DE102022113811A1 - Method for operating an automated motor vehicle for selecting a passage lane of a toll station, computer program, data processing device and automated motor vehicle - Google Patents

Abstract

A method (100) is provided for operating an automated motor vehicle (200) for selecting a passage lane (210, 211, 212) from a plurality of passage lanes (210, 211, 212) of a toll station (220), wherein the method (100) comprising the steps: determining (110) at least one passage lane (211, 212) assigned to an electronic payment system (230) based on passage lane information that can be accessed and/or received on the vehicle side; Determining (120) a lane selection for selecting a transit lane (211, 212) assigned to the electronic payment system (230), wherein in order to determine (120) the lane selection, an output relating to the transit lanes (211, 212) is carried out and a user input relating to the lane selection is recorded , and/or wherein the lane selection is called up on the vehicle side; and operating (130) the automated motor vehicle (200) taking the lane selection into account.

Description

The present invention relates to a method for operating an automated motor vehicle for selecting a passage lane from a plurality of passage lanes of a toll station, and a data processing device which is designed to at least partially carry out the method. Furthermore, an automated motor vehicle with the data processing device is provided. Additionally or alternatively, a computer program is provided which includes commands which, when the program is executed by a computer, cause it to at least partially carry out the method. Additionally or alternatively, a computer-readable medium is provided which includes instructions which, when the instructions are executed by a computer, cause it to at least partially carry out the method.

A toll station typically has a plurality of terminals for paying the toll and thus a plurality of lanes for driving through and/or passing through the terminals. The toll station can therefore be complex and confusing.

In order to support a user and/or driver, it is a requirement for an automated motor vehicle to offer support and/or automation of the longitudinal and lateral guidance of the motor vehicle when driving through the toll station. Furthermore, assistance for driving through drive-through lanes with the option of electronic payment (Electronic Toll Collect, ETC) must be offered.

ETC systems are known from the prior art. For example, map data for a navigation system for navigating the motor vehicle can include information about possible lanes at toll stations where toll payment can be made via ETC.

DE 10 2017 214 493 A1 discloses a method for operating a motor vehicle. The motor vehicle is first driven to a passage area, which is detected by a detection device of the motor vehicle and is on a predetermined route of the motor vehicle, the passage area comprising several lanes, the following steps being required to pass the passage area: checking at least one passage criterion the respective lanes of the passage area by means of a control device of the motor vehicle, wherein the at least one passage criterion influences the passage of the motor vehicle through the passage area in time, and selecting a lane from the plurality of lanes for passing the passage area by means of the control device depending on the detected passage criterion. When selecting the lane, at least one lane criterion can additionally be taken into account, the lane criterion taking into account a payment process at a payment device in the respective lane and/or a dimension of the lane and/or a lane limited to a vehicle type. A payment preference can be specified via an input device in the motor vehicle. Depending on the selected lane, a trajectory through the passage area along the selected lane can be determined. The trajectory can be displayed or output using a display.

However, the selection of the lane is made rigorously on the vehicle side. A differentiated user setting and/or consideration of preferences is only possible before the final lane selection.

Against the background of this prior art, the task of the present disclosure is to provide a method which is suitable for enriching the prior art and improving at least the above-mentioned aspects of the prior art.

The task is solved by the features of the independent claim. The subclaims contain preferred developments of the invention.

The task is then solved by a method for operating an automated motor vehicle for selecting a transit lane from a plurality of transit lanes of a toll station. The method has the steps: determining at least one transit lane assigned to an electronic payment system based on transit lane information that can be accessed and/or received on the vehicle side; Determining a lane selection for selecting a transit lane assigned to the electronic payment system, wherein to determine the lane selection an output relating to the transit lanes is carried out and a user input relating to the lane selection is recorded, and / or wherein the lane selection is called up on the vehicle side; and operating the automated motor vehicle taking lane selection into account.

The toll station has one or more lanes, each with a terminal for paying a toll. One or more of the drive-through lanes can be assigned to the electronic payment system. The terminal on The through lane is set up for electronic toll payment. This means that the toll can be paid electronically in the transit lane assigned to the electronic payment system. Different transit lanes can be assigned to different electronic payment systems. The toll station can have a so-called manual passage lane, to which a terminal for manually paying a toll is assigned.

