EP3631779B1 - Method, devices, and computer-readable storage medium comprising instructions for determining applicable traffic regulations for a motor vehicle - Google Patents

Description

The present invention relates to methods, devices and a computer-readable storage medium with instructions for determining applicable traffic regulations for a motor vehicle. The invention further relates to a motor vehicle in which a method or device according to the invention is used.

In modern vehicles, drivers are often provided with information about traffic signs on the side of the road or about current speed limits or overtaking bans, for example by displaying them on a screen instrument or a head-up display in the vehicle. In addition, this information can also be used by a wide variety of control units in the vehicle, for example to automatically regulate the vehicle speed or to warn of unauthorized overtaking maneuvers. With regard to autonomous or semi-autonomous driving, the reliable availability of such information is essential.

There are currently two main approaches to providing information on traffic signs or traffic rules currently applicable to a vehicle. A first approach is based on the use of navigation maps on which traffic signs are marked. A second approach is traffic sign recognition using camera systems.

For example, the DE 10 2013 013 799 A1 an assistance system that supports a driver during an overtaking maneuver by determining whether the overtaking maneuver can be completed safely based on the difference in speed to the vehicle to be overtaken and taking into account the remaining overtaking distance. The remaining overtaking distance can be determined using traffic sign recognition or GPS-based maps.

The DE 10 2007 034 505 A1 describes a method for traffic sign recognition. Based on provided image data, traffic sign recognition is carried out using a country-specific traffic sign database with at least partially country-specific classification features or at least partially country-specific classification methods. If the If the traffic sign recognition results in a poor quality, the traffic sign recognition is repeated using another alternative country-specific traffic sign database using saved image regions with detected traffic signs. This is repeated until the traffic sign recognition result shows sufficient quality. The country-specific traffic sign database is then preset for further traffic sign recognitions for which at least sufficient quality was determined during the traffic sign recognition.

From the DE 10 2008 043 756 A1 A method for providing traffic sign information is known. In a first step, traffic sign data is stored in the vehicle. Stored traffic sign data is then assigned to a current position of a vehicle. Finally, traffic sign information is provided based on the traffic sign data that is assigned to the current position of the vehicle. The traffic sign data can be queried section by section from an online service based on position information of the vehicle.

A disadvantage of camera-based solutions is their limited range, i.e. predictive detection of traffic signs is only possible to a limited extent. In addition, the reliability of detection decreases with increasing vehicle speed.

A disadvantage of solutions based on navigation maps is that these maps must always be up-to-date, meaning that the maps must be continually updated, for example through online updates. The required maps incur licensing costs and are usually only sold together with a navigation function. This results in additional costs for the user.

The DE 102 10 546 A1 describes a method for automatic vehicle guidance in which infrastructure data is transmitted wirelessly to the vehicle and commands for vehicle guidance are calculated based on the infrastructure data. The infrastructure data is loaded into the vehicle's own memory for at least one section of the route immediately ahead. The current position of the vehicle is continuously determined using a precise positioning system. The commands are then calculated based on the position data and the stored infrastructure data.

The US 9,539,901 B1 describes a method for warning about speed limits. The method uses a current location of a user who is traveling in a vehicle. Based on the current location, a posted speed limit is determined for the vehicle. This is compared with a measured speed of the vehicle. If the posted speed limit is exceeded by too much, an acoustic or visual warning is given.

It is an object of the invention to provide further solutions for determining applicable traffic regulations for a motor vehicle, which enable a reliable provision of the desired information without having to keep a map in the motor vehicle.

This object is achieved by a method having the features of claim 1 or 3, by a computer-readable storage medium with instructions according to claim 8 and by a device having the features of claim 9 or 10. Preferred embodiments of the invention are the subject of the dependent claims.

• Übermitteln zumindest einer Position und einer Bewegungsrichtung des Kraftfahrzeugs an ein Backend durch eine Übertragungseinrichtung des Kraftfahrzeugs; und
• Empfangen von Angaben zu an der Position des Kraftfahrzeugs geltenden Verkehrsregeln durch die Übertragungseinrichtung;

wobei die Angaben zu den an der Position des Kraftfahrzeugs geltenden Verkehrsregeln zumindest eine Gültigkeitsdistanz beinhalten, die eine minimale Entfernung bis zu einer Änderung der geltenden Verkehrsregeln angibt, und wobei bei Erreichen der minimalen Entfernung das Übermitteln zumindest einer Position und einer Bewegungsrichtung des Kraftfahrzeugs an das Backend erneut durchgeführt wird.According to a first aspect of the invention, a method for determining applicable traffic regulations for a motor vehicle comprises the steps:

• Transmitting at least one position and one direction of movement of the motor vehicle to a backend through a transmission device of the motor vehicle; and
• Receiving information on traffic regulations applicable at the position of the motor vehicle through the transmission device;

wherein the information on the traffic regulations applicable at the position of the motor vehicle includes at least one validity distance which indicates a minimum distance until a change in the applicable traffic regulations, and wherein, when the minimum distance is reached, the transmission of at least one position and one direction of movement of the motor vehicle to the backend is carried out again.

