DE102019217428A1 - Method for operating a driver assistance system, driver assistance system and vehicle - Google Patents

Abstract

The invention relates to a method for operating a driver assistance system (1) for the automated execution of a driving maneuver, a release of the driving maneuver being checked before the driving maneuver is carried out and / or the necessity of terminating the driving maneuver being checked while the driving maneuver is being carried out, with the driving maneuver being released and / or the necessity of the termination is checked depending on swarm data.

Description

The invention relates to a method for operating a driver assistance system for the automated implementation of a driving maneuver and a corresponding driver assistance system.

Autonomous driving systems are known from the prior art which comprise a lane change control device which carries out a lane change during the autonomous driving of the vehicle. Such a system is in the US 2019/0143983 A1 described.

Also known is the DE 10 2012 222 301 A1 , which describes a method and system that monitor the behavior of vehicles in the vicinity in order to predict and react to an impending hazard on the road, even in situations in which the hazard was not directly identified. For this purpose, it is described, among other things, that a navigation module can use the current position of the vehicle and road or map data in order to evaluate an upcoming road segment. It is further disclosed that such a road segment can be a sharp curve.

Also known is the DE 10 2011 117 382 A1 , which discloses control technology related to lane keeping and lane changing. Described herein is a sensor that detects a lane in which the vehicle equipped with a lane departure control system is traveling, for example by detecting a lane marking.

It is therefore known that an area in front of the vehicle is analyzed before or to carry out a driving maneuver, in particular a lane change, for example by evaluating images that were recorded with the aid of a camera. The problem is that one dimension of the spatial area that can be evaluated in this way is limited, in particular because image capturing devices such as cameras only have a limited capturing area of e.g. 50 m to 60 m. It is possible that, on the basis of an analysis of this limited spatial area in front of the vehicle, a lane change maneuver is enabled and then carried out, but this maneuver is not ended until the next curve along the route of the vehicle. In this case, driving comfort can be reduced, in particular if the vehicle is then driven to an outer edge of the curve by the lane change maneuver, in particular the superimposition of cornering with the lane change maneuver, which can feel uncomfortable for vehicle occupants. If, for example, the permissible steering torque is limited, it can also happen that a vehicle speed has to be reduced in order to carry out cornering. Alternatively or cumulatively, a warning and / or interruption of the generation or deactivation of the control torque can also occur due to a limitation of the permissible control torque. This can also be undesirable.

It is also possible that, on the basis of an analysis of this limited spatial area in front of the vehicle, a lane merging or lane narrowing is not recognized in good time and a maneuver is not ended in good time before this merging or narrowing. This is also undesirable.

The technical problem thus arises of creating a method for operating a driver assistance system for the automated execution of a driving maneuver and a corresponding driver assistance system which increase driving comfort.

The solution to the technical problem results from the subjects with the features of the independent claims. Further advantageous refinements of the invention emerge from the subclaims.

A method is proposed for operating a driver assistance system for the assisted or automated implementation of a driving maneuver. In the context of this invention, the driving maneuver can be carried out in the context of assisted driving, partially automated driving, highly automated driving, fully automated driving or autonomous driving.

As will be explained in more detail below, the driving maneuver can in particular be a lane change maneuver. Of course, however, it is also conceivable that the proposed method is also carried out for driving maneuvers different therefrom, for example for an overtaking maneuver.

A release of the driving maneuver is checked before the driving maneuver is carried out. The result of the check can be that the planned driving maneuver is released or not released. If the driving maneuver is released, the planned driving maneuver can be carried out by the driver assistance system. If the planned driving maneuver is not released, the planned driving maneuver is not carried out by the driver assistance system. Alternatively or cumulatively, the necessity of terminating the driving maneuver is checked while the driving maneuver is being carried out. The result of this check can be that the driving maneuver is aborted or continued by the driver assistance system.

According to the invention, the release of the driving maneuver and / or the need to abort is checked as a function of swarm data.

Swarm data can denote data recorded by a large number of vehicles, this data encoding vehicle information and / or information on the surroundings of the respective vehicles. The data can for example be generated by the vehicles while driving and then - as explained in more detail below - be stored in a server device. Vehicle information can in particular be position information, speed information or information about a further dynamic driving variable. Environment information can in particular be information about a vehicle environment or about the course of the road, e.g. about lane markings. Surrounding information can also be information about lane boundaries, e.g. crash barriers, or about traffic signs.

