DE102017104867A1 - Method for generating a driving authorization signal for a motor vehicle for entering a roundabout, device for a motor vehicle, driver assistance system and motor vehicle - Google Patents

Abstract

The invention relates to a method for generating a drive authorization signal for a motor vehicle (1) for entering a roundabout (2), wherein a single - lane vehicle (13, 13 ') moving in the roundabout (2) is provided with a detection device (8, 12) of the Motor vehicle (1) is detected and at least one orientation of an inclination (15) of the single-track vehicle (13, 13 ') with the detection means (8, 12) of the motor vehicle (1) is detected, a trajectory (T) of the single-track vehicle (13 , 13 ') depending on the orientation of the inclination (15) of the single-track vehicle (13, 13') is determined and the driving authorization signal for the motor vehicle (1) for entering the roundabout (1) in dependence on the particular trajectory (T ) of the single-track vehicle (13, 13 ') is generated.

Description

The present invention relates to a method for generating a drive authorization signal for a motor vehicle for entering a roundabout. With a detection device of the motor vehicle, a single-track vehicle moving in a roundabout is detected. Furthermore, the invention relates to a device for a motor vehicle and a driver assistance system. Furthermore, the invention relates to a motor vehicle.

Entering a roundabout is often a challenge. For example, it must be estimated how quickly another motor vehicle moves in the roundabout. Furthermore, it must be recognized whether the further motor vehicle will possibly exit the roundabout or will continue to move in the roundabout. In particular, since the blinking is often forgotten before an exit of the other motor vehicle by a driver of another motor vehicle, this can often lead to misinterpretations with respect to a trajectory of the other motor vehicle. In particular, when the further motor vehicle is a one-lane vehicle, such misinterpretations frequently occur. In order to counteract this, it is already possible, for example, for the trajectory of the further motor vehicle to be determined on the basis of the data derived from the reflection of a contour of the further motor vehicle or from an attachment of the further motor vehicle, such as license plate and rearview mirror.

The DE 10 2014 016 578 A1 discloses a device for active speed and distance control for a motor vehicle. The device has a sensor for detecting the distance to a preceding vehicle. The device is designed to regulate a set speed by engaging in an engine control and / or a transmission control and / or a brake system control taking into account the detected distance. Furthermore, the device is designed to detect by means of the sensor for detecting the distance of a located on the trajectory in front of the motor vehicle center island of a roundabout and trigger an action to avoid a dangerous situation. Furthermore, by means of the device, another motor vehicle can be detected within the roundabout. Based on the detected further motor vehicle can then be decided whether the motor vehicle can enter the roundabout.

The proposed methods and devices from the prior art are very inaccurate and can in particular determine only a current trajectory of the further motor vehicle. In particular, the devices and methods are not applicable to a single-track vehicle, as these are much narrower and significantly different from the dynamics of movement to two-lane motor vehicles.

Object of the present invention is to provide a method, a device, a driver assistance system and a motor vehicle, which or which particularly reliably determines the movement of a single-track vehicle within the roundabout.

This object is achieved by a method, a device, a driver assistance system and a motor vehicle according to the independent claims.

One aspect of the invention relates to a method for generating a drive authorization signal for a motor vehicle for entering a roundabout. A single-lane vehicle moving in a roundabout is detected by a detection device of the motor vehicle. At least one orientation of an inclination, in particular relative to a vertical axis of the single-track vehicle, is detected by the detection device of the motor vehicle. A trajectory of the single-track vehicle is determined depending on the orientation of the inclination of the entire single-track vehicle. The driving authorization signal for the motor vehicle is generated for entering the roundabout as a function of the specific trajectory of the single-track vehicle. On the basis of the orientation of the inclination of the single-track vehicle, the trajectory, in particular the future trajectory, thus us the current and future direction of movement of the single-track vehicle can be determined particularly reliable and safe. Thus, in particular by the information of the orientation of the inclination, an accurate prediction can be made of where and how the single-track vehicle will move in the future, and thus whether the single-track vehicle will leave the roundabout or continue to move on a lane of the roundabout or even a lane change and, where appropriate, where this will take place. Thus, even in such a way, in particular in comparison with two-lane motor vehicles, such as passenger cars or trucks, narrow and very dynamic vehicles motion prediction in a roundabout take place.