• Übermitteln zumindest einer Position und einer Bewegungsrichtung des Kraftfahrzeugs an ein Backend durch eine Übertragungseinrichtung des Kraftfahrzeugs; und
• Empfangen von Angaben zu an der Position des Kraftfahrzeugs geltenden Verkehrsregeln durch die Übertragungseinrichtung;

wobei die Angaben zu den an der Position des Kraftfahrzeugs geltenden Verkehrsregeln zumindest eine Gültigkeitsdistanz beinhalten, die eine minimale Entfernung bis zu einer Änderung der geltenden Verkehrsregeln angibt, und wobei bei Erreichen der minimalen Entfernung das Übermitteln zumindest einer Position und einer Bewegungsrichtung des Kraftfahrzeugs an das Backend erneut durchgeführt wird.According to a further aspect of the invention, a computer-readable storage medium contains instructions which, when executed by a computer, cause the computer to perform the following steps for determining applicable traffic regulations for a motor vehicle:

• Transmitting at least one position and one direction of movement of the motor vehicle to a backend through a transmission device of the motor vehicle; and
• Receiving information on traffic regulations applicable at the position of the motor vehicle through the transmission device;

wherein the information on the traffic regulations applicable at the position of the motor vehicle includes at least one validity distance which indicates a minimum distance until a change in the applicable traffic regulations, and wherein, when the minimum distance is reached, the transmission of at least one position and one direction of movement of the motor vehicle to the backend is carried out again.

The term computer is to be understood broadly. In particular, it also includes control units and other processor-based data processing devices.

• eine Übertragungseinrichtung zum Übermitteln zumindest einer Position und einer Bewegungsrichtung des Kraftfahrzeugs an ein Backend und zum Empfangen von Angaben zu an der Position des Kraftfahrzeugs geltenden Verkehrsregeln; und
• eine Datenverarbeitungseinheit zum Auswerten der Angaben zu den an der Position des Kraftfahrzeugs geltenden Verkehrsregeln;

wobei die Angaben zu den an der Position des Kraftfahrzeugs geltenden Verkehrsregeln zumindest eine Gültigkeitsdistanz beinhalten, die eine minimale Entfernung bis zu einer Änderung der geltenden Verkehrsregeln angibt, und wobei die Übertragungseinrichtung eingerichtet ist, das Übermitteln zumindest einer Position und einer Bewegungsrichtung des Kraftfahrzeugs an das Backend bei Erreichen der minimalen Entfernung erneut durchzuführen.According to a further aspect of the invention, a device for determining applicable traffic regulations for a motor vehicle comprises:

• a transmission device for transmitting at least one position and one direction of movement of the motor vehicle to a backend and for receiving information on traffic regulations applicable at the position of the motor vehicle; and
• a data processing unit for evaluating the information on the traffic regulations applicable at the position of the motor vehicle;

wherein the information on the traffic regulations applicable at the position of the motor vehicle includes at least one validity distance which indicates a minimum distance until a change in the applicable traffic regulations, and wherein the transmission device is configured to transmit at least one position and one direction of movement of the motor vehicle to the backend again when the minimum distance is reached.

With regard to a method that can be used in a motor vehicle or a device that can be installed in a motor vehicle, only the position and direction of movement are recorded in the motor vehicle and transmitted to a backend. Based on this information, the backend determines details of the applicable traffic regulations, which are then transmitted to the motor vehicle. The motor vehicle therefore does not need sensors to detect traffic signs or special, always up-to-date map information, which leads to significant cost savings. The traffic regulations are queried again when a validity distance is reached, which indicates a minimum distance until the applicable traffic regulations change. In this way, only manageable amounts of data need to be transmitted, so that data transmission between the motor vehicle and the backend is very efficient.

According to one aspect of the invention, a history of positions of the motor vehicle is transmitted to the backend. The history of positions, ie a trace of past Waypoints are extremely helpful for correctly assigning the vehicle position to a road, especially to the correct lane in the case of multi-lane roads.

• Empfangen von zumindest einer Position und einer Bewegungsrichtung des Kraftfahrzeugs;
• Bestimmen von Angaben zu an der Position des Kraftfahrzeugs geltenden Verkehrsregeln; und
• Übermitteln der Angaben zu den an der Position des Kraftfahrzeugs geltenden Verkehrsregeln an das Kraftfahrzeug;

wobei die Angaben zu den an der Position des Kraftfahrzeugs geltenden Verkehrsregeln zumindest eine Gültigkeitsdistanz beinhalten, die eine minimale Entfernung bis zu einer Änderung der geltenden Verkehrsregeln angibt.According to a further aspect of the invention, a method for determining applicable traffic regulations for a motor vehicle comprises the steps:

• Receiving at least one position and one direction of movement of the motor vehicle;
• Determining information on traffic regulations applicable at the location of the motor vehicle; and
• Transmitting to the motor vehicle information on the traffic regulations applicable at the motor vehicle’s location;

whereby the information on the traffic regulations applicable at the position of the motor vehicle includes at least a validity distance which indicates a minimum distance until a change in the applicable traffic regulations.

