5 12th Thus, this environment sensor-based data can be used as a basis for navigation or suppress erroneous navigation information.

> 0 Figure 5 shows a fifth embodiment of the vehicle system of the invention according to the invention. This embodiment can be combined with the embodiments described above.

_5 As described above, the use of digital maps in the driver assistance system, it is converted to an ADAS horizon. This is of the ADAS Horizon Provider 322, a virtual ADAS Horizon via sequential update via a CAN bus 334 or other

sent 30 vehicle bus to connected devices and this assembled by the ADAS Horizon reconstruction module 330 to a virtual horizon, as shown in Figure 5

37 shown.

All information on the nature of the virtual horizon or ADAS horizon must 322 be present in this procedure in 5 ADAS Horizon Provider. additional

Information that this is not available, can only be added to 335 on the ADAS-application level.

According to this fifth embodiment of present

LO additional information that is useful for the virtual horizon, inserted in ADAS Horizon reconstruction module 330 in the virtual horizon on the ADAS application program interface (API "Application Program Interface") and the ADAS Horizon reconstruction module 330

L5 provided. Preferably, this insertion is done in the field of data storage manager ( "data disturb manager") 336, a horizon-data memory ( "horizon data disturb") 337 and a Positionsextrapolierers ( "position extrapolator") 338. At these locations, additional information for

> 0, the adjustment or change in ADAS-horizon to be considered. Here meet the modules of the data storage manager 336, the horizon data store 337 and the 338 Positionsextrapolierers the current system definition of ADASIS Forum. If a change of

_5 System definition or use a different system configuration, the insertion occurs at then appropriate places of the ADAS Horizon reconstruction module.

For example, an environment sensor detect that 30 additional properties are located on the road and how far apart these to the vehicle, as well as their speed. This information is in the current ADASIS Architecture

38 preferably inserted in the data storage manager 336th

In addition, a sensor may detect environmental information on road conditions. This can be detected for example by 5 a braking operation of an electronic braking system, a low coefficient of friction. About a rain sensor or moisture operated wipers can be detected. A potential icing of the road can be seen from the combination of temperature near the freezing point and passing a LO bridge, etc.

Furthermore, over a traffic message channel (TMC = "Traffic Message Channel") or real-time traffic information (RTTI = "Real Time Traffic Information") L5 information about traffic jams, road closures, etc. recorded and in the area of ​​data storage manager 336 during handling of the ADAS -Horizonts be considered.

In addition, a telematics service extra> 0 information about traffic flow and additional information about some or all of POIs ( "Points of Information") are obtained and taken into account in the area of ​​data storage manager 336 in the modification of the ADAS horizon.> 5

Alternatively, is closed from the expenditure of ambient sensors on traffic flow. In this context it is possible for example with the aid of radar close to moving traffic, appropriate distance between vehicles at the same time the vehicle speed is low and 30 low. Further, the detected by environment sensors traffic flow can be used to determine the appropriate airspeed of own

39 Vehicle 10 predict.

By using additional information within the ADAS Horizon reconstruction module 330 dynamic 5 data can be considered that by the ADAS-

are Horizon Provider 322, which is often provided in separate Navigation System, disregarded or can not be considered. Since the data are already incorporated in the ADAS Horizon reconstruction module 330, LO must not change more in the ADAS application 335 done so are these dynamic data all the ADAS horizon reconstruction module downstream systems.

L5 6 shows a sixth embodiment of the vehicle system of the invention according to the invention. This embodiment can be combined with the preceding embodiments. To avoid repetition, only those aspects are described, which

> 0 differ from the preceding embodiments.

the navigation unit 12 is addition in this embodiment, provided with its own ADAS Horizon Provider 440, on the map data in the balanced

_5 Navigation unit 12 and the part of the navigation unit 12 provided current vehicle position provides an ADAS horizon. This ADAS Horizon is passed from the navigation unit 12 to the Provider Unit. 13 Within the provider unit 13 is a ADAS-

30 Horizon reconstruction module 441 is provided which receives the ADAS Horizon from ADAS Horizon Provider 440 processed accordingly (eg decompressed) and to the

40 Provider unit 13 provided ADAS Horizon Provider 22 passes. The ADAS Horizon Provider also receives separate outputs of the sensors 14 and possibly additionally from the satellite signal receiver 15. If 12 provided an ADAS horizon available from the 5 navigation unit, then these ADAS Horizon is modified based on the outputs of the sensors 14, 15 , that is improved, and then output to the ADAS-horizon reconstruction module 30 of the driver assistance system sixteenth The remaining elements of

LO the previous embodiments are not illustrated in Figure 6 and also not mentioned here for the sake of clarity, but should be explicitly noted that these elements may be provided at the appropriate locations and in the context of this embodiment, only the

L5 in addition to the elements provided are described, ie for example between the ADAS Horizon Provider 440 and the ADAS Horizon Provider 22 next to the ADAS-

Horizon reconstruction module also the map cache 26, the local card module 28, the map-matching module 29 and

can be> 0 the map update provider 25 etc provided.

It is explicitly pointed out that characteristics which have been described with reference to one of the above embodiments or the above developments, in combination with features _5 other above-described

Embodiments or further developments can be combined. Reference signs in the claims should not be construed as limiting.

30 The applicant expressly reserves the right to use the features defined in apparatus claims as a basis for appropriately formulated process features.

41