Environment information of a vehicle can be recorded / determined, for example, by a corresponding device for recording and possibly evaluating this environment information, this device being arranged in or on the respective vehicle. Such a device can in particular be an image acquisition device, for example a so-called front camera, a rear camera, a side camera or another device different therefrom. Such a device can also be a radar detection device.

Furthermore, these swarm data can be transmitted to a central server device, which then stores and provides the information from all vehicles or the data encoding them as swarm data for retrieval for the proposed method, in particular for a predetermined period of time. Swarm data thus contain information from vehicles that were generated some time ago while driving along the route.

In particular, the explained information can be stored in a manner associated with the position of the vehicle at the time the information was recorded. In other words, a position of the vehicle is recorded, the explained information being assigned to this position and the swarm data then encoding the position and the information assigned to it. It is also possible that the swarm data only encode position information from vehicles. This position information can be determined by a device for determining position in each of the vehicles, for example a GNSS sensor. Swarm data can also encode trajectory information about vehicle trajectories. This can be determined, for example, from the position information of a vehicle.

Swarm data can thus provide a digital map in which, for example, information on the surroundings is also stored in addition to position information about the vehicle.

Thus, the swarm data for checking the release of the driving maneuver and / or the necessity of an abortion can be called up from the central server device by the driver assistance system, in particular a control and evaluation device of the driver assistance system explained in more detail below. In particular, swarm data can be retrieved that contain information that is assigned to positions along a route in the direction of travel in front of the vehicle, the route having a predetermined length. As a result, a determination of the route in front of the vehicle can be improved, since knowledge about the positions and / or trajectories of vehicles in a spatial area in front of the vehicle can be obtained from the swarm data.

These swarm data can be determined as a function of the current vehicle position, this being determined e.g. by a device for determining the position, e.g. a GNSS device. For example, the swarm data can be determined which are assigned to the same position as the current vehicle position or to a position which does not differ from the current vehicle position by more than a predetermined amount.

Alternatively or cumulatively, these swarm data can also be determined as a function of current information on the surroundings of the vehicle. For example, the swarm data can be determined that contain / encode the same or more than a predetermined amount similar information about the surroundings as the current information about the surroundings. Such information about the surroundings can, for example, be information about a traffic sign, a lane, a lane marking or delimitation, about a road surface or a surface adjacent to the road surface, about a surface transition, etc., in particular information about the position of these elements relative to the vehicle. The information on the surroundings can be provided, for example, in the form of images.

In particular, it is possible for a first set of swarm data to be identified as a function of the current vehicle position, which the same position as the current vehicle position or a position that does not differ from the current vehicle position by more than a predetermined amount. Then, for example, the swarm data can be determined from this first set, which contain / encode the same or more than a predetermined amount similar information about the surroundings as the current information about the surroundings. In this way, swarm data relevant to the current vehicle position can advantageously be determined. In other words, the vehicle can be precisely located in the digital map provided by the swarm data.

Swarm data in particular can thus be retrieved in / for a spatial area in front of the vehicle in the direction of travel which is larger than a detection area of a device for detecting environmental information that is arranged in / on the vehicle with the driver assistance system. For example, the spatial area with the positions for which swarm data are retrieved can have a length of 100 m or more along the route in the direction of travel in front of the vehicle.

It is also possible for swarm data to be retrieved in / for a spatial area behind the vehicle in the direction of travel which is larger than a detection area of a device for detecting environmental information that is arranged in / on the vehicle with the driver assistance system. For example, the spatial area with the positions for which swarm data are retrieved can have a length of 100 m or more along the route in the direction of travel behind the vehicle.

This makes it possible to improve the determination of the position of objects, in particular other vehicles, behind the vehicle, since knowledge of the positions and / or trajectories of vehicles in a spatial area behind the vehicle can be obtained from the swarm data. As a result, the release and / or determination of the necessity of a termination, which is explained in more detail below, can be improved depending on at least one piece of information about the surroundings, e.g. the release and / or determination of the necessity of a termination explained on the basis of the evaluation of rear radar data.

To check the release and / or the necessity of the termination, these swarm data can be evaluated, in particular by the control and evaluation device explained above. The evaluation can be used to determine at least one property of the route or lane in front of the vehicle, in particular a curvature. This is explained in more detail below.

