DE102014208665A1 - Control method, control device and vehicle - Google Patents

Abstract

The present invention discloses a control method for a vehicle, comprising calculating a planned vehicle guidance path of the vehicle, guiding the vehicle on the planned vehicle guidance path, detecting at least one physical quantity of the vehicle, comparing the at least one physical variable with one for the respective physical one Size predetermined threshold, and canceling the driving of the vehicle on the planned vehicle guideway when the at least one physical quantity exceeds the respective predetermined threshold value. Further, the present invention discloses a corresponding control device and a corresponding vehicle.

Description

The present invention relates to a control method for a vehicle, a control device for a vehicle and a corresponding method.

State of the art

In vehicle technology today a variety of electronic systems is used. These electronic systems may serve, for example, to assist the driver of a road vehicle in driving the vehicle.

For example, electronic systems may perform an environmental monitoring of the vehicle to initiate appropriate safety measures in the event of an imminent accident.

Such a system may e.g. Activate the belt tensioners on a vehicle and set the head restraints of the vehicle in an upright position if the system detects an imminent accident. Additionally or alternatively, however, such a system may also calculate an escape distance that the vehicle could travel to avoid the respective destination. In order to move the vehicle on this route, the system can be presented to the driver e.g. by means of a steering torque impressed on the steering wheel give an indication of in which direction the driver should steer the vehicle to follow the escape route.

However, it may irritate a driver or the driver may find it disturbing when the electronic system tries to give him an escape route, but the driver performs only one driving maneuver that incorrectly identifies the electronic system as an imminent collision.

In such a situation, the steering torque applied by the electronic system may manifest to the driver as a stiff or jerky steering of the vehicle.

Disclosure of the invention

It is therefore an object of the present invention to provide a way to avoid the disadvantages mentioned above.

Accordingly, the present invention discloses a control method having the features of claim 1, a control device having the features of claim 7, and a vehicle having the features of claim 12.

Accordingly, it is provided:

A control method for a vehicle, comprising calculating a planned vehicle guidance path of the vehicle, guiding the vehicle on the planned vehicle guidance path, detecting at least one physical quantity of the vehicle, comparing the at least one detected physical quantity with a threshold value predetermined for the respective physical quantity and stopping the vehicle from leading the planned vehicle guideway when a predetermined number of physical quantities exceed the respective predetermined threshold.

It is also provided:

A control device for a vehicle, having a sensor interface, which can be coupled to at least one sensor in the vehicle and which is designed to receive at least one physical size from the at least one sensor, with a computing device, which is adapted to a planned vehicle guideway the vehicle, with a control interface, which is coupled to at least one actuator of the vehicle and which is adapted to control the actuator such that it leads the vehicle on the planned vehicle guideway, wherein the computing device is adapted to at least one to compare physical size with a respective threshold and to interrupt a driving of the at least one actuator when a predetermined number of physical quantities exceeds the respective predetermined threshold value.

Finally, it is planned:

A vehicle with a control device according to the invention for carrying out a method according to the invention, with an environment identifier which is coupled to the control device and which is designed to at least partially detect an environment of the vehicle, with at least one sensor which is coupled to the control device and which is configured to detect a physical quantity, and with an actuator, which is coupled to the control device and which is adapted to guide the vehicle on a vehicle guideway.

Advantages of the invention

The finding underlying the present invention consists in that recognition of the driver intention makes it possible to distinguish between an imminent accident and a steering maneuver deliberately undertaken by the driver of the respective vehicle.

The idea on which the present invention is based now consists in taking this knowledge into account and providing a possibility of recognizing, based on physical parameters of the vehicle, whether the driver consciously performs a driving maneuver or whether the driver is trying to execute an evasive maneuver in which he can be supported.

For this purpose, the present invention provides that a vehicle guideway for the vehicle is calculated. This vehicle guideway may e.g. be a possible escape route on which a vehicle could drive to avoid an obstacle. The vehicle can then be actively guided on this vehicle guideway. This makes it possible, e.g. to avoid a rear-end collision.

While the vehicle is being guided in an evasive maneuver on the planned vehicle guideway, according to the invention physical quantities of the vehicle, e.g. allow a statement about the movement of the vehicle or a desired movement of the vehicle by the driver.