• Empfangen von zumindest einer Position und einer Bewegungsrichtung des Kraftfahrzeugs;
• Bestimmen von Angaben zu an der Position des Kraftfahrzeugs geltenden Verkehrsregeln; und
• Übermitteln der Angaben zu den an der Position des Kraftfahrzeugs geltenden Verkehrsregeln an das Kraftfahrzeug;

wobei die Angaben zu den an der Position des Kraftfahrzeugs geltenden Verkehrsregeln zumindest eine Gültigkeitsdistanz beinhalten, die eine minimale Entfernung bis zu einer Änderung der geltenden Verkehrsregeln angibt.According to a further aspect of the invention, a computer-readable storage medium contains instructions which, when executed by a computer, cause the computer to perform the following steps for determining applicable traffic regulations for a motor vehicle:

• Receiving at least one position and one direction of movement of the motor vehicle;
• Determining information on traffic regulations applicable at the location of the motor vehicle; and
• Transmitting to the motor vehicle information on the traffic regulations applicable at the motor vehicle’s location;

whereby the information on the traffic regulations applicable at the position of the motor vehicle includes at least a validity distance which indicates a minimum distance until a change in the applicable traffic regulations.

The term computer is also to be understood broadly here. In particular, it also includes workstations, distributed systems and other processor-based data processing devices.

• eine Übertragungseinrichtung zum Empfangen von zumindest einer Position und einer Bewegungsrichtung des Kraftfahrzeugs und zum Übermitteln von Angaben zu an der Position des Kraftfahrzeugs geltenden Verkehrsregeln an das Kraftfahrzeug; und
• eine Recheneinheit zum Bestimmen der Angaben zu den an der Position des Kraftfahrzeugs geltenden Verkehrsregeln;

wobei die Recheneinheit eingerichtet ist, die Angaben zu den an der Position des Kraftfahrzeugs geltenden Verkehrsregeln zumindest mit einer Gültigkeitsdistanz zu versehen, die eine minimale Entfernung bis zu einer Änderung der geltenden Verkehrsregeln angibt.According to a further aspect of the invention, a device for determining applicable traffic regulations for a motor vehicle comprises:

• a transmission device for receiving at least one position and one direction of movement of the motor vehicle and for transmitting information on traffic regulations applicable at the position of the motor vehicle to the motor vehicle; and
• a computing unit for determining the information on the traffic regulations applicable at the position of the motor vehicle;

wherein the computing unit is configured to provide the information on the traffic regulations applicable at the position of the motor vehicle with at least a validity distance which indicates a minimum distance until a change in the applicable traffic regulations.

With regard to a method that can be used in a backend or a device that can be installed in a backend, the backend only receives the position and direction of movement of a motor vehicle. Based on this information, the backend determines details of the applicable traffic regulations, which are then transmitted to the motor vehicle. In order to keep the required data volume low, the backend also determines a validity distance and transmits it to the motor vehicle, which indicates a minimum distance until the applicable traffic regulations change. A query of the traffic regulations by the motor vehicle can then be made based on the validity, so that no more queries than necessary are received by the backend.

• Zuordnen der Position des Kraftfahrzeugs zu einer Straße in einem Straßennetz;
• Ermitteln von für die Straße an der Position des Kraftfahrzeugs geltenden Verkehrsregeln; und
• Ermitteln von zumindest einer Entfernung im Straßennetz bis zu einer Änderung der geltenden Verkehrsregeln.

According to one aspect of the invention, determining the information on the traffic regulations applicable at the position of the motor vehicle comprises the steps:

• Assigning the position of the motor vehicle to a road in a road network;
• Determining traffic regulations applicable to the road at the position of the motor vehicle; and
• Determine at least one distance in the road network until a change in the applicable traffic regulations.

After the position of the vehicle has been assigned to a road in a road network, i.e. in a map, the desired information on traffic regulations can be taken directly from the map data. In addition, possible routes can be checked for changes in traffic regulations using the map. This makes it easy to determine up to which future vehicle positions no further query of traffic regulations by the vehicle is required.

According to one aspect of the invention, the information on the traffic regulations applicable at the position of the motor vehicle includes several distances until a change in the applicable traffic rules for different routes. In this case, the transmission of at least one position and one direction of movement of the motor vehicle to the backend is carried out again when a distance contained in the validity information is reached. This approach requires a very small number of queries, so that the data volume generated is very low. In addition, no permanent data connection is necessary.

According to one aspect of the invention, the information on the traffic regulations applicable at the position of the motor vehicle includes detailed information on at least one intersection. With the help of the detailed information, e.g. an intersection model or an intersection network, a certain degree of foresight can be achieved in the event of latencies in the request to the backend, so that the reliability of the method is further increased.

According to one aspect of the invention, the traffic rules applicable at the position of the motor vehicle describe a speed limit, a right of way or a ban on overtaking. This covers typical cases of traffic rules that apply over longer stretches of road and are therefore particularly suitable for the application of the solutions described.

Preferably, a method according to the invention or a device according to the invention is used in a vehicle, in particular a motor vehicle.

