DE102018009416A1 - Method for the cooperative control of a movement of a vehicle - Google Patents

Method for the cooperative control of a movement of a vehicle Download PDF

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Publication number
DE102018009416A1
DE102018009416A1 DE102018009416.3A DE102018009416A DE102018009416A1 DE 102018009416 A1 DE102018009416 A1 DE 102018009416A1 DE 102018009416 A DE102018009416 A DE 102018009416A DE 102018009416 A1 DE102018009416 A1 DE 102018009416A1
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Prior art keywords
vehicle
cooperative control
movement
lane
subsequent
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DE102018009416.3A
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German (de)
Inventor
Jonas Köhler
Stephan Zinkler
Martin Hümmer
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Mercedes Benz Group AG
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Daimler AG
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Priority to DE102018009416.3A priority Critical patent/DE102018009416A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/215—Selection or confirmation of options
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

Die Erfindung betrifft ein Verfahren zur kooperativen Steuerung einer Bewegung eines Fahrzeuges (1). Erfindungsgemäß ist vorgesehen, dass das Fahrzeug (1) an einer durch das Fahrzeug (1) gebildeten seitlichen Engstelle im Bereich einer Ausfädelstelle derart gesteuert wird, dass einem nachfolgenden Fahrzeug (3) seitlich des Fahrzeuges (1) ein zum Ausfädeln erforderlicher Raum zur Verfügung gestellt wird.

Figure DE102018009416A1_0000
The invention relates to a method for the cooperative control of a movement of a vehicle (1). According to the invention, it is provided that the vehicle (1) is controlled at a lateral bottleneck formed by the vehicle (1) in the region of a Ausfädelstelle that a subsequent vehicle (3) side of the vehicle (1) provided a necessary for unthreading space becomes.
Figure DE102018009416A1_0000

Description

Die Erfindung betrifft ein Verfahren zur kooperativen Steuerung einer Bewegung eines Fahrzeuges.The invention relates to a method for the cooperative control of a movement of a vehicle.

Aus der DE 10 2014 009 625 A1 ist ein Verfahren zum Betrieb eines Kraftfahrzeuges bekannt. Dabei regelt das Kraftfahrzeug in einem Betriebsmodus durch automatische Geschwindigkeitsregelung einen normalen Abstand zu einem vorausfahrenden Fahrzeug auf einer Straße. Der Abstand an Zufahrten und/oder Auffahrten von der Straße wird automatisch auf einen vergrößerten Abstand vergrößert.From the DE 10 2014 009 625 A1 a method for operating a motor vehicle is known. In this case, in an operating mode, the motor vehicle regulates a normal distance to a preceding vehicle on a road by automatic cruise control. The distance to driveways and / or driveways from the road is automatically increased to an increased distance.

Der Erfindung liegt die Aufgabe zugrunde, ein gegenüber dem Stand der Technik verbessertes Verfahren zur kooperativen Steuerung einer Bewegung eines Fahrzeuges anzugeben.The invention has for its object to provide a comparison with the prior art improved method for cooperative control of a movement of a vehicle.

Die Aufgabe wird erfindungsgemäß durch die in Anspruch 1 angegebenen Merkmale gelöst.The object is achieved by the features specified in claim 1.

Vorteilhafte Ausgestaltungen der Erfindung sind Gegenstand der Unteransprüche.Advantageous embodiments of the invention are the subject of the dependent claims.

Ein Verfahren zur kooperativen Steuerung einer Bewegung eines Fahrzeuges sieht vor, dass einem vorausfahrenden Fahrzeug an einer Ausfädelstelle für einen Ausfädelvorgang ausreichend Raum zur Verfügung gestellt wird. Erfindungsgemäß wird das Fahrzeug an einer durch das Fahrzeug gebildeten seitlichen Engstelle im Bereich einer Ausfädelstelle derart gesteuert, dass einem nachfolgenden Fahrzeug seitlich des Fahrzeuges ein zum Ausfädeln erforderlicher Raum zur Verfügung gestellt wird.A method for the cooperative control of a movement of a vehicle provides that a preceding vehicle at a Ausfädelstelle for a Ausfädelvorgang sufficient space is provided. According to the invention, the vehicle is controlled at a lateral constriction formed by the vehicle in the region of a Ausfädelstelle such that a subsequent vehicle laterally of the vehicle required for unthreading space is provided.

