DE102015212664A1 - Motor vehicle with an automatic driving system - Google Patents

Abstract

The invention relates to a motor vehicle (1) with an automatic driving system (10) comprising a sensor for detecting the surroundings of the motor vehicle (1) and an object selection module (15) for determining at least one control object and a category assigned to the control object, wherein the motor vehicle (1) by means of the automatic driving system (10) in dependence on the position and / or the speed of the control object (in particular relative to the position and / or the speed of the motor vehicle (1)) is automatically movable, wherein the motor vehicle (1) has a sighting sensor for Detecting the viewing direction of the driver (111) of the motor vehicle (1) and a windshield display for displaying variable information on the windshield (19) of the motor vehicle (1), wherein the motor vehicle (1) is a transformation module for such orientation of a represented by the windshield display / representable marking (3A, 5A) u Mfasst that the marker (3A, 5A) from the perspective of the driver (111) of the motor vehicle (1) marks the rule object, wherein the marker (3A, 5A) has at least one dependent on the category of the controlled object property.

Description

The invention relates to a motor vehicle having an automatic driving system, which comprises a sensor for detecting the surroundings of the motor vehicle and an object selection module for determining at least one control object, wherein the motor vehicle by means of the automatic driving system in dependence on the position and / or speed of the control object (in particular relative to the position and / or the speed of the motor vehicle) is automatically movable. The invention also relates to such an automatic driving system for a motor vehicle.

Such an automatic driving system describes this Automotiv Handbook, Bosch, ISBN 978-1-119-03294-6, pages 1438 to 1441 ,

In addition, the reveals EP 1 480 054 A2 a device for speed control of a vehicle having a base device, the sensor system for detecting at least one environment in front of the vehicle on existing objects, a display and an electronic unit that is designed to display at least one detected object on the display. The base device is designed to detect a driving scene with a plurality of objects via the sensor system, to display it on the display and to perform a visualization by means of which a user can recognize whether an object and which object is selected as the target object for a current or briefly preceding vehicle speed control in the case of several objects is.

The DE 10 2010 013 224 A1 discloses a method of displaying graphical images on a transparent windshield head-up display of a vehicle. It monitors informational inputs that describe the operating environment for the vehicle. The information inputs are processed to synthesize an operating environment model.

The DE 10 2010 013 401 A1 discloses a substantially transparent windshield head-up display comprising light-emitting particles or microstructures over a predefined area of the windshield that allow for a luminescent display while viewing through the windshield. It is provided that the preferred driving distance for the motor vehicle or a speed of the motor vehicle are displayed.

It is an object of the invention to provide an improved motor vehicle with an automatic driving system or an improved automatic driving system.

The aforementioned object is achieved by a motor vehicle having an automatic driving system, which comprises a sensor for detecting the surroundings of the motor vehicle and an object selection module for determining at least one control object, wherein the motor vehicle by means of the automatic driving system as a function of the position and / or the speed of the controlled object ( in particular relative to the position and / or the speed of the motor vehicle), wherein the motor vehicle comprises a viewing direction sensor for detecting the viewing direction of the driver of the motor vehicle and a windshield display for displaying variable information on the windshield of the motor vehicle, wherein the motor vehicle is a transformation module for such Orientation of a mark represented / represented by means of the windshield display comprises that the marking marks the control object from the perspective of the driver of the motor vehicle.

An automatic driving system in the sense of the invention may be, for example, a proximity control. An adaptive cruise control is a speed control system in motor vehicles, which includes the distance to a vehicle in front as an additional feedback and manipulated variable in the control. In the international automotive industry, the English term Adaptive Cruise Control has been established, abbreviated ACC. The system is also referred to as automatic distance control (ADR) (see de.wikipedia.org/wiki/Abstandsregeltempomat). It is provided that the driver adjusts the desired temporal following distance and the speed via corresponding buttons on the multi-function steering wheel or the steering column lever (depending on the vehicle model). With the accelerator pedal, the driver can interrupt the ACC control and accelerate more. Pressing the brake pedal will immediately disable the ACC function. All system messages are displayed in the central multifunction display.

