Method for checking the plausibility of at least one portion of a driving trajectory for a vehicle

1 . A method for checking plausibility of at least one portion of a driving trajectory for a vehicle, the method comprising:

providing the at least one portion of the driving trajectory and at least one first marking portion of a lane marking, roadway marking, and/or roadway boundary marking based on swarm data stored by a storage unit;

sensing at least one segment of a roadway boundary for a roadway of the vehicle by way of a sensing unit of the vehicle in operating the vehicle;

comparing the at least one portion of the driving trajectory to the at least one segment of the roadway boundary based on a first plausibility condition;

comparing the at least one first marking portion to the at least one segment of the roadway boundary based on a second plausibility condition; and

checking the at least one portion for plausibility based on the comparing of the first plausibility condition and the second plausibility condition;

for the first plausibility condition, examining if a side distance of the at least one portion of the driving trajectory to the at least one segment of the roadway boundary is within a width interval, wherein the checking of the at least one portion for plausibility is based on the examining and the comparing;

sensing a number of portions checked for plausibility, wherein the portions checked for plausibility constitute a contiguous sequence;

comparing the number of portions checked for plausibility to a minimum value;

determining that the number of portions checked for plausibility is less than the minimum value;

generating an indication signal indicating that a driver assistance system is deactivated; and

outputting the indication signal indicating that the driver assistance system is deactivated, wherein the indication signal is output optically, haptically, or acoustically.

2 . The method according to claim 1 , further comprising:

for the first plausibility condition, comparing one distance or more distances of the at least one portion of the driving trajectory to the at least one segment of the roadway boundary are compared to a threshold value and an angle between the at least one portion of the driving trajectory and the at least one segment to an angle threshold value, and/or

for the second plausibility condition, comparing a stripe angle between the at least one segment and the at least one first marking portion to a lane angle, and comparing a stripe distance given by the at least one first marking portion and the at least one segment of the roadway boundary to a lane distance.

3 . The method according to claim 1 , wherein multiple portions of the driving trajectory as well as of the first marking portion, and multiple segments are respectively provided and each segment is associated with that portion for the comparing, which is positioned along a transverse direction of the vehicle starting from a respective segment.

4 . The method according to claim 3 , wherein the segments and portions of the driving trajectory are each defined based on a first supporting point and a second supporting point, respectively associated segments and portions have a same extension along a preset vehicle direction and two distance values based on the first supporting point and the second supporting point respectively associated in transverse direction are respectively used for the comparing for the first plausibility condition and/or the second plausibility condition.

5 . The method according to claim 1 , wherein

at least one first linear marking portion and a second linear marking portion are respectively provided for a lane marking, roadway marking, and/or roadway boundary marking by the swarm data,

the method further comprises:

sensing at least one segment for a first roadway boundary and a second roadway boundary for the roadway of the vehicle by way of the sensing unit; and

for the first plausibility condition, examining if a first side distance of the at least one portion of the driving trajectory to the at least one segment of the first roadway boundary and a second side distance of the at least one portion of the driving trajectory to the at least one segment of the second roadway boundary each exceed a preset width value, and

the checking of the at least one portion for plausibility is additionally effected depending on the examining and the comparing.

6 . The method according to claim 1 , wherein the minimum value is determined based on a speed of the Vehicle.

7 . The method according to claim 1 , further comprising:

classifying the roadway and/or recognizing a preset traffic situation by way of the sensing unit of the vehicle, and a threshold value, angle threshold value, lane angle, and/or lane distance are defined based on the roadway and/or the preset traffic situation.

8 . A driver assistance system, comprising:

A processor; and

a storage device storing program code that, when executed by the processor, causes the driver assistance system to:

provide at least one portion of a driving trajectory and at least one first marking portion of a lane marking, roadway marking, and/or roadway boundary marking based on swarm data stored by a storage unit;

sense at least one segment of a roadway boundary for a roadway of a vehicle by way of a sensing unit of the vehicle in operating the vehicle;

compare the at least one portion of the driving trajectory to the at least one segment of the roadway boundary based on a first plausibility condition;

compare the at least one first marking portion to the at least one segment of the roadway boundary based on a second plausibility condition;

check the at least one portion for plausibility based on a result of comparing the first plausibility condition to the at least one segment of the roadway boundary and a result of comparing the second plausibility condition to the at least one segment of the roadway boundary;

for the first plausibility condition, examine if a side distance of the at least one portion of the driving trajectory to the at least one segment of the roadway boundary is within a width interval, wherein checking of the at least one portion for plausibility is based on examining if the side distance of the at least one portion of the driving trajectory to the at least one segment of the roadway boundary is within the width interval, comparing the at least one portion of the driving trajectory to the at least one segment of the roadway boundary based on the first plausibility condition, and comparing the at least one first marking portion to the at least one segment of the roadway boundary based on the second plausibility condition;

sense a number of portions checked for plausibility, wherein the portions checked for plausibility constitute a contiguous sequence;

compare the number of portions checked for plausibility to a minimum value;

determine that the number of portions checked for plausibility is less than the minimum value

generate an indication signal indicating that the driver assistance system is deactivated; and

output the indication signal indicating that the driver assistance system is deactivated, wherein the indication signal is output optically, haptically, or acoustically.