Durch Anwendung des Verfahrens kann ein Verkehrsfluss in Kreuzungssituationen wesentlich verbessert werden, wobei ein Komfort für das nachfolgende Fahrzeug, welches einen Fahrspurwechsel im Bereich der Ausfädelstelle beabsichtigt, erheblich erhöht werden kann.By applying the method, a traffic flow in intersection situations can be substantially improved, whereby a comfort for the subsequent vehicle, which intends a lane change in the area of the Ausladelstelle, can be considerably increased.

Ausführungsbeispiele der Erfindung werden im Folgenden anhand von Zeichnungen näher erläutert.Embodiments of the invention are explained in more detail below with reference to drawings.

Dabei zeigen:

  • 1 schematisch eine Verkehrssituation nach dem Stand Technik und
  • 2 schematisch eine Verkehrssituation mit kooperativer Steuerung eines Fahrzeuges.
Showing:
  • 1 schematically a traffic situation according to the state of the art and technology
  • 2 schematically a traffic situation with cooperative control of a vehicle.

Einander entsprechende Teile sind in allen Figuren mit den gleichen Bezugszeichen versehen.Corresponding parts are provided in all figures with the same reference numerals.

1 zeigt eine Verkehrssituation nach dem Stand der Technik, wobei ein Fahrbahnabschnitt F mit einem Kreuzungsbereich K und einer Lichtsignalanlage L dargestellt ist. 1 shows a traffic situation according to the prior art, wherein a roadway section F with a crossing area K and a traffic signal L is shown.

Der Fahrbahnabschnitt F umfasst eine Fahrspur F1, die sich in eine Geradeausspur G und Abbiegespur A teilt, wobei sich der Fahrbahnabschnitt F hierzu entsprechend verbreitert.The carriageway section F includes a lane F1 , which are in a straight track G and turn lane A divides, whereby the roadway section F Broadened accordingly.

Auf der Geradeausspur G stehen vier Fahrzeuge 1, 2 aufgrund der Rot anzeigenden Lichtsignalanlage L hintereinander, wobei ein einem Fahrzeug 1 nachfolgendes Fahrzeug 3 beabsichtigt, rechts abzubiegen. Ein Fahrspurwechsel des nachfolgenden Fahrzeuges 3 auf die Abbiegespur A ist nicht möglich, da wegen des wartenden Fahrzeuges 1 eine Engstelle gebildet ist, die das nachfolgende Fahrzeug 3 nicht passieren kann. Dabei ist das Fahrzeug 1 in Bezug auf die Geradeausspur G mittig positioniert.On the straight-ahead track G stand four vehicles 1 . 2 due to the red indicating traffic signal system L one behind the other, being a vehicle 1 following vehicle 3 intends to turn right. A lane change of the following vehicle 3 on the turn lane A is not possible because of the waiting vehicle 1 a bottleneck is formed, which is the subsequent vehicle 3 can not happen. Here is the vehicle 1 in relation to the straight track G positioned in the middle.

Um einen Verkehrsfluss in einer solchen Verkehrssituation zu verbessern, ist ein im Folgenden anhand 2 beschriebenes Verfahren vorgesehen.In order to improve a traffic flow in such a traffic situation, one is described below 2 described method provided.

Zur Durchführung des Verfahrens ist das Fahrzeug 1 in der Lage die vorliegende Verkehrssituation zu erfassen, insbesondere dass es sich in einem Kreuzungsbereich K mit Rückstau befindet.To carry out the method is the vehicle 1 able to grasp the present traffic situation, in particular that it is in an intersection area K with backwater is located.