In conjunction with an automatic transmission (eg DSG), the ACC control brakes the vehicle, for example in columns or in traffic jams, even to a complete standstill. Depending on the situation, ACC then automatically restarts within a defined time (Golf, Touareg). The ACC control (with automatic transmission / DSG) can operate at a speed of 0 to 160 km / h (Golf), 0 to 200 km / h (Phaeton), 0 to 210 km / h (Passat) or 0 to 250 km / h (Touareg) are activated. The ACC control (with manual transmission) can be activated at a speed of 30 to 160 km / h (Golf), 30 to 210 km / h (Passat) (see www.volkswagen.de/de/technologie/technik-lexikon/acc.html ).

Details of an adaptive cruise control system can be, for example, the Automotiv Handbook, Bosch, ISBN 978-1-119-03294-6, pages 1438 to 1441 be removed. However, an automatic driving system according to the invention may also be an autonomous driving system in which, in addition to the brake, the engine speed and optionally the transmission (as in the adaptive cruise control) and the steering are automatically controlled.

A sensor for detecting the surroundings of the motor vehicle is in particular a radar, in particular a radar for determining the differential speed between the motor vehicle and an object, for determining the distance between motor vehicles and an object and for determining an angle to the object relative to the longitudinal axis of the motor vehicle. Radar devices for use in the automotive sector, for example, in the DE 103 49 919 A1 as well as the DE 10 2008 034 997 A1 disclosed. An environment of the motor vehicle is within the meaning of the invention, in particular the environment in front of the motor vehicle and / or the surroundings of the side of the motor vehicle. However, a sensor for detecting the surroundings of the motor vehicle can also be an ultrasound sensor, lidar, a camera, gyroscopes or a GPS system. The term sensor is synonymous with a single sensor or a number of sensors of the same type or different type. Thus, a sensor for detecting the surroundings of the motor vehicle may also comprise a plurality of the aforementioned sensors. A sensor for detecting the surroundings of the motor vehicle can also comprise sensor systems that measure outside the vehicle, such as Car2X or Infrastructure2X or environmental knowledge that is transmitted to the motor vehicle via the Internet, or can be supplemented by such information or sensor technology.

A controlled object in the sense of the invention is a recognized object, such as another motor vehicle, with respect to which the automatic driving system controls. For example, a control object may be the vehicle in front of the vehicle, to which the adaptive cruise control regulates the speed of the driver's own motor vehicle. An object or rule object can also be a substantially immobile obstacle, a cyclist or a pedestrian.

A view direction sensor according to the invention is in particular a sensor for detecting the orientation of the head of a driver of the motor vehicle. A viewing direction sensor may be, for example, a camera. However, a viewing direction sensor in the sense of the invention can also be a sensor for detecting the alignment of the eyes of the driver of the motor vehicle. Corresponding sensors installed in the vehicle may comprise, for example, cameras, IR cameras, tracking sensors, gyroscopes and the like. Such sensors are used, for example, to determine head, eye, hand, body position and relative movements of occupants of the motor vehicle. It can also be used sensors of data glasses. Output information of the line of sight sensor or an evaluation associated with or assigned to the line of sight sensor can be the driver's gaze into the environment or the driver's line of sight within the vehicle, for example the intersection of the driver's line of sight with the windshield.

A windshield display according to the invention may be, for example, a head-up display.

Marking in the sense of the invention may include, for example, overlapping, overlapping and / or framing. Marking in the sense of the invention may also include pointing by means of an arrow to a control object. A marking in the sense of the invention may comprise, for example, a border, a clip, a brightening, a darkening or a geometrical figure.

The aforementioned object is also achieved, in particular in conjunction with one or more of the aforementioned features, by a motor vehicle having an automatic driving system comprising a sensor for detecting the environment of the motor vehicle and an object selection module for determining at least one control object and a category associated with the control object, wherein the motor vehicle by means of the automatic driving system in dependence on the position and / or the speed of the control object (in particular relative to the position and / or the speed of the motor vehicle) is automatically movable, wherein the motor vehicle is a viewing direction sensor for detecting the line of sight of the driver of the motor vehicle and a Windshield display for displaying variable information on the windshield of the motor vehicle comprises, wherein the motor vehicle, a transformation module for such alignment by means of the windshield screen illustrated / representable marking comprises that the marking marks the rule object from the perspective of the driver of the motor vehicle, wherein the marking has at least one dependent on the category of the controlled object property.

The property of a marker can be, for example, an arrow, the shape of a border, a clip or a geometric figure, the color of the marker and / or the brightness of the marker.