An orientation of the inclination is to be understood as meaning both the actual actual inclination and a change in the orientation of the inclination as well as a change in the inclination while maintaining the same orientation.

It is thus determined in a plane of the single-track vehicle, which is spanned by the vertical axis and the transverse axis of the single-track vehicle, an adjustment of the orientation of the inclination angle relative to the upright position, in which the orientation of the inclination is oriented parallel to the vertical axis. A roll angle of the single-track vehicle is determined as the inclination, wherein the roll angle is a rotation about the longitudinal axis of the single-track vehicle. In particular, when cornering, the single-track vehicle tilts toward the center of the curve to compensate for any centrifugal forces occurring, so that a driver of the single-track vehicle does not fall from this. This tilting and the orientation of the tilting during cornering can then also be correspondingly detected as a roll angle with orientation.

For example, if it should be detected that the single-lane vehicle is leaving or leaving the roundabout, the driving authorization signal can also be generated if the single-lane vehicle is still ahead of a point of entry over which the motor vehicle wishes to enter the roundabout and thus approaches the motor vehicle, so that just then enter the vehicle in the roundabout or can thread. A faster and smoother traffic flow at a roundabout is thereby made possible.

Thus, even when it is determined that no safe threading into the roundabout is possible, a driving permission signal can be prevented from being generated, whereby a critical situation between the motor vehicle and the one-track vehicle can be prevented.

The motor vehicle may, in particular, be a two-lane motor vehicle, such as a passenger car or a truck or a team, or a one-lane vehicle, such as a motorcycle.

According to an advantageous embodiment, when no single-lane vehicle or the single-lane vehicle is detected at a distance greater than an entrance distance, the drive authorization signal can be generated. Thus, should secure threading be possible, the drive authorization signal can be generated. In particular, the entrance distance can be predetermined, or manually entered. As a result, the traffic flow can be improved particularly efficiently.

It has furthermore proven to be advantageous if a radar sensor and / or a camera sensor and / or a laser scanner is provided as detection device. Preferably, a laser scanner can be used as a detection device, since it can detect the orientation of the inclination particularly accurately. Preferably, the laser scanner can be designed as a lidar sensor. The types of sensors presented are already established sensors from the motor vehicle industry, which can detect in particular very reliably and precisely the orientation of the inclination of the single-track vehicle. As a result, the method according to the invention can be carried out very simply with sensors already installed in the motor vehicle. As a result, the trajectory of the single-track vehicle can be determined precisely with reduced components.

It has further proven to be advantageous if the driving authorization signal and / or a warning signal when a single-track vehicle is detected, is generated as an audible and / or visual signal for a driver of the motor vehicle. Thus, it can be displayed or made audible to the driver of the motor vehicle in a simple manner that a driveway is possible or that a one-lane vehicle is in the roundabout and a safe threading into the roundabout is not possible. This reduces the possibility of a critical situation between the motor vehicle and the single-lane vehicle in the roundabout.

It is also advantageous if the drive authorization signal is sent in an at least semi-autonomous operation to at least one drive device of the motor vehicle, and then the motor vehicle is accelerated and is retracted into the roundabout. As a result, the motor vehicle can also automatically drive through the very complex roundabout situation, particularly in semi-autonomous operation.

It is also advantageous that when no drive authorization signal is generated during an at least semi-autonomous operation of the motor vehicle, a stop signal is generated. The stop signal can then be sent to at least one drive device of the motor vehicle, so that then the vehicle is braked or held at a standstill. In particular, this can prevent entry of the motor vehicle into the roundabout and / or, if no drive authorization signal is generated in a manual operation of the motor vehicle, a stop signal is generated, so that a start signal, which is obtained by actuating a drive device of the motor vehicle by a driver of the motor vehicle is generated, is suppressed. Thus, both in semi-autonomous operation as well as in manual operation, a critical situation can be prevented, since the entrance of the motor vehicle is prevented in the roundabout.