Dabei kann die Verkehrssituation anhand erfasster Signale einer Umgebungssensorik des Fahrzeuges 1, anhand von Navigationsdaten und/oder anhand mittels einer Fahrzeug-zu-Fahrzeugkommunikation übermittelter Informationen ermittelt werden.In this case, the traffic situation on the basis of detected signals of an environmental sensor of the vehicle 1 , be determined based on navigation data and / or transmitted by means of a vehicle-to-vehicle communication information.

Insbesondere wird die Verkehrssituation mit dem Rückstau anhand der Lichtsignalanlage L und deren Status, anhand der Anzahl der dem Fahrzeug 1 vorausfahrenden Fahrzeuge 2, anhand einer momentanen Geschwindigkeit und anhand eines allgemeinen Verkehrsflusses erfasst.In particular, the traffic situation with the backwater is based on the traffic signal L and their status, based on the number of the vehicle 1 preceding vehicles 2 , recorded on the basis of a current speed and based on a general traffic flow.

Darüber hinaus wird auch ein Folgeverkehr, gemäß dem vorliegenden Ausführungsbeispiel in 2 das nachfolgende Fahrzeug 3, erfasst. Das nachfolgende Fahrzeug 3 beabsichtigt abzubiegen und hat einen entsprechenden Fahrtrichtungsanzeiger aktiviert, wobei die Abbiegeabsicht von dem Fahrzeug 1 anhand erfasster Bildsignale einer rückwärtsgerichteten Kamera des Fahrzeuges 1 und/oder anhand einer via Fahrzeug-zu-Fahrzeugkommunikation übermittelten Information erfasst wird.In addition, a follow-up traffic, according to the present embodiment in 2 the following vehicle 3 , detected. The following vehicle 3 intended to turn off and has activated a corresponding direction indicator, wherein the turning intention of the vehicle 1 on the basis of detected image signals of a rear-facing camera of the vehicle 1 and / or is detected by means of a transmitted via vehicle-to-vehicle communication information.

Wird von dem Fahrzeug 1 erfasst, dass das nachfolgende Fahrzeug 3 auf die Abbiegespur A fahren möchte, dies jedoch von dem Fahrzeug 1 verhindert wird, so erfolgt eine adaptive Spurführung des Fahrzeuges 1. Das Fahrzeug 1 wird bei einer solchen erfassten Verkehrssituation derart gesteuert, dass das Fahrzeug 1 in seiner Fahrspur F1, also auf der Geradeausspur G derart positioniert wird, dass dem nachfolgenden Fahrzeug 3, also einem Folgeverkehr, ein ungehindertes Befahren der Abbiegespur A ermöglicht wird. Gemäß dem vorliegenden Ausführungsbeispiel wird das Fahrzeug 1 in Richtung einer linken Fahrspurbegrenzung B positioniert, so dass das nachfolgende Fahrzeug 3 seitlich an dem Fahrzeug 1 vorbei- und die Abbiegespur A befahren kann. Das Fahrzeug 1 führt also eine adaptive außermittige Spurführung durch, um dem nachfolgenden Fahrzeug 3 ausreichend Raum zur Verfügung zu stellen, um ausfädeln zu können, d. h. auf die Abbiegespur A fahren zu können.Is from the vehicle 1 detects that the following vehicle 3 on the turn lane A want to drive, but this from the vehicle 1 is prevented, so there is an adaptive tracking of the vehicle 1 , The vehicle 1 is controlled in such a detected traffic situation such that the vehicle 1 in his lane F1 , ie on the straight-ahead track G is positioned such that the following vehicle 3 , ie a follow-up traffic, unhindered driving the turn lane A is possible. According to the present embodiment, the vehicle becomes 1 in the direction of a left lane boundary B positioned so that the following vehicle 3 on the side of the vehicle 1 over and the turn lane A can drive. The vehicle 1 So performs an adaptive off-center tracking to the subsequent vehicle 3 to provide sufficient space to unthread can, ie on the turn lane A to be able to drive.