Fig. 1

zeigt schematisch ein Verfahren zum Ermitteln von geltenden Verkehrsregeln für ein Kraftfahrzeug aus Sicht des Kraftfahrzeugs;

Fig. 2

zeigt eine erste Ausführungsform einer Vorrichtung zum Ermitteln von geltenden Verkehrsregeln für ein Kraftfahrzeug, die in einem Kraftfahrzeug verbaut sein kann;

Fig. 3

zeigt eine zweite Ausführungsform einer Vorrichtung zum Ermitteln von geltenden Verkehrsregeln für ein Kraftfahrzeug, die in einem Kraftfahrzeug verbaut sein kann;

Fig. 4

stellt schematisch ein Kraftfahrzeug dar, in dem eine erfindungsgemäße Lösung realisiert ist;

Fig. 5

zeigt schematisch ein Verfahren zum Ermitteln von geltenden Verkehrsregeln für ein Kraftfahrzeug aus Sicht eines Backends;

Fig. 6

zeigt nähere Details zum Bestimmen der Angaben zu den an der Position des Kraftfahrzeugs geltenden Verkehrsregeln;

Fig. 7

zeigt eine erste Ausführungsform einer Vorrichtung zum Ermitteln von geltenden Verkehrsregeln für ein Kraftfahrzeug, die in einem Backend verbaut sein kann;

Fig. 8

zeigt eine zweite Ausführungsform einer Vorrichtung zum Ermitteln von geltenden Verkehrsregeln für ein Kraftfahrzeug, die in einem Backend verbaut sein kann;

Fig. 9

veranschaulicht ein System zum Ermitteln von geltenden Verkehrsregeln für ein Kraftfahrzeug;

Fig. 10

illustriert zwei vorteilhafte Algorithmen, die im System aus Fig. 9 implementiert sein können;

Fig. 11

zeigt ein Kreuzungsmodell, das im Rahmen von Angaben zu geltenden Verkehrsregeln an ein Kraftfahrzeug übermittelt werden kann;

Fig. 12

veranschaulicht einen ersten Iterationsschritt einer Bestimmung einer Gültigkeitsdistanz einer Geschwindigkeitsbegrenzung;

Fig. 13

veranschaulicht einen zweiten Iterationsschritt der Bestimmung einer Gültigkeitsdistanz einer Geschwindigkeitsbegrenzung; und

Fig. 14

illustriert ein Endergebnis der Bestimmung einer Gültigkeitsdistanz einer Geschwindigkeitsbegrenzung.

Further features of the present invention will become apparent from the following description and the appended claims taken in conjunction with the figures.

Fig. 1

shows schematically a method for determining applicable traffic regulations for a motor vehicle from the perspective of the motor vehicle;

Fig. 2

shows a first embodiment of a device for determining applicable traffic regulations for a motor vehicle, which can be installed in a motor vehicle;

Fig. 3

shows a second embodiment of a device for determining applicable traffic regulations for a motor vehicle, which can be installed in a motor vehicle;

Fig. 4

schematically represents a motor vehicle in which a solution according to the invention is implemented;

Fig. 5

shows schematically a method for determining applicable traffic rules for a motor vehicle from the perspective of a backend;

Fig. 6

shows further details for determining the information on the traffic regulations applicable at the location of the motor vehicle;

Fig. 7

shows a first embodiment of a device for determining applicable traffic regulations for a motor vehicle, which can be installed in a backend;

Fig. 8

shows a second embodiment of a device for determining applicable traffic regulations for a motor vehicle, which can be installed in a backend;

Fig. 9

illustrates a system for determining applicable traffic rules for a motor vehicle;

Fig. 10

illustrates two advantageous algorithms that are used in the system of Fig. 9 can be implemented;

Fig. 11

shows an intersection model that can be transmitted to a motor vehicle as part of information on applicable traffic regulations;

Fig. 12

illustrates a first iteration step of determining a validity distance of a speed limit;

Fig. 13

illustrates a second iteration step of determining a validity distance of a speed limit; and

Fig. 14

illustrates a final result of determining a validity distance of a speed limit.

For a better understanding of the principles of the present invention, embodiments of the invention are explained in more detail below with reference to the figures. It is to be understood that the invention is not limited to these embodiments and that the described features may also be combined or modified without departing from the scope of the invention as defined in the appended claims.

Fig. 1 shows a schematic of a method for determining applicable traffic regulations for a motor vehicle from the perspective of the motor vehicle. First, the position and direction of movement of the motor vehicle are determined 10. The position and direction of movement of the motor vehicle are then transmitted to a backend 11 by a transmission device of the motor vehicle. It can be provided that a history of positions of the motor vehicle is transmitted to the backend. In response to the information transmitted to the backend, information on traffic regulations applicable at the position of the motor vehicle is finally received by the transmission device 12, for example information on a speed limit, right of way or a ban on overtaking. The transmission 11 of the position and direction of movement of the motor vehicle to the backend takes place depending on information on the validity of the traffic regulations, which is contained in the information on the traffic regulations applicable at the position of the motor vehicle and contains at least a distance until a change in the applicable traffic regulations. The information on validity can also contain several distances until a change in the applicable traffic regulations for different routes. In this case, the query for the applicable traffic regulations at the backend is preferably only carried out again when a distance contained in the validity information is reached. In addition, the information on the traffic regulations applicable at the position of the vehicle can include detailed information on intersections.