If the monitored physical quantities exceed a limit value specified in each case for the physical quantities, the driving of the vehicle is aborted, as this could mean that the driver wants to actively drive a route other than the planned vehicle guideway.

The present invention thus makes it possible to detect a driver's request and to deactivate active or activated driver assistance systems or to end an intervention of the respective driver assistance system when a driver request is detected.

Advantageous embodiments and further developments emerge from the dependent claims and from the description with reference to the figures.

In one embodiment, a scheduled vehicle guideway is calculated when an initiation of evasive movement of the vehicle is detected, wherein initiating an evasive movement upon moving the steering wheel at a steering wheel angular velocity and / or steering wheel angle greater than a predetermined steering wheel angular velocity threshold and steering wheel angle threshold, respectively a recognized by an environment detection of the vehicle critical Auffahrsituation is detected. This makes it possible to assist in an imminent accident evasion of the vehicle in order to avoid the accident can.

In one embodiment, when guiding the vehicle on the planned vehicle guideway, a corresponding steering torque is applied to the steering wheel of the vehicle. This makes it possible, on the one hand, to autonomously control the vehicle on the planned vehicle guideway when the steering torque is large enough, on the other hand, a driver of the vehicle can be assisted in steering the vehicle on the planned vehicle guideway, if the steering torque is only so pronounced that the driver perceives it as an indication of the planned vehicle guideway.

In one embodiment, when at least one physical variable is detected, at least one steering wheel angular velocity and / or a steering torque and / or a steering torque change and / or a yaw rate of the vehicle and / or a yaw rate change and / or a brake torque which lies above a predefined braking torque threshold, and / or or a lateral offset of the vehicle relative to the planned vehicle guideway and / or a vehicle orientation angle detected. These quantities allow a very simple evaluation of the movement of the vehicle based on the corresponding thresholds. So can be determined in a simple manner, whether the vehicle has left the planned vehicle guideway on a driver's request or not.

In one embodiment, when more than one physical quantity is detected and not all detected quantities exceed the respective threshold, a difference of the current vehicle lane to the planned vehicle guideway is calculated, and based on the calculated difference, driving of the vehicle on the planned vehicle guideway is discontinued. Thus, special driving situations, such as a double lane change or the like can be detected. This is related to the 6 and 7 explained in more detail.

In one embodiment, actively performed desired maneuvers, in particular turn maneuvers, are detected on the basis of the detected physical quantities. Furthermore, the driving of the vehicle on the planned vehicle guideway is interrupted when an actively performed desiring maneuver, in particular a turning maneuver, is detected.

In one embodiment, the at least one sensor is designed as an electronic system, in particular an electronic stability system, of the vehicle, which is designed to be Control device to provide at least one physical size of the vehicle. This makes it possible to continue to use the calculations or sensor values of electronic systems already present in the vehicle.

In a further embodiment, the method according to the invention is implemented in an electronic system already present in the vehicle, e.g. an electronic stability system or an electronic steering system.

In one embodiment, the surroundings identifier has at least one radar sensor and / or an image sensor and / or a camera. This makes it possible to detect objects and in particular other vehicles in the vicinity of the vehicle.

The above embodiments and developments can, if appropriate, combine with each other as desired. Further possible refinements, developments and implementations of the invention also include combinations of features of the invention which have not been explicitly mentioned above or described below with regard to the exemplary embodiments. In particular, the person skilled in the art will also add individual aspects as improvements or additions to the respective basic form of the present invention.

Brief description of the drawings

The present invention will be explained in more detail with reference to the exemplary embodiments indicated in the schematic figures of the drawings. It shows:

1 a flow chart of an embodiment of a method according to the invention;

2 a block diagram of an embodiment of a control device according to the invention;

3 a block diagram of an embodiment of a vehicle according to the invention;

4 a representation of a critical driving situation;

5 a representation of a driver's desired driving situation;

6 a representation of another driving situation; and

7 a representation of another driving situation.

In all figures, the same or functionally identical elements and devices - unless otherwise stated - have been given the same reference numerals.

Embodiments of the invention

1 shows a flowchart of an embodiment of a method according to the invention.

The method sees in S1 calculating a planned vehicle guideway 10 of the vehicle 1 in front. In this case, the calculation of the planned vehicle guideway 10 take place in particular when initiating an evasive movement of the vehicle 1 is recognized.