Furthermore, depending on the properties determined in this way, the driving maneuver can be released or not released. Alternatively or cumulatively, depending on these properties, the necessity of the termination can be determined or not determined. By checking the release and / or the necessity of cancellation depending on swarm data, there is advantageously an improved assessment of the route ahead of the vehicle with regard to suitability for the planned or currently performed driving maneuver, in particular because information about a larger spatial area can be evaluated as the detection range of the vehicle's own sensors. In this way, driving maneuvers can be prevented or canceled in an advantageous manner, which can lead to an undesirable reduction in driving comfort. For example, a lane change maneuver can be prevented or aborted if there is a curve in front of the vehicle, in particular a curve that is too sharp, which - as explained above - can lead to an undesirable driving experience.

In a preferred embodiment, the driving maneuver is a lane change maneuver. In this case, it can advantageously be avoided that a vehicle changes into a radially outward lane of a curve due to the lane change maneuver, whereby - as explained above - the driving comfort is not undesirably reduced.

In a further embodiment, at least one item of vehicle information about the vehicle is determined with the driver assistance system. This can be determined by a corresponding device for determining the vehicle information. This device for determination can in particular be a device for detection, e.g. a sensor. Vehicle information can be, for example, a vehicle position, a vehicle speed, a vehicle acceleration or other information relating to driving dynamics or vehicle-related information.

Alternatively, but preferably cumulatively, at least one piece of information about the surroundings is determined. This information denotes information about the surroundings of the vehicle with the driver assistance system. Such information about the surroundings can also be determined by a corresponding device for determination, which can also be a device for detection, e.g. a sensor. Environment information can be, for example, information about the number, location and / or occupancy of lanes, in particular information about the lane in which the vehicle is traveling and / or about the lanes adjacent to it.

Vehicle information can also be information about a road category, where a road category can be a motorway, a motor road, a road outside built-up areas, a road within built-up areas, a federal trunk road, a state or state road, a district road or a local road.

Additional information about the surroundings can be, for example, information about the presence, number, relative position and / or relative speed of additional vehicles in a predetermined surroundings around the vehicle with the driver assistance system.

Environment information can be generated, for example, by evaluating images that are generated with an image capture device that is arranged on / in the vehicle. Alternatively or cumulatively, information on the surroundings can be generated by evaluating radar data, these being generated by at least one radar sensor arranged in / on the vehicle. Furthermore, alternatively or cumulatively, information on the surroundings can be generated by evaluating ultrasound data, these ultrasound data being generated by an ultrasound sensor which can also be arranged in / on the vehicle. Of course, other types of data can also be evaluated to generate information about the surroundings, for example lidar data, in which case these can then be generated with appropriate devices for determination / acquisition.

Furthermore, the release and / or the necessity of the termination is additionally checked as a function of the at least one item of vehicle information and / or the at least one item of information about the surroundings. For this purpose, the specific information can be evaluated.

For example, a lane change maneuver cannot be released or canceled if the target lane is occupied by another vehicle. Alternatively or cumulatively, the driving maneuver can only be released when the vehicle is on a road of a predetermined category, for example on a motorway. Furthermore, alternatively or cumulatively, the driving maneuver can only be released if the vehicle speed is greater than a predetermined release speed.

At the same time as or after the check of the release and / or the necessity of the termination as a function of the at least one vehicle and / or environment information item, the release and / or the necessity of the termination can then be checked as a function of swarm data.

The proposed evaluation of vehicle and / or environmental information advantageously results in improved operational reliability when operating the driver assistance system, in particular when performing planned driving maneuvers.

In a further embodiment, information about the curvature of the route lying in front of the vehicle along the direction of travel is determined. The route ahead of the vehicle can include one or more lanes. The curvature information can in particular be determined as a function of the swarm data, in particular by evaluating the swarm data. Furthermore, the release and / or the necessity of the termination is additionally checked as a function of the curvature information. For example, the planned driving maneuver, in particular a lane change maneuver, can be released if the curvature is less than a predetermined threshold value. In this case, the need to abort a driving maneuver that has already been carried out can also be detected.