It has furthermore proved to be advantageous if data of the at least one single-lane vehicle, which are sent via a communication device from the at least one single-lane vehicle to the motor vehicle, and / or data on the single-lane vehicle of another detection device of the motor vehicle in the determination of the trajectory the at least one single-track vehicle are taken into account. The communication between the motor vehicle and the single-lane vehicle may in particular be a so-called vehicle-to-car communication. The data can be, for example, planned changes of direction which are provided on the basis of a navigation target of the single-lane vehicle. As a second detection device, for example, a camera of the motor vehicle can be viewed, which detects, for example, a switched turn signal of the single-track vehicle by means of an image processing program and then transmits this data to the motor vehicle, in particular to a control device of the motor vehicle. As a result, in addition to the orientation of the inclination, further data can also be taken into account when determining the trajectory, so that the driving authorization signal can be generated more reliably for the motor vehicle. Overall, the possibility of a critical situation can be further reduced.

According to an advantageous embodiment, information about a radius of at least one lane of the roundabout can be taken into account in the determination of the trajectory of the single-lane vehicle. Since, in particular, radii of lanes are different at different roundabouts, the determination of the radii makes it possible to conclude the trajectory of the single-lane vehicle more reliably. As a result, the method can be carried out very reliably, especially in the case of different roundabouts.

It has also proven to be advantageous if the orientation of the inclination is detected relative to a vertical axis of the single-track vehicle. In particular, it can then be recognized, for example in the case of right-hand traffic, that, if the orientation of the inclination of the single-track vehicle is oriented in the opposite direction of the roundabout center, an extension of the single-track vehicle from the roundabout can be determined. By contrast, if, for example, the orientation of the inclination of the single-track vehicle is oriented in the direction of the roundabout center, conclusions can be drawn that the single-track vehicle will continue to move in the roundabout. For a left-hand traffic, of course, it's exactly the other way around. As a result, the trajectory of the single-track vehicle can be determined particularly reliably, so that the drive authorization signal can be generated particularly reliably. As a result, the possibility of a critical traffic situation can be further prevented.

It is also advantageous if, should a roundabout have at least two lanes - at least one radially inner and one radially outer lane - a number of lanes of the roundabout is detected by a detection device of the motor vehicle and / or information about the number of lanes of the roundabout is sent to the motor vehicle. For example, the number of lanes can be detected by means of a camera as a detection device based on line detection. It is also possible that information about the number of lanes is sent to the motor vehicle, for example via a GNSS (Global Navigation Satellite System) information. As a result, an individual movement situation of a further motor vehicle can also be detected even in such complex roundabouts and depending on this, a drive authorization signal can be generated or not. Thus, then a driving authorization signal can be generated when the single-track vehicle is on the inner lane and is still in the direction of travel before the entry point, since the motor vehicle can then enter the outer lane, especially if it is detected that due to the orientation of the No change of one-lane vehicle in the outer lane in the area of the entry point may occur. Likewise, a driving authorization signal can then also be avoided if it is detected that a change of the lane from the inner to the outer lane in the area of the entry point at which the motor vehicle is located, takes place or will take place. A drive authorization signal may be generated when it is detected that the single-lane vehicle will change from the entry point to the outside of the inner lane at the roundabout.

Thus, even with multiple lanes of the roundabout, the trajectory of the single-lane vehicle can be determined particularly reliably with the specific orientation determination of the inclination.

According to a further advantageous embodiment, at least two lanes in the roundabout can be detected by a detection device of the motor vehicle, on which lane the single-lane vehicle travels and depending on which lane the single-lane vehicle is traveling, the drive authorization signal is generated. For example, when driving the single-lane vehicle on the inner lane a Driving authorization signal are generated because a safe threading into the outer lane of the roundabout for the motor vehicle is possible. As a result, the method can be carried out particularly reliably, so that the traffic flow is improved.