For example, initiating an evasive movement of a vehicle 1 then be recognized if an environment identifier 8th of the vehicle 1 detects a critical Auffahrsituation and at the same time the steering wheel angular velocity 3 and / or the steering wheel angle is greater than a predetermined steering wheel angular velocity threshold or steering angle threshold. The combination of these conditions indicates that the driver of the vehicle 1 has also recognized the critical Auffahrsituation and undertakes a fallback.

Is a planned vehicle guideway 10 has been calculated, the vehicle becomes 1 in S2 on the planned vehicle guideway 10 guided. Driving the vehicle 1 For example, the application of a steering torque 9 or a torque 9 on the steering wheel 7 of the vehicle 1 exhibit.

While the vehicle 1 on the planned vehicle guideway 10 is guided in S3 at least one physical size 3 - 5 of the vehicle 1 detected. The recorded physical quantities 3 - 5 be in S4 with a for the respective physical size 3 - 5 predetermined threshold 6 compared.

In S5 is driving the vehicle 1 on the planned vehicle guideway 10 aborted when a given number of physical quantities 3 - 5 the respective predetermined threshold value 6 exceeds. For example, driving the vehicle 1 aborted if all physical quantities detected 3 - 5 exceed the given threshold value.

When calculating a planned vehicle guideway 10 In one embodiment, a vehicle guideway 10 calculates which the vehicle 1 around the obstacle without taking the vehicle 1 to collide with another obstacle or the vehicle 1 into a difficult situation from a driving dynamics point of view. When calculating such a planned Vehicle guideway 10 For example, it is also possible to use information from an electronic stability program which, for example, permits a statement about the coefficient of friction of the ground, that is to say the road, for example, optimum curve radii for the planned vehicle guideway 10 to determine.

Driving the vehicle 1 on the planned vehicle guideway 10 may have, in one embodiment, that the driver of the vehicle 1 eg on the steering wheel 7 applied steering torque 9 a subtle hint is given in which direction he drives the vehicle 1 should steer. The torque can be 9 For example, be designed such that the driver of this torque 9 easily oversteer, if he wants to drive another train.

In one embodiment, this may be done while driving the vehicle 1 applied steering torque 9 but also such a steering torque 9 be that vehicle 1 automatically and without intervention of a driver on the planned vehicle guideway 10 to be led.

When detecting the physical quantities 3 - 5 can in addition to the already mentioned steering wheel angular velocity 3 eg also a lateral offset 4 of the vehicle 1 compared to the planned vehicle guidance route 10 be recorded. This is related to 5 explained in more detail. Additionally or alternatively, for example, a vehicle orientation angle 5 be detected, for example, an angle of the vehicle longitudinal axis relative to the planned vehicle guidance route 10 can have. Other physical quantities can also be detected. For example, in one embodiment, a position of the vehicle 1 eg based on a satellite positioning system. Depending on the design of the positioning system can thus the position of the vehicle 1 be detected to a few centimeters exactly.

Possible thresholds for the steering wheel angular velocity 3 are for example 220 ° / s, 250 ° / s or the like. Possible threshold values for the lateral offset of the vehicle can be, for example, 3 m, 5 m or the like. For example, threshold values of 20 °, 30 ° or the like can be specified for the vehicle orientation angle.

In particular, the threshold values can also be adaptively adapted to the respective driving situation or it can be for each physical variable 3 - 5 an upper and a lower threshold can be specified. In one embodiment, for a physical size 3 - 5 Different thresholds to be considered separately can also be specified. For example, for the steering wheel angular velocity 3 in addition to a maximum value, the value 0 can also be specified. This makes it possible to detect a sign change of the steering wheel angular velocity. In such an embodiment, for example, exceeding or dropping below the value 0 alone may already be sufficient to guide the vehicle 1 cancel.

In one embodiment, if more than one physical size 3 - 5 is detected, for example, three physical quantities 3 - 5 , and not all physical quantities recorded 3 - 5 the respective threshold 6 exceed, a difference of the current vehicle path 11 to the planned vehicle guideway 10 calculated and based on the calculated difference driving the vehicle 1 on the planned vehicle guideway 10 be canceled. Additionally or alternatively, for example, based on the detected physical quantities 3 - 5 Desired maneuvers of the driver, such as a double lane change or the like can be detected. If such a desire maneuver is detected, the driving of the vehicle 1 also be canceled. In a further embodiment, a turning maneuver can also be specifically recognized, which the driver actively performs.