The curvature information can in particular be determined by evaluating trajectory information from vehicles which - as explained above - generated the swarm data. This trajectory information can be evaluated, for example, by evaluating vehicle positions of these vehicles at different times. In particular, swarm data can be used to determine the curvature information that is assigned to a predetermined spatial area along the route in the direction of travel in front of the vehicle with the driver assistance system, in particular a spatial area that includes a predetermined route along the route in front of the vehicle. Of course, curvature information can alternatively or cumulatively also be determined as a function of the vehicle information and / or environment information explained above, in particular by evaluating it.

Curvature information can be determined in particular in the form of a curve radius. This curve radius can be a radius value assigned to a circular arc or partial circular arc.

This advantageously results in a further improvement in operational reliability when operating the driver assistance system, since driving maneuvers, in particular lane change maneuvers, can be prevented or canceled if one Curvature of the route ahead of the vehicle is too great.

In a preferred embodiment, the curvature information is only determined up to a predetermined route along the route in front of the vehicle in the direction of travel. This distance can be greater than the maximum extent of a determination / detection area of devices arranged in / on the vehicle with the driver assistance system for determining information on the surroundings. For example, if a camera can capture an area with an extension of up to 70 m along the route in front of the vehicle, then, for example, curvature information can be determined for an area longer than this 70 m along the route in front of the vehicle, for example for an area up to 100 m or more.

In particular, this can be done by evaluating swarm data that are assigned to the positions along the predetermined route.

This advantageously results in a further improvement in the operational reliability when operating the driver assistance system while at the same time reducing the amount of data to be evaluated, which enables the proposed method to be carried out quickly.

In a further embodiment, a route required or remaining to carry out the driving maneuver is determined, the release and / or the necessity of the termination being additionally checked as a function of the necessary or remaining route. The route can refer to a route along the roadway or a route in the direction of travel in front of the vehicle. The necessary or remaining distance can be determined as a function of vehicle and / or environmental information, in particular as a function of a vehicle speed. For example, the release cannot be given or the necessity of termination can be detected if the curvature, in particular a maximum value of the curvature, within the necessary or remaining distance is greater than a predetermined threshold value.

This advantageously results in a further improvement in operational safety when operating the driver assistance system and in a further improvement in driving comfort, in particular since a driving maneuver is not carried out or is canceled if an undesirable driving sensation would arise when carrying out the driving maneuver along the necessary or remaining route .

In a further embodiment, the necessary or remaining route is a route up to the beginning of a curve, in particular the next curve along the route ahead of the vehicle. A curve can designate an area of the route or lane in front of the vehicle, the curve radius of which is smaller than a predetermined threshold value.

This advantageously results in a further improvement in driving comfort, since it is ensured that a driving maneuver is not carried out in front of or in such a curve, which can result in the previously explained effects on driving comfort.

In an alternative embodiment, the necessary or remaining distance is determined as the difference between the distance to the start of a curve and a safety distance. This safety distance can also be referred to as the turning zone. This can denote an area in which a driving maneuver, in particular a lane change maneuver, is no longer to be carried out. The safety distance can be a fixed, predetermined value. Alternatively, the safety distance can also be determined as a function of a driving situation and / or the surroundings, i.e. for example as a function of vehicle and / or surroundings information, and can thus be an applicable safety distance. This advantageously results in a further improvement in driving comfort during operation of the vehicle by means of the proposed driver assistance system.

In a further embodiment, the driving maneuver is released or no need to abort is detected if the curvature in the necessary or remaining distance is less than a threshold value. This threshold value can in particular be a constant, predetermined threshold value. As will be explained below, however, the threshold value can also be determined as a function of at least one item of vehicle information and / or at least one item of information about the surroundings and can thus be a variable threshold value.

This advantageously results in a reliable improvement in driving comfort, in particular since no driving maneuvers are carried out in areas of the route that are too strongly curved.

In a further embodiment, as already explained above, the threshold value is determined as a function of at least one item of vehicle information, for example as a function of the speed. Alternatively or cumulatively, the threshold value is determined as a function of at least one piece of environmental information. For example, the threshold value can be determined depending on the intensity of precipitation. Here, the intensity of precipitation can be information about the surroundings. This environmental information can be determined with the driver assistance system, for example, as a function of the output signals of a rain sensor and / or as a function of the set wiper speed of windshield wipers of the vehicle.