The passage lane assigned to the electronic payment system can be determined by passage lane information that can be accessed on the vehicle side, i.e. by information that is stored in a vehicle-side memory. For example, map data can be transit lane information that can be accessed from the vehicle. Alternatively or additionally, the passage lane assigned to the electronic payment system is determined by passage lane information received on the vehicle side. For this purpose, the motor vehicle can, for example, receive transit lane information relating to the toll station and/or the transit lanes via a vehicle-side communication interface. This allows the through lane information to be determined efficiently and automatically.

The determined through lane can be selected using the lane selection. The lane selection includes the information as to whether the through lane is selected for driving through and optionally for paying the toll.

An output relating to the determined through lane can be made in order to inform the user about the through lane. The output can be carried out by a vehicle-side output device. To determine the lane selection, a user input can be made, with the lane selection selecting the through lane and/or confirming a preselection of the through lane. The user input can be made via a vehicle-side input device. Alternatively or additionally, the lane selection can be stored in a vehicle-side memory and retrieved from the memory. The lane selection is stored in the vehicle-side memory and concerns the selection of the through lane of the toll station. By determining the lane selection taking the user input into account and/or retrieving the stored lane selection, a more differentiated and comprehensive selection of the transit lane is possible. Lane selection can directly and immediately affect the selection of the through lane. This makes it possible to determine the through lane accurately and in a differentiated manner.

The motor vehicle is operated taking the lane selection into account. With regard to the selected passage lane, the longitudinal and lateral guidance of the motor vehicle can be supported and/or automated.

A plurality of transit lanes, each assigned to an electronic payment system, can be determined and the output is made for each of the transit lanes. In other words, the toll station can have a plurality of transit lanes, with each of the transit lanes being assigned an electronic payment system. By outputting for each transit lane, the user and/or driver can be comprehensively informed about the toll station and the transit lanes and optionally the respective payment system(s). This can improve the selection of the through lane.

User input can be captured in response to output. The output may include a prompt to capture user input in response to the output. For example, the output and user input can be done through a touch display to enable user-friendly user input and output. The output may include a visual representation of the transit lane, toll booth, and/or payment system(s).

A lane selection that can be accessed from the vehicle can be configurable by the user. This allows the user and/or driver to optionally configure and save a selection of the transit lane that relates to their preference before operating the motor vehicle and/or before entering the toll station in order to be able to tailor the selection of the transit lane to the needs of the user and/or driver . The lane selection that can be called up on the vehicle side can be called up on the vehicle side to determine the lane selection.

The lane selection that can be accessed from the vehicle can be configurable by a driving assistance system. In other words, lane selection can be learned by the driving assistance system. When driving through the toll station, the driving assistance system can store information relating to the selection of the respective lane in order to use this information to determine and configure the lane selection. For this purpose, a lane selection of a through lane of one or more additional toll stations can be used in order to be able to make a comprehensive selection. Configuring the lane selection can be done on the vehicle side. Alternatively or additionally, the lane selection can be configured by a server external to the vehicle. For this purpose, the information relating to the transit lane can be transmitted to the server that runs the lane Determine selection and transmit it to the motor vehicle for storage in the vehicle-side memory.

The lane selection may involve a selection of one of several transit lanes. If the toll station includes several transit lanes assigned to the electronic payment system, a selection can be made between the potentially selectable transit lanes. This means that a preferred transit lane can be selected between drive-through lanes that are similar in relation to the payment system.

The transit lane information may include data relating to a payment service provider. Accessible transit lane information may contain data relating to the payment service provider in order to be able to identify the payment service provider and/or to be able to pay the toll electronically. For example, the data relating to the payment service provider may include a user ID, user identification information and/or payment information. Received transit lane information may contain data relating to the payment service provider in order to be able to identify the payment service provider and/or to be able to register and/or authorize the user and/or the motor vehicle. This allows a comprehensive characterization of the electronic payment system to be carried out. This makes it possible to select the through lane in a differentiated manner.