It has thus been found, as already stated above, further advantageous if the driving authorization signal is generated when the single-track vehicle is not in a radially outermost lane and an orientation of the inclination is detected, in which a lane change of the single-track vehicle on the radially outermost lane is impossible, and / or the driving permission signal is generated when the single-lane vehicle is located on the radially outermost lane and an orientation of the inclination is detected, in which a lane change of the single-track vehicle takes place on a radially inner lane. Thus, the trajectory of the single-track vehicle can be determined in a very situational manner, and the driving authorization signal can also be correspondingly generated according to the situation on the basis of the specific trajectory and in the case of a plurality of lanes, as soon as reliable threading is possible. This can improve traffic flow.

Furthermore, the invention relates to a device for a motor vehicle with at least one detection device. The device is designed to carry out the method or an advantageous embodiment thereof.

The invention further relates to a driver assistance system having a device according to the invention and to a motor vehicle having a driver assistance system according to the invention. The motor vehicle can be designed in particular as a passenger car.

Advantageous embodiments of the method according to the invention are to be regarded as advantageous embodiments of the device according to the invention, the driver assistance system according to the invention and the motor vehicle according to the invention, wherein the device, the driver assistance system and the motor vehicle to have representational features that allow the implementation of the method steps.

Further features of the invention will become apparent from the claims, the figures and the description of the figures. The features and combinations of features mentioned above in the description as well as the features and feature combinations mentioned below in the description of the figures and / or shown alone in the figures can be used not only in the respectively indicated combination but also in other combinations or in isolation, without the scope of the invention to leave. There are thus also embodiments of the invention as encompassed and disclosed, which are not explicitly shown and explained in the figures, but emerge from the separated feature combinations and from the described embodiments and can be generated. Embodiments and combinations of features are also to be regarded as disclosed, which thus do not have all the features of an originally formulated independent claim. Furthermore, embodiments and combinations of features, in particular by the embodiments set forth above, are to be regarded as disclosed, which go beyond or deviate from the combinations of features set out in the back references of the claims.

Embodiments of the invention are explained in more detail below with reference to schematic drawings.

• 1 eine schematische Draufsicht auf ein Ausführungsbeispiel eines erfindungsgemäßen Kraftfahrzeugs vor einem Kreisverkehr in einer ersten Situation; und
• 2 eine schematische Draufsicht auf ein Ausführungsbeispiel des erfindungsgemäßen Kraftfahrzeugs vor einem Kreisverkehr in einer zweiten Situation.

Showing:

• 1 a schematic plan view of an embodiment of a motor vehicle according to the invention in front of a roundabout in a first situation; and
• 2 a schematic plan view of an embodiment of the motor vehicle according to the invention in front of a roundabout in a second situation.

In the figures, identical or functionally identical elements are provided with the same reference numerals.

1 shows a schematic plan view of an embodiment of a motor vehicle according to the invention 1 in front of a roundabout 2 in a first situation. The car 1 is located in front of the roundabout 2 on an access road 3 or an entry point of the roundabout 2 , The roundabout 2 in this case has at least one inner lane 4 and an outside lane 5 on. The inner lane 4 has a smaller radius R1 - that in the radial center of the radial width of the lane 4 is measured - as the outer lane 5 on, which has a radius R2. The lanes 4 . 5 are radially around a traffic island 6 of the roundabout 2 arranged.

In the present case, this is a traffic situation in which legal traffic prevails. The roundabout 2 is driven here counterclockwise. In a left-hand traffic would the motor vehicle 1 on the other side of the access road 3 stand and, not right here, but turn left clockwise to enter the roundabout 2 to enter.

This example, two-lane motor vehicle 1 can at a stop line 7 in front of the roundabout 2 have come to a standstill or slow down his speed. For example, a driver of the motor vehicle 1 at the stop line 7 manually the motor vehicle 1 have slowed down. It is also possible that the motor vehicle 1 is in an at least semi-autonomous operation, in particular a fully autonomous operation is. Then, for example, at least one detection device 8th as a camera device with at least one camera, the motor vehicle 1 the stop line 7 have captured and the motor vehicle 1 can before the stop line 7 have stopped. It is also possible that by means of the detection device 8 traffic signs 9 were detected, based on which a control device 10 of the motor vehicle 1 the roundabout 2 has recognized.