Fig. 2 shows a simplified schematic representation of a first embodiment of a device 20 for determining applicable traffic regulations for a motor vehicle, which can be installed in a motor vehicle. The device 20 has an input 21 for receiving information on the position and direction of movement of the motor vehicle, for example from a navigation system, or data that allow the position and direction of movement of the motor vehicle to be determined. A tracking unit 22 extracts or determines the position and direction of movement of the motor vehicle from the received data and selects the data that are to be transmitted to a backend. A transmission device 23 transmits the selected data, ie the position and direction of movement of the motor vehicle, to the backend. It can be provided that the transmission device 23 transmits a history of positions of the motor vehicle to the backend. In addition, the transmission device 23 receives from the backend Information on traffic regulations applicable at the position of the motor vehicle, for example information on a speed limit, right of way or a no-overtaking rule. The transmission device 23 is set up to transmit the position and direction of movement of the motor vehicle to the backend depending on information on the validity of the traffic regulations, which is contained in the information on the traffic regulations applicable at the position of the motor vehicle and contains at least a distance until a change in the applicable traffic regulations. The information on validity can also contain several distances until a change in the applicable traffic regulations for different routes. In this case, the query of the applicable traffic regulations at the backend is preferably only carried out again when a distance contained in the information on validity is reached. In addition, the information on the traffic regulations applicable at the position of the motor vehicle can include detailed information on intersections. A data processing unit 24 evaluates the received information on the traffic regulations applicable at the position of the motor vehicle. The data generated by the data processing unit 24 are preferably made available for further use via an output 26 of the device 20. The tracking unit 22, the transmission device 23 and the data processing unit 24 can be controlled by a control unit 25. Settings of the tracking unit 22, the transmission device 23, the data processing unit 24 or the control unit 25 can be changed via a user interface 28. The data generated in the device 20 can be stored in a memory 27 of the device 20, for example for later evaluation or for use by the components of the device 20. The tracking unit 22, the transmission device 23, the data processing unit 24 and the control unit 25 can be implemented as dedicated hardware, for example as integrated circuits. Of course, they can also be partially or completely combined or implemented as software that runs on a suitable processor, for example on a GPU. The input 21 and the output 26 can be implemented as separate interfaces or as a combined bidirectional interface.

Fig. 3 shows a simplified schematic representation of a second embodiment of a device 30 for determining applicable traffic regulations for a motor vehicle, which can be installed in a motor vehicle. The device 30 has a processor 32 and a memory 31. For example, the device 30 is a computer or a control unit. Instructions are stored in the memory 31 which, when executed by the processor 32, cause the device 30 to carry out the steps according to one of the described methods. The instructions stored in the memory 31 Instructions thus embody a program that can be executed by the processor 32 and that implements the method according to the invention. The device has an input 33 for receiving information, for example data that has been recorded by a sensor system of the motor vehicle. Data generated by the processor 32 is provided via an output 34. In addition, it can be stored in the memory 31. The input 33 and the output 34 can be combined to form a bidirectional interface.

The processor 32 may include one or more processing units, such as microprocessors, digital signal processors, or combinations thereof.

The memories 27, 31 of the described embodiments can have both volatile and non-volatile memory areas and can comprise a wide variety of storage devices and storage media, for example hard disks, optical storage media or semiconductor memories.

Fig. 4 schematically shows a motor vehicle 40 in which a solution according to the invention is implemented. The motor vehicle 40 has, among other things, a navigation system 41 and an environmental sensor system 42, for example a camera system. The data recorded by the navigation system 41 and, if applicable, the data recorded by the environmental sensor system 42 are transmitted via a network 43 to a device 20 for determining applicable traffic regulations for the motor vehicle. In addition, they can be stored in a memory 44 of the motor vehicle 40. If required, the data is transmitted from the device 20 to a backend for evaluation by means of a communication unit 45. The information on the traffic regulations applicable to the motor vehicle transmitted by the backend in response to the sent data is communicated to the driver by means of a user interface 47, for example an infotainment system with a display device. In addition, they can be made available to a driver assistance system 46 of the motor vehicle 40, for example for automatically regulating the vehicle speed.

Fig. 5 shows a schematic of a method for determining applicable traffic rules for a motor vehicle from the perspective of a backend. In a first step, at least one position and one direction of movement of the motor vehicle are received 50. Based on the information received, information on traffic rules applicable at the position of the motor vehicle is then determined 51, for example information on a speed limit, right of way or a ban on overtaking. The information on the traffic rules applicable at the position of the motor vehicle includes information on the validity of the traffic regulations, which includes at least a distance until a change in the applicable traffic regulations. The information on validity can also describe a spatial validity, in particular a spatial validity dependent on a route. In addition, the information on the traffic regulations applicable at the position of the motor vehicle can include detailed information on intersections. The information on the traffic regulations applicable at the position of the motor vehicle is finally transmitted to the motor vehicle 52.

Fig. 6 shows further details for determining the information on the traffic regulations applicable at the position of the motor vehicle. In a first step, the position of the motor vehicle is assigned 60 to a road in a road network. The traffic regulations that apply to the road at the position of the motor vehicle are then determined 61. In addition, at least one validity distance is determined 62, ie a distance in the road network until a change in the applicable traffic regulations.