In other words and based on a specific embodiment, which is described as not limiting the present disclosure, what has been described above can be summarized as follows: The basic principle includes an identification of transit lanes with Electronic Toll Collect (ETC) at toll stations, for example The availability or absence of ETC for all lanes of a toll station can be determined from speed profiles in customer fleet data, via V2X, via image recognition by camera sensors based on the signage and/or marking of the toll station passages or from map information. The preferred through lane is selected at an ETC lane at the toll station. When approaching the toll station with an active driving assistance system (FAS), the driver can be assisted in selecting the preferred lane through various options: a. Selection via display/UI: When approaching the toll station with active FAS, the driver is shown all possible lanes. The transit lanes are displayed with an option for ETC. The display can also show additional information about the drive-through lanes, such as clearance height and clearance width. The display shows the through lane targeted by the active ADAS system with longitudinal/lateral guidance and, if necessary, other possible through lanes with longitudinal/lateral guidance. The driver can select the preferred lane using a selection option in the user interface (e.g. touch function in a display). b. Selection through configuration: By selecting “ETC” in the configuration menu, the FAS generally only targets drive-thru lanes with an electronic payment system. c. Selection by coupling to ETC systems present in the vehicle: ETC lanes are generally targeted by coupling a payment system that may be installed in the vehicle with the FAS. d. Saving the driver's favorite passage lane: The display offers the option of saving favorite routes/lanes at toll stations. e. Storage of favorite passage lane by the system through the FAS: A favorite passage lane is learned with recurring selection with active FAS or manual passage (in the vehicle or aggregated in the backend).

Furthermore, a computer program is provided, comprising commands which, when the program is executed by a computer, cause it to at least partially execute or carry out the method described above.

A program code of the computer program can be in any code, in particular in a code that is suitable for motor vehicle controls.

What was described above with reference to the process also applies to the computer program and vice versa.

Furthermore, a data processing device, for example a control device, is provided for an automated motor vehicle, the data processing device being set up to at least partially implement or carry out the method described above. The procedure is therefore a computer-implemented procedure.

The data processing device can be part of or represent a driving assistance system. The data processing device can be, for example, an electronic control unit (ECU = electronic control unit). The electronic control unit can be an intelligent processor-controlled unit that can communicate with other modules, for example via a central gateway (CGW) and, if necessary, via field buses such as the CAN bus, LIN bus, MOST bus and FlexRay or via Automotive Ethernet, for example together with telematics control devices, can form the vehicle on-board network. It is conceivable that the control unit for functions relevant to the driving behavior of the motor vehicle, such as the engine control, the power transmission, the braking system and/or the tire pressure monitoring system. In addition, driver assistance systems, such as a parking assistant, an adapted cruise control (ACC), a lane keeping assistant, a lane change assistant, traffic sign recognition, light signal recognition, a starting assistant, a night vision assistant and/or an intersection assistant, can be controlled by the control unit .

What has been described above with reference to the method and the computer program also applies analogously to the data processing device and vice versa.

Furthermore, an automated motor vehicle comprising the data processing device described above is provided.

The automated motor vehicle can be a passenger car, in particular an automobile. The automated motor vehicle can be designed to at least partially and/or at least temporarily take over longitudinal guidance and/or transverse guidance during automated driving of the motor vehicle. Automated driving can be carried out in such a way that the movement of the motor vehicle is (largely) autonomous. The automated driving can be controlled at least partially and/or temporarily by the data processing device. The motor vehicle can be a motor vehicle with autonomy levels 1 to 5.

The motor vehicle can be a motor vehicle with autonomy level 1, i.e. have certain driver assistance systems that support the driver in operating the vehicle, such as adaptive cruise control (ACC).

The motor vehicle can be a motor vehicle of autonomy level 2, i.e. be partially automated so that functions such as automatic parking, lane keeping or lateral guidance, general longitudinal guidance, acceleration and/or braking are taken over by driver assistance systems.

The motor vehicle can be a motor vehicle of autonomy level 3, i.e. conditionally automated so that the driver does not have to continuously monitor the vehicle system. The motor vehicle independently carries out functions such as triggering the turn signal, changing lanes and/or keeping in lane. The driver can turn his attention to other things, but if necessary the system will ask him to take over within a warning period.

The motor vehicle can be a motor vehicle with autonomy level 4, i.e. so highly automated that control of the vehicle is permanently taken over by the vehicle system. If the system can no longer handle the driving tasks, the driver can be asked to take over the lead.

The motor vehicle can be a motor vehicle with autonomy level 5, i.e. so fully automated that the driver is not required to fulfill the driving task. No human intervention is required other than setting the target and starting the system. The motor vehicle can do without a steering wheel and pedals.

What has been described above with reference to the method, the data processing device and the computer program also applies analogously to the motor vehicle and vice versa.