In an advantageous embodiment of the invention, at least by means of the object selection module two rule objects of different categories identifiable or determinable or selectable. In a further advantageous embodiment of the invention, at least three control objects of different categories can be identified or determined or selected by means of the object selection module.

In a further advantageous embodiment of the invention, a category comprises several subcategories. In a further advantageous embodiment of the invention, a category or a subcategory comprises information,

• – ob sich das Regelobjekt bewegt oder statisch ist,
• – ob das Regelobjekt eine Gefährdung des Kraftfahrzeuges darstellt,
• – ob das Regelobjekt das Fahrmanöver des Kraftfahrzeuges beeinflusst und/oder
• – ob das Regelobjekt das Fahrmanöver anderer Verkehrsteilnehmer/anderer Kraftfahrzeuge beeinflusst.

─ whether the control object is on the route of the motor vehicle or next to the route of the motor vehicle,

• - whether the rule object is moving or static,
• - whether the control object represents a hazard to the motor vehicle,
• - Whether the control object influences the driving maneuver of the motor vehicle and / or
• - Whether the control object influences the driving maneuver other road users / other vehicles.

In a further advantageous embodiment of the invention, a control object is covered by means of a marker.

In a further advantageous embodiment of the invention, the automatic driving system comprises an interface to a motor control. In a further advantageous embodiment of the invention, the automatic driving system comprises an interface to a transmission control. In a further advantageous embodiment of the invention, the automatic driving system comprises an interface to an ESP system (vehicle stability system). In a further advantageous embodiment of the invention, the automatic driving system comprises an interface for outputting a target value for a steering angle. In a further advantageous embodiment of the invention, the automatic driving system comprises a controller for calculating a target value for the engine speed and / or a desired value for a braking torque. In a further advantageous embodiment of the invention, the controller is designed to determine a desired value for the transmission ratio. In a further advantageous embodiment of the invention, the controller is designed to determine a desired value for the steering angle.

The above object is - in particular in conjunction with one or more of the aforementioned features - also solved by an automatic driving system for automatically driving a motor vehicle depending on the position and / or the speed of a control object (in particular relative to the position and / or the speed of the motor vehicle) wherein the automatic driving system comprises a sensor for detecting the environment of the motor vehicle and an object selection module for determining at least one control object, and wherein the automatic driving system has an interface for outputting the position of a control object and / or for outputting a category of the control object.

In an advantageous embodiment of the invention, at least two control objects of different categories can be determined by means of the object selection module, the interface being designed to output the positions of the control objects and / or to output the categories of the control objects. In a further advantageous embodiment of the invention, at least three control objects of different categories can be determined by means of the object selection module, the interface being designed for outputting the positions of the control objects and / or for outputting the categories of the control objects.

In a further advantageous embodiment of the invention, the automatic driving system comprises an interface to a motor control. In a further advantageous embodiment of the invention, the automatic driving system comprises an interface to a transmission control. In a further advantageous embodiment of the invention, the automatic driving system comprises an interface to an ESP system (vehicle stability system). In a further advantageous embodiment of the invention, the automatic driving system comprises an interface for outputting a target value for a steering angle. In a further advantageous embodiment of the invention, the automatic driving system comprises a controller for calculating a target value for the engine speed and / or a desired value for a braking torque. In a further advantageous embodiment of the invention, the controller is designed to determine a desired value for the transmission ratio. In a further advantageous embodiment of the invention, the controller is designed to determine a desired value for the steering angle.

Motor vehicle in the sense of the invention is in particular a land vehicle which can be used individually in road traffic. Motor vehicles according to the invention are not limited in particular to land vehicles with internal combustion engine.

Further advantages and details emerge from the following description of exemplary embodiments. Showing:

1 a driving situation with several motor vehicles,

2 an embodiment of an automatic driving system,

3 an embodiment of the arrangement of a viewing direction sensor, a Transformation module and a head-up display in a schematic representation,

4 the driving situation according to 1 from the perspective of a motor vehicle,

5 the representation according to 4 but with an embodiment for markers represented by means of the head-up display,

6 the representation according to 4 but with a further embodiment for markers represented by means of the head-up display,

7 an embodiment of an alternative automatic driving system and

8th another embodiment of an alternative automatic driving system.