Fig. 7 shows a simplified schematic representation of a first embodiment of a device 70 for determining applicable traffic regulations for a motor vehicle, which can be installed in a backend. The device 70 has a first interface 71, via which a transmission device 72 can receive information on at least one position and one direction of movement of the motor vehicle. Via the first interface, the transmission device 72 can also transmit information on traffic regulations applicable at the position of the motor vehicle to the motor vehicle, for example information on a speed limit, right of way or a no-overtaking zone. Based on the information received from the transmission device 72, a location unit 73 locates the motor vehicle on a map. The map can be provided by an external database via a second interface 76. On the basis of the location, a computing unit 74 determines the desired information on the traffic regulations applicable at the position of the motor vehicle. The computing unit 74 is set up to provide the information on the traffic regulations applicable at the position of the motor vehicle with information on the validity of the traffic regulations, which includes at least a distance until a change in the applicable traffic regulations. The information on the validity can also describe a spatial validity, in particular a spatial validity dependent on a route. In addition, the information on the traffic regulations applicable at the position of the motor vehicle can include detailed information on intersections. The transmission device 72, the location unit 73 and the computing unit 74 can be controlled by a control unit 75. Settings can be made via a user interface 78 if necessary. the transmission device 72, the location unit 73, the computing unit 74 or the control unit 75. The data generated in the device 70 can be stored in a memory 77 of the device 70, for example for later evaluation or for use by the components of the device 70. The transmission device 72, the location unit 73, the computing unit 74 and the control unit 75 can be implemented as dedicated hardware, for example as integrated circuits. Of course, they can also be partially or completely combined or implemented as software that runs on a suitable processor, for example on a GPU. The first interface 71 and the second interface 76 can be implemented as separate interfaces or as a combined interface.

Fig. 8 shows a simplified schematic representation of a second embodiment of a device 80 for determining applicable traffic regulations for a motor vehicle, which can be installed in a backend. The device 80 has a processor 82 and a memory 81. For example, the device 80 is a computer or a workstation. Instructions are stored in the memory 81 which, when executed by the processor 82, cause the device 80 to carry out the steps according to one of the described methods. The instructions stored in the memory 81 thus embody a program which can be executed by the processor 82 and which implements the method according to the invention. The device has an input 83 for receiving information, for example from a data packet which was transmitted by a motor vehicle. Data generated by the processor 82 are provided via an output 84. In addition, they can be stored in the memory 81. The input 83 and the output 84 can be combined to form a bidirectional interface.

The processor 82 may include one or more processing units, such as microprocessors, digital signal processors, or combinations thereof.

The memories 77, 81 of the described embodiments can have both volatile and non-volatile memory areas and can comprise a wide variety of storage devices and storage media, for example hard disks, optical storage media or semiconductor memories.

In the following, a preferred embodiment of the invention will be described with reference to Figures 9 to 14 In the example, a speed limit for the vehicle is determined. The same principle can also be used for priority rules or overtaking bans, for example. When used for priority rules, no currently valid speed is transmitted, but rather the status of the road, for example superior or subordinate, as well as the validity distance. With regard to overtaking bans, the admissibility of overtaking maneuvers is transmitted along with the validity distance, for example permitted, prohibited, prohibited for certain vehicle classes or prohibited with exceptions.

Fig. 9 illustrates a system for determining applicable traffic regulations for a motor vehicle 40. The system comprises the motor vehicle 40 and a backend 90. In addition to a device 20 for determining applicable traffic regulations, the motor vehicle 40 has a navigation system 41, a driver assistance system 46 and a user interface 47. The backend comprises at least one device 70 for determining applicable traffic regulations and a database 91 with map data and traffic regulation information. The map material can be in NDS format (NDS: Navigation Data Standard), for example. The motor vehicle 40 sends its current position with a trace, i.e. with at least one waypoint from the past, and its direction to the backend 90. This data can be provided by the navigation system 41, for example. The backend 90 uses this information to assign the motor vehicle 40 to a road. For this purpose, the map material from the database 91 is made available to the device 70 for determining applicable traffic regulations. Based on the assignment, the currently valid speed limit for the motor vehicle 40 is determined and transmitted to the motor vehicle 40. In addition, a validity distance for the speed limit and at least one subsequent speed limit can also be determined and transmitted. This can be done in particular taking possible route decisions into account. The current speed limit determined by the device 20 from the received data can be shown on a display of the user interface 47. In addition, the speed limit and possibly also subsequent speed limits can be made available to the driver assistance system 46. If the subsequent speed limits are route-dependent, information on the selected route can be provided by the navigation system 41 if required. In addition, the navigation system 41 can be instructed to restart position tracking as soon as a request for applicable traffic regulations has been transmitted to the backend 90.