It is also possible that the roundabout 2 by means of the detection device 8th based on the traffic island 6 was detected. It is also possible that by means of the detection device 8th the number of lanes 4 . 5 is detected. For example, this may be based on lane boundaries 11 of the roundabout 2 respectively. In particular, the number of lanes 4 . 5 as information to the control device 10 of the motor vehicle 1 be sent.

The motor vehicle 1 also has a detection device 8th , in particular separate detection device 12 which can be designed in particular as at least one radar sensor and / or at least one camera and / or at least one laser scanner. The detection direction is preferred 12 designed as a laser scanner or Lidarsensor. The detection devices 8th and 12 may also be formed by a detection device.

1 shows that in the roundabout 2 at least a one-lane vehicle 13 like a motorcycle or a bicycle. In the present case, the single-track vehicle is driving 13 for example, on the outermost lane 5 , It is recognized that the single-track vehicle 13 in the direction of travel before the access road 3 located and thus on the motor vehicle 1 zufährt. The single-lane vehicle 13 has at least one steerable wheel 14, a front wheel, by means of which the single-track vehicle 13 can be steered. An orientation of the inclination 15 of the single-lane vehicle 13 is when cornering the single-track vehicle 13 by means of the detection device 12 detectable. In particular, the orientation of the slope 15 a vertical axis H ', which is the single-lane vehicle 13 would have upright ride, relative to a vertical axis H, which is the single-track vehicle 13 actually detected. In particular, the vertical axis H 'is orthogonal to a plane passing through the one road surface of the roundabout 2 is formed to look at. In particular, it is also an angle about a longitudinal axis of the single-track vehicle 13 determines which is the roll angle. In particular, the shows 1 such an orientation of the slope 15 in the direction of the roundabout center of the single-track vehicle 13 relative to this vertical axis H ', so that it can be concluded that the single-track vehicle 13 continue on the outermost lane 5 will drive and the roundabout 2 not on the access road 3 will leave. Based on the orientation of the inclination 15 and in particular the speed of the single-lane vehicle 13 is a trajectory T of the single-lane vehicle 13 by means of the control device 10 determinable. In other words, the future direction of movement of the single-lane vehicle 13 be determined. Depending on the trajectory T can then drive authorization signal for the motor vehicle 1 be generated. When granting the driving permission may then the motor vehicle 1 in the roundabout 2 retract.

In 1 is given a traffic situation in which no driving permission signal is generated because the safe threading of the motor vehicle 1 in the roundabout 2 not possible. In Fig. 1 would at an entrance of the motor vehicle 1 in the roundabout 2 a critical traffic situation between the motor vehicle 1 and the single-lane vehicle 13 arise because the single-track vehicle 13 in the direction of movement still in the direction of the motor vehicle 1 located and thus at the entrance of the motor vehicle 1 in the roundabout 2 with the single-track vehicle 13 could collide.

In particular, in the situation in 1 a stop signal for the motor vehicle 1 be generated, so that the motor vehicle 1 stopped in at least semi-autonomous operation. It is also possible that the motor vehicle 1 , should it be in manual mode, a start signal, which by the driver of the motor vehicle 1 can be given, is suppressed. This can avoid causing a critical situation between the motor vehicle 1 and the single-lane vehicle 13 also comes in manual mode.

In particular, the motor vehicle 1 a drive device 16 have, wherein the driving permission signal in particular at least semi-autonomous operation of the drive device 16 is sent, and the motor vehicle 1 upon receipt of the driving authorization signal is thus accelerated and in the roundabout 2 is retracted.

In particular, the motor vehicle 1 a signaling device 17 so that the driving authorization signal and / or a warning signal when the single-track vehicle 13 is detected as a acoustic and / or a visual signal for the driver of the motor vehicle 1 is produced. For example, the signaling device 17 be a display device, in which then the driving authorization signal or the warning signal can be visually displayed. It is also possible that, for example, a beep is generated as a warning or driving authorization signal for the driver.