In a further embodiment, lane information of the route ahead of the vehicle is determined as a function of the swarm data, the release and / or the necessity of the termination being additionally checked as a function of the lane information. In particular, knowledge of a lane course, in particular a lane merging or a lane narrowing, in a predetermined spatial area along the route in the direction of travel in front of the vehicle can be obtained from the swarm data, e.g. by evaluating the trajectories of vehicles that generated the swarm data. A driving maneuver, e.g. a lane change maneuver, cannot be released or canceled if a lane merge or a lane narrowing takes place in the predetermined spatial area, in particular during a distance necessary or remaining to carry out the driving maneuver, in particular if the target lane of the driving maneuver becomes one narrowing or an ending lane. A driving maneuver, e.g. a lane change maneuver, can be released or not canceled if there is no lane merging or lane narrowing in the predetermined spatial area, in particular during a distance necessary or remaining for carrying out the driving maneuver. In this way, driving maneuvers can be prevented or canceled in an advantageous manner, which can lead to an undesirable reduction in driving comfort.

A driver assistance system for the assisted or automated execution of a driving maneuver is also proposed. The driver assistance system is configured in such a way that a method according to one of the embodiments described in this disclosure can be carried out with the driver assistance system. This advantageously results in the driver assistance system being able to carry out such a method with the advantages explained.

The driver assistance system comprises at least one control and evaluation device. This can comprise at least one microcontroller or at least one integrated circuit or be designed as such. Furthermore, the at least one control and evaluation device checks whether the driving maneuver is released before the driving maneuver is carried out and / or whether the driving maneuver is necessary to be aborted while the driving maneuver is being carried out.

According to the invention, the driver assistance system comprises a communication interface for calling up swarm data. This communication interface can in particular be designed for wireless data transmission. The swarm data can be called up via the communication interface, e.g. from the previously explained storage device of a central server device. The communication interface can be connected to the at least one control and evaluation device in terms of signals and / or data. The control and evaluation device also checks the release of the driving maneuver and / or the necessity of aborting it as a function of the swarm data. This and the corresponding advantages have already been explained above.

Furthermore, the driver assistance system can comprise at least one device for determining vehicle information and / or at least one device for determining environmental information. This and the corresponding advantages have already been explained above.

A vehicle with a driver assistance system according to one of the embodiments explained in this disclosure is further described. A vehicle with improved driving comfort is thus advantageously provided.

• 1 ein schematisches Flussdiagramm eines erfindungsgemäßen Verfahrens,
• 2 ein schematisches Flussdiagramm eines erfindungsgemäßen Verfahrens in einer weiteren Ausführungsform,
• 3 eine schematische Draufsicht auf ein Fahrzeug auf einer Fahrbahn und
• 4 ein schematisches Blockschaltbild eines erfindungsgemäßen Fahrerassistenzsystems.

The invention is explained in more detail using exemplary embodiments. The figures show:

• 1 a schematic flow diagram of a method according to the invention,
• 2 a schematic flow diagram of a method according to the invention in a further embodiment,
• 3rd a schematic plan view of a vehicle on a roadway and
• 4th a schematic block diagram of a driver assistance system according to the invention.

In the following, the same reference symbols designate elements with the same or similar technical features.

1 shows a schematic flow diagram of a method according to the invention for operating a driver assistance system 1 (please refer 4th ) for the assisted or automated execution of a driving maneuver, which can in particular be a lane change maneuver.

A determination is made prior to performing the driving maneuver B1 of Vehicle information, in particular a vehicle speed and a vehicle position, for example in the form of GNSS data. A determination is also made B2 of information on the surroundings, for example by evaluating output signals from radar sensors, in particular in the rear and / or in the front area of the vehicle 2 (please refer 3rd ) can be arranged and their detection areas an area in front of and / or behind the vehicle 2 can cover. Can also be used to determine B2 Images captured by environmental information from a vehicle camera 11, in particular a front camera, are evaluated.

There is also a request A1 of swarm data, in particular swarm data stored in a central server device. These can be called up based on the vehicle position. This can mean that swarm data are retrieved which are assigned to one, but preferably several, position (s) which are arranged along the route in front of the vehicle in the direction of travel, in particular up to a predetermined route along this in front of the vehicle 2 lying route. As explained above, swarm data can be determined in particular as a function of the current vehicle position and / or as a function of current information on the surroundings of the vehicle.