1 shows a driving situation with motor vehicles 1 . 2 . 3 . 4 . 5 . 6 . 7 and 8th , In this case, the motor vehicle 1 a in 2 illustrated automatic driving system 10 on. The automatic driving system 10 has a module 14 for detecting the vehicle movement as a function of vehicle movement data F. The vehicle motion data F may include accelerations in three spatial directions, as well as rotations (eg, angular velocities or accelerations) in three orthogonal directions, as well as the speed of the motor vehicle. The vehicle movement data F can be determined by suitable sensors or by an ESP module (vehicle stability system). 20 be determined.

The automatic driving system 10 also includes a radar 11 as well as an object recognition module 12 to detect objects depending on the radar 11 supplied signals. The automatic driving system 10 also includes an object selection module 15 for determining at least one control object as a function of the output data of the module 14 as well as the object recognition module 12 , The object selection module 15 transfers the dynamic properties of the control object, such as its speed or its relative speed to the motor vehicle, its distance from the motor vehicle and possibly its angle to the motor vehicle a controller 16 , where the regulator 16 the motor vehicle regulates to a set speed determined by it. The controller controls this 16 about the ESP 20 the brake 21 of the motor vehicle 1 , about the transmission control 30 The gear 31 of the motor vehicle 1 and via the engine management (engine control) 40 the engine 41 of the motor vehicle 1 at.

The automatic driving system 10 also has an input device, not shown, by means of which the automatic driving system 10 can be switched on or off or by means of the automatic driving system 10 a temporal following distance can be specified. In addition, an interface is provided by means of the automatic driving system 10 a brake signal is transmitted, as a result, the automatic driving system 10 is turned off.

In contrast to the Automotiv Handbook, Bosch, ISBN 978-1-119-03294-6, pages 1438 to 1441 described Abstandsregeltempomaten is an interface 17 provided via which the automatic driving system and / or the object selection module 15 the position P of the control object and its category K or the positions of several control objects and their categories K outputs.

The car 1 also includes an in 3 illustrated viewing direction sensor 51 for detecting the line of sight of the driver 111 of the motor vehicle 1 , In addition, the motor vehicle includes 1 a head-up display 52 to display variable information on the windshield 19 of the motor vehicle 1 , For controlling the head-up display 52 is a transformation module 50 for such alignment by means of the head-up display 52 illustrated or representable marking provided that the marking from the driver's point of view 111 of the motor vehicle 1 the rule object or rule objects are marked. If several rule objects are to be marked, appropriate markings are provided.

It can be provided, for example, that the transformation module 50 from the initial values of the viewing direction sensor 51 forms a transformation matrix B, by means of which the position (x, y) of a marking on the windshield can be calculated as follows:

die Position P des Regelobjekts bezeichnet. In this case, A is the distance between the motor vehicle 1 and the control object and δ the angle of the distance A between the motor vehicle 1 and the control object with respect to the longitudinal axis of the motor vehicle 1 , in which

denotes the position P of the control object.

However, it can also be provided that the automatic driving system reproduces the position P in catnetic coordinates. to Considering the extent of a control object and the associated extension of a marking, it may be provided, for example, that in the x-direction the position of the marking on the windshield is not a single value but an interval [x _L , x _R ] over which the marking extends as follows:

For example, A is the mean distance between the motor vehicle 1 and the control object, δ _{L is} the angle of the distance between the motor vehicle 1 and the left edge of the control object with respect to the longitudinal axis of the motor vehicle 1 and δ _{R is} the angle of the distance between the motor vehicle 1 and the right edge of the control object with respect to the longitudinal axis of the motor vehicle 1 ,

4 shows the driving situation according to 1 from the perspective of the interior of the motor vehicle 1 , where no marks are displayed. 5 shows the illustration according to 4 but with one embodiment of illustrated markings 2A . 3A . 5A . 7A . 8A , Here is the mark 2A as yellow colored pair of clips for marking the motor vehicle 2 designed. The mark 3A is a red-colored bracket for marking the motor vehicle 3 designed and supplemented by a red arrow. The mark 5A is colored green as a pair of brackets to mark the motor vehicle 5 designed and supplemented by a green arrow. The mark 7A is as yellow colored pair of clips for marking the motor vehicle 7 designed. The mark 8A is as yellow colored pair of clips for marking the motor vehicle 8th designed.