Fig. 10 illustrates two advantageous algorithms 92, 93, which are used in the system of Fig. 9 can be implemented. A first algorithm 92 is implemented in the database 91. However, it can also be executed by the device 70 for determining applicable traffic regulations or by a dedicated component of the backend 90. The algorithm 92 is a search algorithm. This determines the speed limit applicable at the position of the motor vehicle 40. In addition, the search algorithm can be able to determine a minimum, possibly route-dependent minimum distance until a change in the speed limit. This will be explained below using the Figures 12 to 14 explained. A further algorithm 93 is implemented in the device 20 arranged in the motor vehicle 40 for determining applicable traffic regulations. This algorithm 93 can also alternatively be carried out by a dedicated component of the motor vehicle 40. The algorithm carries out in particular the selection of those past waypoints that are to be transmitted to the backend 90. Preferably, the past positions are stored in a ring buffer so that the newest waypoint always replaces the oldest waypoint already stored. In this way, only a small amount of storage space is required and at the same time a continuous trace to the current position is provided. The past waypoints should have a certain minimum distance in order to be meaningful. Waypoints immediately before and after a lane change are particularly interesting for the correct assignment of the vehicle position to a road, and in particular to the correct lane in the case of multi-lane roads. Such waypoints are therefore preferably transmitted to the backend 90. Since cornering can be easily recognized based on the steering angle, information on the course of the steering angle can also be provided. Positions with steering angle changes are particularly interesting, for example a curve entry, a crest or a curve exit. It is also possible to transmit the path curvature, which can be calculated from the steering angle, for each waypoint. In addition, the detected lane markings (dashed, solid, double line, none) can also be transmitted. This information can be used to further improve the assignment.

Querying the applicable traffic regulations at Backend 90 can be done in different ways, some of which are explained below.

According to a first implementation variant, the vehicle 40 initially queries the backend 90 for the current speed limit. The backend 90 uses the search algorithm 92 to determine both the current speed limit and the minimum distance until the speed limit changes. Both pieces of information are transmitted to the vehicle 40. The vehicle 40 tracks the route traveled, for example using vehicle sensors, and queries the speed limit again at the backend 90 when the transmitted minimum distance is reached. This variant requires a very small number of queries, so that the data volume generated is very low. In addition, no permanent data connection is necessary. Instead of the minimum distance until a change in the speed limit, several distances for different possible routes can also be transmitted. In other words, the shortest distance to a change in the speed limit is stored under the direction condition of the first intersection encountered. To give an example, if the vehicle 40 turns left at the first intersection in 500 m, the next change is at a distance of 525 m. If the vehicle 40 goes straight at the first intersection in 500 m, the next change is at a distance of 751 m. If the vehicle 40 turns right at the first intersection in 500 m, the next change is at a distance of 612 m. In this case, the vehicle 40 monitors not only the distance traveled but also the chosen route.

According to another variant, the backend 90 transmits a simple intersection model in addition to the current speed limit and the distances until the speed limit changes. An example of such an intersection model is shown in Fig. 11 The intersection is represented by a circle that represents the intersection area. The outgoing intersection arms are represented by their position on the circular ring and by the direction of the arm. For example, the position on the circular ring is given by the position in degrees to the intersection center, while the direction in degrees is used for the direction of the arm. The vehicle 40 can decide which intersection arm to drive on from its own direction. An alternative intersection model uses GPS points to display the intersection arms. By comparing the vehicle position with the GPS points, the vehicle 40 can determine which intersection arm it belongs to. It is also possible for the backend 90 to transmit an intersection network for a defined area. The vehicle 40 then locates itself independently within this network and uses it to determine the current speed limit. With the help of the intersection models or the intersection network, a certain degree of foresight can be achieved in the event of latencies in the query to the backend, so that the reliability of the process is increased.

Fig. 12 illustrates a first iteration step of determining a validity distance of a speed limit. A section of a road network is shown, with the roads represented by solid and dashed lines. The type of dashed line represents the associated speed limit. Roads with a solid line represent those roads that are irrelevant for the given position of the vehicle. The search carried out in the road network corresponds to a tree search. The road network splits into many directions. The shortest path to a speed change in this network is sought. The vehicle is at a position P, which is represented by a circle. The arrow in the circle represents the direction of travel. Another circle VP illustrates a previous position of the vehicle. The vehicle is currently on a road section between two intersections "1" and "2", which could be possible future positions ZP of the vehicle. The speed limit on this road section is 30 km/h. The distance to the next intersection "1" in the direction of travel is now first determined. In addition, the distance to the next intersection "2" against the direction of travel is determined, assuming a turning maneuver at the next intersection "1" in the direction of travel.

In the example, the distance to intersection "1" is 150 m, and the distance to intersection "2" is 450 m. The speed limit does not change on the road sections up to the two intersections. The minimum distance until the speed limit changes is therefore definitely greater than 150 m. The current road section is now marked as already used for the search.

Fig. 13 illustrates a second iteration step of determining a validity distance for a speed limit. Since no change in the speed limit was found, the search for further intersections at which the speed limit could change is continued. Starting from the intersections found in the first iteration, five further intersections "1" to "5" can be reached. Road sections that have already been used are not taken into account in the search, provided that the speed limit applies in both directions and the current route is shorter than the route already used. The distance to intersections "1", "2" and "5" is 200 m each, the distance to intersection "3" is 250 m, and the distance to intersection "4" is 270 m. The speed limit does not change on the road sections up to the intersections. The minimum distance until the speed limit changes is therefore always greater than 350 m, i.e. the Distance from the starting position P to the intersections "1" or "2". The current road sections are now marked as already used for the search.