2 shows a block diagram of an embodiment of a control device according to the invention 13 ,

The control device 13 has a sensor interface 14 on, over which the control device 13 from sensors 19 - 21 in the vehicle 1 physical quantities 3 - 5 or signals which the respective physical quantities 3 - 5 sign. The sensor interface 14 transmits the received data to a computing device 16 ,

The computing device 16 calculates a planned vehicle guideway 10 of the vehicle 1 if an environment identifier 8th of the vehicle 1 recognizes an imminent impact on an obstacle and an evasive movement of the vehicle 1 is initiated.

Via a control interface 17 , controls the computing device 16 directly or indirectly an actor 18 , the vehicle 1 on the planned vehicle guideway 10 leads.

The computing device 16 can be the detected physical quantities 3 - 5 with a respective threshold 6 to compare. Exceeds a given number of detected physical quantities 3 - 5 the respective predetermined threshold value 6 , the controller interrupts 13 the driving of the one actuator 18 ,

The computing device 16 may be adapted to any embodiment of the under 1 execute described method. In this case, the computing device 16 be designed as a control unit, which eg in the vehicle 1 can be installed. In a further embodiment, the computing device is 16 in an already in the vehicle 1 existing control unit integrated. In a further embodiment, the computing device is 16 formed as a computer program which is executed by the processor of a control unit.

3 shows a block diagram of an embodiment of a vehicle according to the invention 1 ,

The vehicle 1 has a control device according to the invention 13 which has a shared sensor interface 14 which has a computing device 16 is coupled. The sensor interface 14 is divided into two areas, one of which is directly with sensors 19 - 21 is coupled and one with an environment detection 8th of the vehicle 1 coupled with a radar sensor 25 is coupled.

The sensor 19 is a steering wheel angle sensor 19 that is attached to the steering wheel 7 of the vehicle 1 is arranged. The sensor 20 is a vehicle position sensor 20 and the sensor 21 is a vehicle orientation sensor 21 , For example, the vehicle position sensor 20 as a 3-axis accelerometer 20 configured based on an integration of the acceleration values, the position of the vehicle 1 calculated and outputs. Other types of sensors, such as satellite-based position sensors are also possible. Based on the position of the vehicle 1 For example, the lateral offset 4 of the vehicle 1 be recorded or calculated. The vehicle orientation sensor 21 can eg a compass 21 , a gyroscope 21 or the like. All or at least part of the sensors 19 - 21 Sensors can also be used in the vehicle 1 existing electronic system 1 , eg an ESP system or the like. For example, an ESP system can communicate with the controller via a CAN bus or Flexray bus 13 be coupled and transmit the sensor data.

About the environment monitoring 8th receives the computing device 16 Information about whether a critical driving situation exists, in which, for example, an immediate collision of the vehicle 1 with a preceding vehicle is imminent. If such a critical driving situation is detected and actuates the driver of the vehicle 1 at the same time the steering wheel 7 such that the steering wheel angular velocity 3 and / or the steering wheel angle exceed a predetermined limit, it is assumed that the driver of the vehicle 1 wants to perform an evasive maneuver. Such a evasive maneuver then becomes a planned vehicle guideway 10 calculated on which the vehicle 1 could avoid the obstacle. Via the control interface 17 can the controller 13 then an actor 18 drive the vehicle 1 on the planned vehicle guideway 10 leads. The guiding may consist in giving the driver an indication of the correct or the planned vehicle guideway 10 to give by a torque or a steering torque 9 on the steering wheel 7 is applied. In this case, the steering torque 9 be so small that the driver perceives this, but it can override anytime. In a further embodiment, the steering torque 9 also be so great that the vehicle 1 autonomous on the vehicle guideway 10 can be performed.

The computing device 16 the control device 13 compares while the vehicle 1 on the planned vehicle guideway 10 The recorded physical quantities are managed 3 - 5 with a respective threshold 6 , Exceed all physical quantities 3 - 5 the respective threshold 6 , it is assumed that the driver deliberately performs a driving maneuver and driving the vehicle 1 is through a breaker 15 canceled. So the driver feels no steering torque 9 which would be directed against the route selected by the driver.