Mittels des oben beschriebenen Verfahrens wird das Fahrzeug 1 an einer durch das Fahrzeug 1 gebildeten seitlichen Engstelle im Bereich einer Ausfädelstelle derart gesteuert, dass dem nachfolgenden Fahrzeug 3 seitlich des Fahrzeuges 1 ein zum Ausfädeln, also zum Befahren der Abbiegespur A, erforderlicher Raum zur Verfügung gestellt wird. Insbesondere eignet sich die Anwendung des Verfahrens im teilautonomen oder autonomen Fahrbetrieb des Fahrzeuges 1.By means of the method described above, the vehicle 1 at one by the vehicle 1 formed lateral bottleneck in the region of a Ausfädelstelle controlled such that the following vehicle 3 side of the vehicle 1 a for unthreading, so to drive on the turn lane A , required space is provided. In particular, the application of the method in semi-autonomous or autonomous driving operation of the vehicle is suitable 1 ,

BezugszeichenlisteLIST OF REFERENCE NUMBERS

11
Fahrzeugvehicle
22
vorausfahrendes Fahrzeugpreceding vehicle
33
nachfolgendes Fahrzeug following vehicle
AA
Abbiegespurturn lane
BB
Fahrspurbegrenzunglane boundary
FF
Fahrbahnabschnittroad section
GG
Geradeausspurstraight track
F1F1
Fahrspurlane
KK
Kreuzungsbereichcrossing area
LL
LichtsignalanlageTraffic signal

ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION

Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.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.

Zitierte PatentliteraturCited patent literature

  • DE 102014009625 A1 [0002]DE 102014009625 A1 Résumé

Claims (3)

Verfahren zur kooperativen Steuerung einer Bewegung eines Fahrzeuges (1), dadurch gekennzeichnet, dass das Fahrzeug (1) an einer durch das Fahrzeug (1) gebildeten seitlichen Engstelle im Bereich einer Ausfädelstelle derart gesteuert wird, dass einem nachfolgenden Fahrzeug (3) seitlich des Fahrzeuges (1) ein zum Ausfädeln erforderlicher Raum zur Verfügung gestellt wird.Method for the cooperative control of a movement of a vehicle (1), characterized in that the vehicle (1) is controlled at a lateral constriction formed by the vehicle (1) in the region of a Ausfädelstelle such that a subsequent vehicle (3) side of the vehicle (1) a space required for unthreading is provided. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass eine Lichtsignalanlage (L) vor dem Fahrzeug (1) und deren Status, eine Anzahl vorausfahrender Fahrzeuge (2) und/oder eine Geschwindigkeit zumindest der vorausfahrenden Fahrzeuge (2) anhand erfasster Signale einer Umgebungssensorik, anhand von Navigationsdaten und/oder anhand mittels einer Fahrzeug-zu-Fahrzeugkommunikation übermittelter Informationen ermittelt werden bzw. wird.Method according to Claim 1 , characterized in that a traffic signal (L) in front of the vehicle (1) and its status, a number of preceding vehicles (2) and / or a speed of at least the preceding vehicles (2) on the basis of detected signals of environmental sensors, based on navigation data and / or is determined on the basis of transmitted by means of a vehicle-to-vehicle communication information. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass das Fahrzeug (1) zur Verfügungsstellung des erforderlichen Raumes für das nachfolgende Fahrzeug (3) innerhalb seiner Fahrspur (F1) entsprechend positioniert wird.Method according to Claim 1 or 2 , characterized in that the vehicle (1) for disposing of the required space for the subsequent vehicle (3) within its lane (F1) is positioned accordingly.
DE102018009416.3A 2018-11-30 2018-11-30 Method for the cooperative control of a movement of a vehicle Withdrawn DE102018009416A1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020205635A1 (en) 2020-05-05 2021-11-11 Robert Bosch Gesellschaft mit beschränkter Haftung Method and device for operating a vehicle when the traffic is stopped

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014009625A1 (en) 2014-06-27 2014-11-27 Daimler Ag Method for operating a motor vehicle

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014009625A1 (en) 2014-06-27 2014-11-27 Daimler Ag Method for operating a motor vehicle

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020205635A1 (en) 2020-05-05 2021-11-11 Robert Bosch Gesellschaft mit beschränkter Haftung Method and device for operating a vehicle when the traffic is stopped

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