The information content of this swarm data has already been explained above.

A further check is carried out P1 the release depending on the specific vehicle information. For example, a first release criterion can be met, if dependent on the position data of the vehicle 2 as the road type of the road on which the vehicle is located 2 a motorway is detected. Another test criterion can be met if the vehicle speed is greater than a predetermined threshold value. If one of these test criteria is not met, the planned driving maneuver cannot be released.

The explanations explained for the release of the driving maneuver can also be applied in a corresponding manner to the process of checking the necessity of an abort.

A further check is carried out P2 the release depending on environmental information. For example, a further test criterion can be met if the vehicle's own lane was detected by evaluating the previously explained images of a vehicle camera 11. Another test criterion can be met if the lane on which the vehicle is located is multi-lane 2 is located, is detected. Another test criterion can be met if a width of a lane immediately adjacent to the own lane is greater than a predetermined threshold value. A further test criterion can be fulfilled if a lane type of the lane between the own lane and the target lane planned for the driving maneuver corresponds to a type in which a lane change is enabled, eg corresponds to the “dashed” type.

Furthermore, in particular as a function of the evaluation of radar and / or ultrasound data, a test criterion can be checked which is fulfilled if it is detected that a target area in the target lane is or is not occupied.

A further check is carried out P3 a test criterion depending on the swarm data retrieved. Curvature information in the form of a curve radius of the route ahead of the vehicle can be determined by evaluating the swarm data, in particular up to a predetermined route along the route ahead of the vehicle. This curve radius can be determined in the form of a vector.

A test criterion can be met if an amount of the curve radius along the predetermined route is greater than or equal to a predetermined threshold value. If this is not met, the test criterion cannot be met. A further check is carried out P4 whether the curve radius in a distance necessary to carry out the driving maneuver is greater than or equal to a threshold value. Alternatively, it can be checked whether the curve radius along a route in front of the vehicle, which corresponds to the difference between the necessary route to the start of a curve and a predetermined safety distance, is greater than or equal to the threshold value.

The threshold value can be determined as a function of vehicle information, in particular a speed, and / or information on the surroundings, for example information on the intensity of precipitation. For example, the threshold value can decrease with increasing vehicle speed and / or decrease with increasing precipitation intensity. Alternatively, this threshold value can also be predetermined.

If all of the aforementioned test criteria are met, the planned driving maneuver can be released. If at least one of the previously explained test criteria is not met, the planned driving maneuver cannot be released.

2 shows a schematic flow diagram of a method according to the invention in a further embodiment. A determination takes place here B. of input data for the evaluation of one or more test criteria / test criteria. These input data are the previously explained swarm data and, if applicable, vehicle information and information on the surroundings. An examination is also carried out P. of test criteria, with exemplary test criteria being explained above.

If all test criteria are met, the planned driving maneuver is released. If this is not the case, the release is not given, in which case the planned driving maneuver is not carried out.

3rd shows a schematic plan view of a roadway 3rd with a first lane 4a and one to the first lane 4a adjacent second lane 4b as well as a vehicle 2 , which is a lane change maneuver from the first lane 4a into the second lane 4b executes. With a solid line is the vehicle 2 shown at the beginning of the maneuver. Dashed lines are the vehicle 2 shown after the end of the lane change maneuver.

A detection area is also shown 5 a vehicle camera 11 (see 4th ), which is an area in front of the vehicle 2 covers. A curve area is also shown 6th the roadway 3rd , with a beginning of a curve 7th in a section of the roadway 3rd is set in which a curve radius is smaller than a predetermined threshold value.

A distance is also shown D. from the vehicle 2 at the beginning of the driving maneuver up to the beginning of the curve 7th . A distance required to carry out the lane change maneuver is also shown W. . A safety distance is also shown TZ .

From the in 3rd The illustrated embodiment shows that the vehicle camera 11 cannot detect that the roadway 3rd the curve section along the route in front of the vehicle 6th having. Information about this curve segment 6th can, however, be extracted from swarm data that - as explained above - were generated by other vehicles. Vehicle positions, those of other vehicles along the roadway, are symbolized by a dotted line 3rd have already been driven, generated and transmitted to a central server device. By evaluating this position information, trajectory information about the trajectories driven by these vehicles can be determined, the curve radius then being determined by evaluating the trajectory information, in particular as the curve radius of one of the trajectories or an averaged trajectory.