In one embodiment, the control device 13 if not all physical quantities recorded 3 - 5 the respective threshold 6 exceed, a difference of the current vehicle path 11 , eg based on the physical quantities 3 - 5 to the planned vehicle guideway 10 calculate and based on the calculated difference driving the at least one actuator 18 interrupt.

4 , shows a representation of a critical driving situation.

In 4 is a vehicle 1 on the right lane of a three-lane road, eg a motorway. There are also other vehicles 50 - 53 shown. The vehicle 51 is just in front of the vehicle 1 and the vehicle 52 is in front of the vehicle 51 , On the left lane is the vehicle 50 behind the vehicle 1 and the vehicle 53 at about the height of the vehicle 52 ,

The vehicle 1 is shown in several phases of an evasive maneuver. For example, the vehicle could 51 at the end of a traffic jam and the vehicle 1 Drive at an increased speed towards the end of the jam.

In this situation, the environment detection recognizes 8th of the vehicle 1 the vehicle 51 and recognizes based on the speed difference between the two vehicles 1 . 51 also, that an impact is imminent. Directs the driver of the vehicle 1 now left to the vehicle 51 to avoid, according to the invention a planned vehicle guideway 10 calculated on which the vehicle 1 the vehicle 51 could dodge and the driver becomes while driving on the planned vehicle guideway 10 supported.

5 shows a representation of a driver's desired driving situation.

In 5 a T-shaped intersection is shown, the vehicle 1 coming from the left wants to turn left. There are also two vehicles directly after the intersection 54 and 55 in front of the vehicle 1 , Drives the vehicle 1 in the illustrated situation unbraked from behind the vehicle 54 to, recognizes the environment identifier 8th the vehicle 54 and thus an imminent collision. If the driver now turns to the left, it is assumed that the driver is the vehicle 54 wants to dodge and left next to the vehicle 54 on the planned vehicle guideway 10 wants to drive.

In reality, the driver does not want to leave the vehicle 54 Dodge but turn left, the driver drives the actual vehicle 11 that of the planned vehicle train 10 differs. In such a case, while driving the vehicle 1 on the planned vehicle guideway 10 a steering torque 9 on the steering wheel 7 given to the driver in the direction of the planned vehicle guideway 10 would guide, although this actually wants to turn.

In 5 plotted are three physical quantities 3 - 5 , which are detected according to the invention. On the one hand, a steering angle speed 3 of the steering wheel 7 of the vehicle 1 detected. Further, the lateral offset becomes 4 of the vehicle 1 from the planned vehicle guideway 10 detected. Finally, the vehicle orientation angle becomes 5 detected. In this case, an angle of 0 °, for example, the straight ahead of the vehicle 1 mark before turning.

Based on the acquired physical quantities 3 - 5 can now be based on a simple comparison, each with a threshold 6 be checked if the driver of the vehicle 1 tries the planned vehicle guideway 10 to follow or another driving maneuver, here the turning process, performs.

For example, for each of the physical sizes 3 - 5 the respective threshold 6 exceeded, driving the vehicle 1 be canceled because it is assumed that the driver 1 did not want to avoid an obstacle but wanted to turn for example.

Possible thresholds for the steering wheel angular velocity 3 are for example 220 ° / s, 250 ° / s or the like. Possible thresholds for the lateral offset 4 of the vehicle 1 may be, for example, 3m, 5m or the like. For the vehicle orientation angle 5 For example, threshold values of 20 °, 30 ° or the like can be specified.

Instead of the above thresholds 6 For example, the sign of the steering wheel speed 3 be recorded. Changes the steering wheel speed 3 earlier than according to the planned vehicle guideway 10 If necessary, their sign, for example, if the driver turns the steering wheel straight again or changes the predetermined alternative side, it can also be assumed that the driver of the vehicle 1 this driving maneuver has deliberately carried out and driving the vehicle 1 can be stopped.

6 shows a representation of another driving situation.

In 6 leads the vehicle 1 on a three lane carriageway a double lane change from the right over the middle to the left lane through to two vehicles 56 , in the right lane, and 57 , on the middle lane, to overtake.

In such a case, the vehicle starts 1 on a current vehicle track 11 to drive, which resembles a planned vehicle guideway. Therefore, probably not all physical quantities recorded 3 - 5 the respective threshold 6 exceed. Driving the vehicle 1 on the planned vehicle guideway 10 so would not be canceled.