• – Das Regelobjekt „Kraftfahrzeug 3“ befindet sich auf der Route des Kraftfahrzeuges 1.
• – Das Regelobjekt „Kraftfahrzeug 3“ stellt eine Gefährdung des Kraftfahrzeuges 1 dar.
• – Das Regelobjekt „Kraftfahrzeug 3“ beeinflusst das Fahrmanöver des Kraftfahrzeuges 1.

The mark 3A signals the driver 111 in that the control object "motor vehicle 3 "The following categories have been assigned:

• - The rule object "Motor vehicle 3 "Is on the route of the motor vehicle 1 ,
• - The rule object "Motor vehicle 3 "Represents a threat to the motor vehicle 1 represents.
• - The rule object "Motor vehicle 3 "Influences the driving maneuver of the motor vehicle 1 ,

• – Das Regelobjekt „Kraftfahrzeug 5“ befindet sich auf der Route des Kraftfahrzeuges 1.
• – Das Regelobjekt „Kraftfahrzeug 5“ stellt keine Gefährdung des Kraftfahrzeuges 1 dar.
• – Das Regelobjekt „Kraftfahrzeug 5“ beeinflusst das Fahrmanöver des Kraftfahrzeuges 1.

The mark 5A signals the driver 111 in that the control object "motor vehicle 5 "The following categories have been assigned:

• - The rule object "Motor vehicle 5 "Is on the route of the motor vehicle 1 ,
• - The rule object "Motor vehicle 5 "Does not pose a threat to the motor vehicle 1 represents.
• - The rule object "Motor vehicle 5 "Influences the driving maneuver of the motor vehicle 1 ,

• – Das Regelobjekt „Kraftfahrzeug 8“ befindet sich nicht auf der Route des Kraftfahrzeuges 1.

The mark 8A signals the driver 111 in that the control object "motor vehicle 8th "The following category has been assigned:

• - The rule object "Motor vehicle 8th "Is not on the route of the motor vehicle 1 ,

6 shows the illustration according to 4 but with an alternative embodiment illustrated markings 2 B . 3B . 5B . 6B . 7B and 8B , Here is the mark 2 B designed as a yellow-colored rectangle, which covers the motor vehicle. The mark 3B is a red-colored rectangle for marking the motor vehicle 3 designed and supplemented by a red arrow. The mark 5B is a green-colored rectangle for marking the motor vehicle 5 designed and supplemented by a green arrow. The mark 6B is a yellow-colored rectangle for marking the motor vehicle 6 designed. The mark 7B is a yellow-colored rectangle for marking the motor vehicle 7 designed. The mark 8B is a yellow-colored rectangle for marking the motor vehicle 8th designed.

7 shows an alternative automatic driving system 10A , wherein the same reference numerals as in 2 designate identical or similar elements or modules. In modification to the automatic driving system 10 is in place of the regulator 16 a regulator 16A provided by means of a steering control 60 of the motor vehicle 1 in the steering 61 of the motor vehicle 1 engages and enables automatic steering.

Another modified automatic driving system 10B shows 8th , wherein the same reference numerals as in 1 respectively. 7 designate identical or similar elements or modules. In modification to the automatic driving system 10A according to 7 engages the automatic driving system 10B on a database 200 which may be, for example, an Internet-accessible cloud. By means of the database 200 For example, objects or rule objects can be identified. By means of such identification, it may be provided, for example, to determine the size of an object or control object. In this way, for example, the extent or in particular the height of markings can be determined. Such a function may, for example, in the reference numeral 15B designated object recognition module of the automatic driving system 10B be implemented.

In the described embodiments, the transformation module and the automatic driving system are separated device technology. However, it can also be provided that the transformation module 50 in an automatic driving system 10 . 10A or 10B is implemented.