In particular, by means of the detection device 12 also be detected, whether the single-lane vehicle 13 on the extreme lane 5 or moved on the inner lane 4 and also whether it stays there or the lane changes. In particular, then depending on which lane 4 . 5 the one-lane vehicle 13 moves the drive authorization signal for the motor vehicle 1 be generated. In particular, in a situation in which the single-lane vehicle 13 in the direction of traffic at the roundabout 2 in front of the access road 3 or the entrance is the driving permission signal generated when the single-track vehicle 13 not in the extreme lane 5 is located and an orientation of the inclination 15 is detected, in which a lane change of the inner lane 4 to the extreme lane 5 is impossible. Furthermore, the drive permission signal may be generated when the one-track vehicle 13 on the extreme lane 5 is located and an orientation of the inclination 15 is detected, in which a lane change from the outermost lane 5 to the inner lane 4 of the single-lane vehicle 13 especially before reaching the roundabout 2 at the height of the access road 3 , he follows.

By means of a device 18 , which in particular the detection device 12 and in particular the control device 10 may thus, the driving authorization signal for the motor vehicle 1 be generated. This can create a critical situation within the complex situation in the roundabout 2 be reduced.

Is the single-lane vehicle 13 in the direction of traffic at the roundabout 2 in front of the access road 3 and drives on the inner lane 4 and has an orientation of the inclination, the lane change on the outer lane 5 entails, especially before or at the level of the access road 3 , so no driving permission signal for the motor vehicle 1 generated.

2 shows a schematic plan view of an embodiment of the motor vehicle according to the invention 1 in front of the roundabout 2 in a second situation. In 2 is the motor vehicle 1 at the stop line 7 stopped. At the roundabout 2 is on the extreme lane 5 the one-lane vehicle 13 , The single-track vehicle 13 further includes the steerable wheel 14 , as a front wheel, on, and has an orientation of the inclination 15 which points in the opposite direction to the roundabout. Due to the orientation of the inclination 15 , which by means of the detection device 12 of the motor vehicle 1 was detected, the trajectory T of the single-track vehicle 13 be determined. Based on the orientation of the inclination 15 of in 2 In the example shown, based on the specific trajectory T, the driving authorization signal for the motor vehicle 1 be generated, so that the motor vehicle 1 in the roundabout 2 can retract, as the single-track vehicle 13 the roundabout 2 in front of the motor vehicle 1 over the access road 3 will leave. The trajectory T of the single-track vehicle 13 points out that the single-lane vehicle 13 from the roundabout 2 will drive out. For example, by means of the camera 8th , which may represent a further detection device, also an optical signal, for example a turn signal, of the single-lane vehicle 13 with which the drive authorization signal can be verified.

The car 1 and the one-lane vehicle 13 in particular have a respective communication device 19 on. By means of the communication devices 19 can the motor vehicle 1 and the one-lane vehicle 13 communicate with each other, in particular exchange information with each other. This communication is also referred to as car-to-car communication. For example, then information of a GNSS (Global Navigation Satellite System) system can be exchanged on the trajectory T of the single-lane vehicle 13 Allow conclusions. For example, due to a navigation target of the one-lane vehicle 13 on an exit from the roundabout 2 or on a ride on the roundabout 2 getting closed. Thus, the trajectory T of the single-lane vehicle can be particularly reliable 13 be determined.

In particular, it can be provided that, should not be a single-track vehicle 13 or another motor vehicle within the roundabout 2 located, the driving permission signal for the motor vehicle 1 is generated immediately.

2 shows another single-track vehicle 13 ' , which is in an entrance distance A of the motor vehicle 1 located. If the access distance A is correspondingly large, then despite the at the roundabout 2 located another single-track vehicle 13 ' the driving permission signal are generated because a safe threading of the motor vehicle 1 in the roundabout 2 is given due to the entry distance A yet. In particular, this may also be the speed of the other single-track vehicle 13 ' be taken into account. Also it is possible that instead of the other single-lane vehicle 13 ' another motor vehicle with the correspondingly large entrance distance A in the roundabout 2 can be detected, and the drive authorization signal is generated, as a safe entry into the roundabout 2 is possible.