Furthermore, a computer-readable medium, in particular a computer-readable storage medium, is provided. The computer-readable medium includes instructions that, when the program is executed by a computer, cause it to at least partially carry out the method described above.

That is, a computer-readable medium may be provided that includes a computer program as defined above. The computer-readable medium can be any digital data storage device, such as a USB flash drive, hard drive, CD-ROM, SD card, or SSD card. The computer program does not necessarily have to be stored on such a computer-readable storage medium in order to be made available to the motor vehicle, but can also be obtained externally via the Internet or otherwise.

What has been described above with reference to the method, the data processing device, the computer program and the automated motor vehicle also applies analogously to the computer-readable medium and vice versa.

• 1 zeigt schematisch einen Ablauf eines Verfahrens gemäß einem Aspekt der Erfindung; und
• 2 zeigt schematisch ein automatisiertes Kraftfahrzeug gemäß einem Aspekt der Erfindung bei Anfahrt an eine Mautstation.

An embodiment is described below with reference to 1 and 2 described.

• 1 shows schematically a sequence of a method according to one aspect of the invention; and
• 2 shows schematically an automated motor vehicle according to one aspect of the invention when approaching a toll station.

1 shows schematically a sequence of a method 100 according to one aspect of the invention. The method 100 is a method 100 for operating an automated motor vehicle 200 to select a transit lane 210, 211, 212 from a plurality of transit lanes 210, 211, 212 of a toll station 220. The motor vehicle 200 and the toll station 220 are with reference to 2 described.

According to the in 1 In the method 100 shown, a determination 110 of at least one passage lane 211, 212 assigned to an electronic payment system 230 takes place. The determination 110 of the passage lane 211, 212 is carried out on the basis of passage lane information that can be called up and/or received on the vehicle side. The transit lane information is used to identify the transit lanes 211, 212 assigned to the electronic payment system 230. For this purpose, transit lane information is retrieved from a vehicle-side memory. For example, the availability or absence of an electronic payment system 230 can be determined from card information stored on the vehicle. Through lane information is received. For this purpose, the motor vehicle 200 receives data relating to the toll station 220 and the transit lanes 211, 212 via a communication interface, for example via a mobile radio network and/or via a local network such as via a V2X interface. This may include speed profiles and/or customer fleet data that provide information about the transit time and/or waiting time of the transit lanes 210, 211, 212. This means that the presence or absence of an electronic payment system 230 can be concluded. In addition, the passage lane 211, 212 can be created based on object recognition in image data recorded on the vehicle. For example, the through lane 211, 212 can be created based on recognized traffic signs and/or lane markings.

The transit lane information includes data relating to a payment service provider. The payment service provider is a service provider necessary for operating the electronic payment system 230 and/or for automatically paying the toll. The payment service provider can be an operator of the electronic payment system 230. The data relating to the payment service provider can be retrieved from the vehicle's memory as described above and/or is received via the communication interface.

A lane selection is determined 120 to select a passage lane 211, 212 assigned to the electronic payment system 230. The lane selection defines the selection of the passage lane 211, 212 to be traveled by the motor vehicle 200. The lane selection relates to a selection of one of several passage lanes assigned to the electronic payment system 211, 212. The track selection can be made with regard to the payment service provider.

To determine 120 the lane selection, an output relating to the transit lanes 211, 212 is made and a user input relating to the lane selection is recorded. In this case, a plurality of transit lanes 211, 212, each assigned to an electronic payment system 230, are determined, and the output is carried out for each of the transit lanes 211, 212. For each of the transit lanes 211, 212, an output characterizing the transit lanes 211, 212 is carried out, which is a trajectory for Driving through the drive-thru lanes 211, 212 and/or the respective electronic payment system 230 has information relating to it. In addition, additional drive-through lanes 210 characterizing outputs can be made. For example, further trajectories can be added, with the number of output trajectories depending on the distance between the motor vehicle 200 and the toll station 220, since the number of passable trajectories decreases as the motor vehicle 200 approaches the toll station 220.

The output and the user input are carried out by a vehicle-side output device and a vehicle-side input device, respectively. For example, through a touch display and/or an acoustic input and/or output device. The input device may be different from the output device. User input is captured in response to output. The output may include a prompt.