By evaluating this swarm data, the vehicle can 2 a curve radius of the route ahead of the vehicle up to a maximum distance Dmax along the route in front of the vehicle.

It is also shown that the distance required to carry out the lane change maneuver W. is less than the difference between the distance D. until the start of the curve 7th minus the safety margin TZ .

A corresponding test criterion is thus met in the present exemplary embodiment, as a result of which the planned lane change maneuver can be enabled.

4th shows a schematic block diagram of a driver assistance system according to the invention 1 for the assisted or automated execution of a driving maneuver. The driver assistance system includes a control and evaluation device 8th and a communication device 9 for retrieving swarm data from a central server facility 10 . This central server facility 10 can be a device external to the vehicle. It is also shown that the driver assistance system has a vehicle camera 11 for generating images of a vehicle in front of the vehicle 2 arranged detection area 5 (please refer 3rd ) includes.

With the driver assistance system shown 1 a method described in this disclosure for the assisted or automated implementation of a driving maneuver can advantageously be carried out.

List of reference symbols

1

Driver assistance system

2

vehicle

3

roadway

4a

first lane

4b

second lane

5

Detection area

6th

Curve section

7th

Start of curve

8th

Control and evaluation device

9

Communication facility

10

central server facility

A1

Evaluate

B.

Determine

B1

Determine

B2

Determine

P

Check

P1

Check

P2

Check

P3

Check

P4

Check

W.

Distance

D.

Distance from the curve

Dmax

maximum distance

TZ

Safety distance

QUOTES INCLUDED IN THE DESCRIPTION

This list of the 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.

Patent literature cited

• US 2019/0143983 A1 [0002]
• DE 102012222301 A1 [0003]
• DE 102011117382 A1 [0004]

Claims (11)

A method for operating a driver assistance system (1) for the assisted or automated execution of a driving maneuver, whereby a release of the driving maneuver is checked before the execution of the driving maneuver and / or the necessity of aborting the driving maneuver is checked during the execution of the driving maneuver, characterized in that the release of the Driving maneuvers and / or the need to abort is checked as a function of swarm data. Procedure according to Claim 1 , characterized in that the driving maneuver is a lane change maneuver. Method according to one of the preceding claims, characterized in that at least one item of vehicle information and / or at least one item of information about the surroundings is determined, the release and / or the necessity of canceling being additionally checked depending on the at least one item of vehicle information and / or the at least one item of information about the surroundings. Method according to one of the preceding claims, characterized in that curvature information of the route lying in front of the vehicle (2) is determined, the release and / or the necessity of the termination being additionally checked as a function of the curvature information. Procedure according to Claim 4 , characterized in that the curvature information is only determined up to a predetermined distance (Dmax) along the distance in front of the vehicle (2). Method according to one of the Claims 4 or 5 , characterized in that a necessary or remaining route (W) to carry out the driving maneuver is determined, the release and / or the necessity of the termination being additionally checked as a function of the necessary or remaining route (W). Procedure according to Claim 6 , characterized in that the necessary or remaining distance is a distance (D) to the beginning of a curve (6) or that the necessary or remaining distance (W) is the difference between the distance (D) to the beginning of a curve (6) and a safety distance (TZ) is determined. Method according to one of the Claims 6 to 7th , characterized in that the driving maneuver is released or no need to abort is detected if the curvature in the necessary or remaining distance (W) is less than a threshold value. Procedure according to Claim 8 , characterized in that the threshold value is determined as a function of at least one item of vehicle information and / or at least one item of information about the surroundings. Method according to one of the preceding claims, characterized in that lane information of the route ahead of the vehicle (2) is determined as a function of the swarm data, the release and / or the necessity of the termination being additionally checked as a function of the lane information. Driver assistance system for the assisted or automated execution of a driving maneuver, the driver assistance system (1) comprising at least one control and evaluation device (8), with the at least one control and evaluation device (8) enabling the driving maneuver and / or while the driving maneuver is being carried out, the necessity of aborting the driving maneuver is checked, characterized in that the driver assistance system (1) comprises a communication interface for calling up swarm data, the control and evaluation device (8) enabling the driving maneuver and / or the necessity the termination is checked depending on swarm data.

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