In such a situation, for example, the planned vehicle guideway 10 with the current or actual vehicle lane 11 be compared and identified by the deviation, for example, a double lane change.

The same goes for the in 7 illustrated driving situation in which the vehicle 1 on a vehicle 60 on the middle lane of a three-lane road drives up and on the right lane the vehicles 58 and 59 are shown.

It can be seen that the vehicle 1 on the current vehicle train 11 steers briefly to the left and then back to the middle lane. This may be the case, for example, if the driver of the vehicle 1 the vehicle 60 wants to overtake and then sees in the rearview mirror a rapidly approaching vehicle. In such a situation, the planned vehicle train would 10 the vehicle 1 leading to the left lane, which the driver considers a steering moment 9 would feel.

By comparing the planned vehicle guideway 10 with the current vehicle train 11 This steering the driver back into the middle lane can be detected and driving the vehicle 1 be canceled.

Although the present invention has been described above with reference to preferred embodiments, it is not limited thereto, but modifiable in a variety of ways. In particular, the invention can be varied or modified in many ways without deviating from the gist of the invention.

LIST OF REFERENCE NUMBERS

1

 vehicle

3-5

physical size

3

 Steering wheel angle speed

4

 lateral offset

5

 Vehicle orientation angles

6

 threshold

7

 steering wheel

8th

 environment recognition

9

 steering torque

10

 planned vehicle guideway

11

 current vehicle track

13

 control device

14

 Sensor interface

15

 interrupting device

16

 computing device

17

 Control interface

18

 actuator

19-21

 sensor

19

 Steering wheel angle sensor

20

 Vehicle position sensor

21

 Vehicle orientation sensor

25

 radar sensor

50-60

 vehicle

Claims (15)