Alternatively or in addition to the output and user input, the lane selection is called up on the vehicle side. For this purpose, the lane selection is stored in an internal vehicle memory. The lane selection concerns the toll station 220 and the selection of the through lane 211, 212. The lane selection can be called up from the memory on the vehicle side. The lane selection that can be accessed from the vehicle can be configured by the user. To do this, the user can configure the lane selection using a vehicle-side input and output device. For example, a configuration menu for defining the lane selection can be displayed on a vehicle-side display and operated by a corresponding input. The user-side configuration can be used to define the lane selection that can be accessed from the vehicle. Alternatively or additionally, the lane selection that can be called up on the vehicle can be configured by a driving assistance system. It is possible to learn the track selection. For this purpose, the driving assistance system can record one or more lane selections made in the past and configure the lane selection that can be called up on the vehicle accordingly.

The automated motor vehicle 200 is operated 130 taking the lane selection information into account. The longitudinal and/or transverse guidance of the motor vehicle 200 is carried out automatically in order to drive through the selected lane 211, 212 and optionally pay the toll automatically through the electronic payment system 230.

2 schematically shows an automated motor vehicle 200 according to one aspect of the invention when approaching a toll station 220. The motor vehicle 200 has a data processing device 240 and is set up to do so with reference to 1 to carry out the procedure 100 described. When describing 2 will refer to the description of the 1 Referenced.

According to 2 is the motor vehicle 200 as shown schematically approaching the toll station 220. The toll station 220 has a plurality of passage lanes 210, 211, 212. At each of the through lanes 210, 211, 212, the toll station 220 has a terminal 225 at which a toll can be paid.

One of the drive-through lanes 210 has a terminal 225 with a manual payment system 235. The manual payment system 235 requires the toll to be paid manually, i.e. by the user.

Two of the transit lanes 211, 212 each have a terminal 225 with an electronic payment system 230. The electronic payment systems 230, which are assigned to the drive-through lanes 211, 212, can be operated by different payment service providers. The motor vehicle 200 is set up to pay the toll automatically and/or electronically. For this purpose, the motor vehicle 200 and/or the user and/or driver of the motor vehicle 200 selects one of the passage lanes 211, 212 with the electronic payment system 230 as with reference to 1 described.

Reference symbol list

100

Proceedings

110

Determining a through lane

120

Determining track selection information

130

Operating the automated motor vehicle

200

automated motor vehicle

210

manual drive-through lane

211

Passage lane assigned to electronic payment system

212

Passage lane assigned to electronic payment system

220

Toll station

225

terminal

230

electronic payment system

235

manual payment system

240

Data processing device

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 102017214493 A1 [0005]

Claims (10)

Method (100) for operating an automated motor vehicle (200) for selecting a passage lane (210, 211, 212) from a plurality of passage lanes (210, 211, 212) of a toll station (220), the method (100) having the steps : - Determining (110) at least one passage lane (211, 212) assigned to an electronic payment system (230) based on passage lane information that can be called up and/or received on the vehicle side; - Determining (120) a lane selection for selecting a transit lane (211, 212) assigned to the electronic payment system (230), wherein to determine (120) the lane selection, an output relating to the transit lanes (211, 212) is made and a user input relating to the lane selection is recorded is, and/or wherein the lane selection is called up on the vehicle side; and - Operating (130) the automated motor vehicle (200) taking the lane selection into account. Procedure according to Claim 1 , wherein a plurality of passage lanes (211, 212), each assigned to an electronic payment system (230), is determined, and the output is carried out for each of the passage lanes (211, 212). Procedure according to Claim 1 or 2 , where user input is captured in response to output. Method according to one of the preceding claims, wherein a lane selection that can be called up on the vehicle side can be configured by the user. Method according to one of the preceding claims, wherein a lane selection that can be called up on the vehicle side can be configured by a driving assistance system. Method according to one of the preceding claims, wherein the lane selection relates to a selection of one of several transit lanes (211, 212) assigned to the electronic payment system. Method according to one of the preceding claims, wherein the transit lane information comprises data relating to a payment service provider. Computer program and/or computer-readable medium, comprising instructions which, when the program or instructions are executed by a computer, cause the computer to carry out the method (100) and/or the steps of the method (100) according to one of the preceding claims. Data processing device (240) for an automated motor vehicle (200), wherein the data processing device (240) is set up to carry out the method (100) according to one of Claims 1 until 7 to carry out. Motor vehicle (200), comprising the data processing device (240). Claim 9 .

Images