Fig. 14 illustrates a final result of determining a validity distance of a speed limit. After a few iterations, the search result is as follows. At intersection "1", the speed limit changes to 60 km/h after a total of 550 m. At intersection "3", the speed limit changes to 50 km/h after a total of 700 m. At intersection "4", the speed limit changes to 50 km/h after a total of 720 m. At intersection "5", the speed limit changes to 5 km/h after a total of 650 m.

list of reference symbols

10

Determining position and direction of movement

11

transmitting position and direction of movement

12

Receiving information on applicable traffic regulations

20

device

21

Entrance

22

tracking unit

23

transmission device

24

data processing unit

25

control unit

26

Exit

27

memory

28

user interface

30

device

31

memory

32

processor

33

Entrance

34

Exit

40

motor vehicle

41

navigation system

42

environmental sensors

43

network

44

memory

45

communication unit

46

driver assistance system

47

user interface

50

Receiving position and direction of movement

51

Determining information on applicable traffic regulations

52

Transmission of information on applicable traffic regulations

60

Assigning the position to a street

61

Determining traffic rules applicable to the road

62

Determining a validity distance of the applicable traffic rules

70

device

71

First interface

72

transmission device

73

location unit

74

arithmetic unit

75

control unit

76

Second interface

77

memory

78

user interface

79

database

80

device

81

memory

82

processor

83

Entrance

84

Exit

90

backend

91

database

92

search algorithm

93

algorithm

P

position

VP

Previous Position

ZP

Future Position

Claims (11)

1. Method for determining applicable traffic rules for a motor vehicle (40), having the steps of:

   - transmitting (11) at least a position and a direction of movement of the motor vehicle (40) to a backend (90) by means of a transmission device (23) of the motor vehicle (40); and

   - receiving (12) information on traffic rules applicable at the position of the motor vehicle (40) by means of the transmission device (23);

   characterized in that the information on the traffic rules applicable at the position of the motor vehicle (40) comprises at least a validity distance that indicates a minimum distance until the applicable traffic rules change, and in that, upon reaching the minimum distance, at least a position and a direction of movement of the motor vehicle (40) are transmitted (11) to the backend (90) again.
2. Method according to Claim 1, wherein a history of positions of the motor vehicle (40) is transmitted (11) to the backend (90).
3. Method for determining applicable traffic rules for a motor vehicle (40), having the steps of:

   - receiving (50) at least a position and a direction of movement of the motor vehicle (40);

   - determining (51) information on traffic rules applicable at the position of the motor vehicle (40); and

   - transmitting (52) the information on the traffic rules applicable at the position of the motor vehicle (40) to the motor vehicle (40);

   characterized in that the information on the traffic rules applicable at the position of the motor vehicle (40) comprises at least a validity distance that indicates a minimum distance until the applicable traffic rules change.
4. Method according to Claim 3, wherein the determination (51) of the information on the traffic rules applicable at the position of the motor vehicle (40) comprises the steps of:

   - assigning (60) the position of the motor vehicle (40) to a road in a road network;

   - determining (61) traffic rules applicable to the road at the position of the motor vehicle (40); and

   - determining (62) at least one distance in the road network until the applicable traffic rules change.
5. Method according to one of Claims 1 to 4, wherein the information on the traffic rules applicable at the position of the motor vehicle (40) comprises a plurality of distances until the applicable traffic rules change for different routes.
6. Method according to one of the preceding claims, wherein the information on the traffic rules applicable at the position of the motor vehicle (40) comprises detailed information on at least one intersection.
7. Method according to one of the preceding claims, wherein the traffic rules applicable at the position of the motor vehicle (40) describe a speed limit, a rightof-way or a ban on overtaking.
8. Computer-readable storage medium having instructions which, when executed by a computer, cause the computer to carry out the steps of a method according to one of Claims 1 to 7 for determining applicable traffic rules for a motor vehicle (40).
9. Apparatus (20) for determining applicable traffic rules for a motor vehicle (40), having:

   - a transmission device (23) for transmitting (11) at least a position and a direction of movement of the motor vehicle (40) to a backend (90) and for receiving (12) information on traffic rules applicable at the position of the motor vehicle (40); and

   - a data processing unit (24) for evaluating the information on the traffic rules applicable at the position of the motor vehicle (40);

   characterized in that the information on the traffic rules applicable at the position of the motor vehicle (40) comprises at least a validity distance that indicates a minimum distance until the applicable traffic rules change, and in that the transmission device (23) is configured to transmit (11) at least a position and a direction of movement of the motor vehicle (40) to the backend (90) again upon reaching the minimum distance.
10. Apparatus (70) for determining applicable traffic rules for a motor vehicle (40), having:

    - a transmission device (72) for receiving (50) at least a position and a direction of movement of the motor vehicle (40) and for transmitting (52) information on traffic rules applicable at the position of the motor vehicle (40) to the motor vehicle (40); and

    - a computing unit (74) for determining (51) the information on the traffic rules applicable at the position of the motor vehicle (40);

    characterized in that the computing unit (74) is configured to provide the information on the traffic rules applicable at the position of the motor vehicle (40) at least with a validity distance that indicates a minimum distance until the applicable traffic rules change.
11. Motor vehicle (40) having an apparatus according to Claim 9.

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