Control method for a vehicle ( 1 ), comprising: calculating a planned vehicle guideway ( 10 ) of the vehicle ( 1 ); Driving the vehicle ( 1 ) on the planned vehicle guideway ( 10 ); Capture at least one physical variable ( 3 - 5 ) of the vehicle ( 1 ); Comparing the at least one detected physical quantity ( 3 - 5 ) with one for the respective physical size ( 3 - 5 ) predetermined threshold ( 6 ); and canceling the driving of the vehicle ( 1 ) on the planned vehicle guideway ( 10 ), if a given number of physical quantities ( 3 - 5 ) the respective predetermined threshold value ( 6 ) exceeds. A control method according to claim 1, wherein a planned vehicle guideway ( 10 ) is calculated when initiating an evasive movement of the vehicle ( 1 ), wherein initiating an evasive movement when moving the steering wheel ( 7 ) with a steering wheel angular velocity ( 3 ), which is above a predetermined Lenkradwinkelgeschwindigkeitsschwellwert, and / or a steering wheel angle which is above a predetermined Lenkradwinkelschwellwert, and at the same time by a Umfeldkennung ( 8th ) of the vehicle ( 1 ) detected critical Auffahrsituation is detected. Control method according to one of the preceding claims, wherein when driving the vehicle ( 1 ) on the planned vehicle guideway ( 10 ) a corresponding steering torque ( 9 ) on the steering wheel ( 7 ) of the vehicle ( 1 ) is applied. Control method according to one of the preceding claims, wherein when detecting at least one physical quantity ( 3 - 5 ) at least one steering wheel angular velocity ( 3 ) and / or a steering torque and / or a steering torque change and / or a yaw rate of the vehicle ( 1 ) and / or a yaw rate change and / or a braking torque which is above a predetermined braking torque threshold, and / or a lateral offset ( 4 ) of the vehicle ( 1 ) compared to the planned vehicle guideway ( 10 ) and / or a vehicle orientation angle ( 5 ) is detected. Control method according to one of the preceding claims, wherein if more than one physical quantity ( 3 - 5 ) and not all the physical quantities recorded ( 3 - 5 ) the respective threshold value ( 6 ), a difference of the current vehicle path ( 11 ) to the planned vehicle guideway ( 10 ) and based on the calculated difference driving the vehicle ( 1 ) on the planned vehicle guideway ( 10 ) is canceled. Control method according to one of the preceding claims, wherein on the basis of the detected physical quantities ( 3 - 5 ) actively carried out desired maneuvers, in particular turn maneuvers, be detected and driving the vehicle ( 1 ) on the planned vehicle guideway ( 10 ) is aborted when an actively performed desire maneuver, in particular a turn maneuver, is detected. Control device ( 13 ) for a vehicle ( 1 ), with a sensor interface ( 14 ), which with at least one sensor ( 19 - 21 ) in the vehicle ( 1 ) is coupled and which is adapted to, from the at least one sensor ( 19 - 21 ) at least one physical quantity ( 3 - 5 ) to obtain; a computing device ( 16 ), which is adapted to a planned vehicle guideway ( 10 ) of the vehicle ( 1 ) to calculate; a control interface ( 17 ), which with at least one actuator ( 18 ) of the vehicle ( 1 ) is coupled and which is adapted to the actuator ( 18 ) such that the vehicle ( 1 ) on the planned vehicle guideway ( 10 ) leads; wherein the computing device ( 16 ) is adapted to the at least one physical variable ( 3 - 5 ) with a respective threshold ( 6 ) and driving the at least one actuator ( 18 ) when a given number of physical quantities ( 3 - 5 ) the respective predetermined threshold value ( 6 ) exceeds. Control device according to claim 7, wherein the sensor interface ( 14 ) with an environment identifier ( 8th ) of the vehicle ( 1 ) can be coupled to detect a critical Auffahrsituation and the computing device ( 16 ) is adapted to a planned vehicle guideway ( 10 ), when the computing device ( 16 ) based on a steering wheel angular velocity ( 3 ), which is above a predetermined steering wheel angular velocity threshold, and at the same time by the environment detection ( 8th ) of the vehicle ( 1 ) recognized critical Auffahrsituation initiating an evasive movement of the vehicle ( 1 ) recognizes. Control device according to one of Claims 7 and 8, the sensor interface ( 14 ) at least with a steering wheel angle sensor ( 19 ) and / or vehicle position sensor ( 20 ) and / or a vehicle orientation sensor ( 21 ) and the at least one physical variable ( 3 - 5 ) a steering wheel angular velocity ( 3 ) and / or a steering torque and / or a steering torque change and / or a yaw rate of the vehicle ( 1 ) and / or a yaw rate change and / or a brake torque which is above a predetermined brake torque threshold, and / or a lateral offset ( 4 ) of the vehicle ( 1 ) compared to the planned vehicle guideway ( 10 ) and / or a vehicle orientation angle ( 5 ) having. Control device according to one of Claims 7 to 9, the control device ( 13 ) is designed to have more than one physical quantity ( 3 - 5 ) and not all the physical quantities recorded ( 3 - 5 ) the respective threshold value ( 6 ), a difference of the current vehicle path ( 11 ) to the planned vehicle guideway ( 10 ) and based on the calculated difference driving the at least one actuator ( 18 ) to interrupt. Control device according to one of Claims 7 to 10, the control device ( 13 ) is designed, on the basis of the detected physical quantities ( 3 - 5 ) actively detected desired maneuvers, in particular turning maneuvers to recognize and controlling the at least one actuator ( 18 ) when an actively performed desire maneuver, in particular a turn maneuver, is detected. Vehicle ( 1 ), with a control device ( 13 ) according to one of claims 7 to 11 for carrying out a method according to one of claims 1 to 6; an environment identifier ( 8th ) connected to the control device ( 13 ) and which is formed, an environment of the vehicle ( 1 ) at least partially detect; at least one sensor ( 19 - 21 ), which with the control device ( 13 ) and which is designed to be a physical quantity ( 3 - 5 ) capture; and an actor ( 18 ), which with the control device ( 13 ) and which is formed, the vehicle ( 1 ) on a planned vehicle guideway ( 10 ) respectively. Vehicle ( 1 ) according to claim 12, wherein the actuator ( 18 ) is designed to guide the vehicle ( 1 ) a steering torque ( 9 ) on the steering wheel ( 7 ) of the vehicle ( 1 ). Vehicle ( 1 ) according to one of claims 12 and 13, wherein the at least one sensor ( 19 - 21 ) as an electronic system ( 22 ), in particular an electronic stability system, of the vehicle ( 1 ), which is designed, the control device ( 13 ) at least one physical quantity ( 3 - 5 ) of the vehicle ( 1 ). Vehicle ( 1 ) according to any one of claims 12 to 14, wherein the environment identifier ( 8th ) at least one radar sensor ( 25 ) and / or an image sensor and / or a camera.

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