The database 200 is a performance example of a sensor for detecting the environment of the motor vehicle in the sense of the claims. The database 200 can include outside of the vehicle measuring sensors, such as Car2X (where, for example, provided that the vehicles by means of wireless technologies mutually inform each other about their trajectory, etc.) or Infrastructure2X or environmental knowledge that is transmitted to the motor vehicle via the Internet.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been 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

• EP 1480054 A2 [0003]
• DE 102010013224 A1 [0004]
• DE 102010013401 A1 [0005]
• DE 10349919 A1 [0011]
• DE 102008034997 A1 [0011]

Cited non-patent literature

• Automotiv Handbook, Bosch, ISBN 978-1-119-03294-6, pages 1438 to 1441 [0002]
• www.volkswagen.de/de/technologie/technik-lexikon/acc.html [0009]
• Automotiv Handbook, Bosch, ISBN 978-1-119-03294-6, pages 1438 to 1441 [0010]
• Automotiv Handbook, Bosch, ISBN 978-1-119-03294-6, page 1438 to 1441 [0039]

Claims (10)

Motor vehicle ( 1 ) with an automatic driving system ( 10 ), which includes a sensor for detecting the environment of the motor vehicle ( 1 ) and an object selection module ( 15 ) for determining at least one control object, wherein the motor vehicle ( 1 ) by means of the automatic driving system ( 10 ) is automatically movable depending on the position and / or the speed of the control object, characterized in that the motor vehicle ( 1 ) a viewing direction sensor for detecting the line of sight of the driver ( 111 ) of the motor vehicle ( 1 ) and a windshield display for displaying variable information on the windshield ( 19 ) of the motor vehicle ( 1 ), wherein the motor vehicle ( 1 ) a transformation module for such alignment of a mark represented by the windshield display (s) ( 3A . 5A ) that the mark ( 3A . 5A ) from the perspective of the driver ( 111 ) of the motor vehicle ( 1 ) marks the rule object. Motor vehicle ( 1 ) with an automatic driving system ( 10 ), which includes a sensor for detecting the environment of the motor vehicle ( 1 ) and an object selection module ( 15 ) for determining at least one control object and a category associated with the control object, wherein the motor vehicle ( 1 ) by means of the automatic driving system ( 10 ) in dependence on the position and / or the speed of the control object (in particular relative to the position and / or the speed of the motor vehicle ( 1 )) is automatically movable, characterized in that the motor vehicle ( 1 ) a viewing direction sensor for detecting the line of sight of the driver ( 111 ) of the motor vehicle ( 1 ) and a windshield display for displaying variable information on the windshield ( 19 ) of the motor vehicle ( 1 ), wherein the motor vehicle ( 1 ) a transformation module for such alignment of a mark represented by the windshield display (s) ( 3A . 5A ) that the mark ( 3A . 5A ) from the perspective of the driver ( 111 ) of the motor vehicle ( 1 ) marks the rule object, with the marker ( 3A . 5A ) has at least one property dependent on the category of the rule object. Motor vehicle ( 1 ) according to claim 2, characterized in that by means of the object selection module at least two rule objects of different categories are identifiable. Motor vehicle ( 1 ) according to claim 2, characterized in that by means of the object selection module at least three rule objects of different categories are identifiable. Motor vehicle ( 1 ) according to claim 2, 3 or 4, characterized in that a category comprises several subcategories. Motor vehicle ( 1 ) according to one of claims 2 to 5, characterized in that a category or a subcategory comprises information, - whether the control object is on the route of the motor vehicle ( 1 ) or next to the route of the motor vehicle ( 1 ) - whether the control object is moving or static, - whether the control object is a hazard to the motor vehicle ( 1 ), - whether the control object is the driving maneuver of the motor vehicle ( 1 ) and / or - whether the control object influences the driving maneuver of other road users / other motor vehicles. Motor vehicle ( 1 ) according to any one of the preceding claims, characterized in that a control object by means of a marker ( 3A . 5A ) is covered or framed. Automatic driving system ( 10 ) for automatically driving a motor vehicle ( 1 ) in dependence on the position and / or the speed of a control object (in particular relative to the position and / or the speed of the motor vehicle ( 1 )), the automatic driving system ( 10 ) a sensor for detecting the environment of the motor vehicle ( 1 ) and an object selection module ( 15 ) for determining at least one control object, characterized in that the automatic driving system ( 10 ) an interface ( 17 ) for outputting the position of a rule object and / or output a category of the rule object. Automatic driving system ( 10 ) according to claim 8, characterized in that by means of the object selection module at least three rule objects of different categories can be determined, wherein the interface for outputting the positions of the rule objects and / or for outputting the categories of the rule objects is configured. Automatic driving system ( 10 ) according to claim 8 or 9, characterized in that it interfaces to a motor control ( 30 ) and to a driving stability system ( 20 ) having.

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