Accordingly, in all other embodiments, the speed of the single-track vehicle 13 for the determination of the driving authorization signal of the motor vehicle 1 be taken into account, especially in situations where the single-track vehicle 13 on the outer lane 5 drives or changes there.

In particular, the motor vehicle 1 a driver assistance system 20 have, which the driver when driving the motor vehicle 1 supported. Likewise, the driver assistance system 20 in particular for an at least semi-autonomous operation of the motor vehicle 1 be educated.

QUOTES INCLUDE IN THE DESCRIPTION

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Cited patent literature

• DE 102014016578 A1 [0003]

Claims (15)

Method for generating a drive authorization signal for a motor vehicle (1) for entering a roundabout (2), characterized in that a single-track vehicle (13, 13 ') moving in the roundabout (2) is provided with a detection device (8, 12) of the motor vehicle (1) is detected and at least one orientation of the inclination (15) of the single-track vehicle (13) with the detection device (8, 12) of the motor vehicle (1) is detected, a trajectory (T) of the single-track vehicle (13, 13 ') in dependence on the orientation of the inclination (15) of the single-track vehicle (13, 13 ') is determined and the driving authorization signal for the motor vehicle (1) for entering the roundabout (1) in dependence on the particular trajectory (T) of the single-track vehicle (13, 13 ') is generated. Method according to Claim 1 , characterized in that when no single-track vehicle (13, 13 ') or the single-lane vehicle (13, 13') at a distance greater than an entrance distance (A) is detected, the drive authorization signal is generated. Method according to one of the preceding claims, characterized in that a radar sensor and / or camera sensor and / or laser scanner is provided as detection device (8, 12). Method according to one of the preceding claims, characterized in that the driving authorization signal and / or a warning signal when a one-lane vehicle (13, 13 ') is detected, as an audible and / or visual signal for a driver of the motor vehicle (1) is generated , Method according to one of the preceding claims, characterized in that the driving authorization signal is sent in an at least semi-autonomous operation to at least one drive device (16) of the motor vehicle (1), and then the motor vehicle (1) is accelerated and in the roundabout (2 ) is retracted. Method according to one of the preceding claims, characterized in that when no driving authorization signal is generated during an at least semi-autonomous operation of the motor vehicle (1), a stop signal is generated which is sent to at least one drive device (16) of the motor vehicle (1) is prevented, so that then the motor vehicle (1) is braked or held at a standstill, in particular an entrance of the motor vehicle (1) in the roundabout (2) is prevented, and / or if no driving permission signal in a manual operation of the motor vehicle (1 ) is generated, a stop signal is generated, so that a start signal, which is generated by operating a drive device (16) of the motor vehicle (1) by a driver of the motor vehicle (1) is suppressed. Method according to one of the preceding claims, characterized in that data of the at least one single-track vehicle (13, 13 '), which via a communication device (19) from the at least one single-track vehicle (13, 13') to the motor vehicle (1) sent be considered and / or data on the single-track vehicle (13, 13 ') of another detection device (8) of the motor vehicle (1) in the determination of the trajectory (T) of the at least one single-track vehicle (13, 13'). Method according to one of the preceding claims, characterized in that information about a radius (R1, R2) of at least one lane (4, 5) of the roundabout (2) in the determination of the trajectory (T) of the single-lane vehicle (13, 13 ' ) is taken into account. Method according to one of the preceding claims, characterized in that the orientation of the inclination (15) relative to a vertical axis (H) of the single-track vehicle (13, 13 ') is detected. Method according to one of the preceding claims, characterized in that a number of lanes (4, 5) of the roundabout (2) by a detection device (8, 12) of the motor vehicle (1) is detected and / or information about the number of lanes (4, 5) of the roundabout (2) to the motor vehicle (1) is sent. Method according to Claim 10 , characterized in that at at least two lanes (4, 5) in the roundabout (2) by a detection device (8, 12) of the motor vehicle (1) is detected on which lane (4, 5) the single-lane vehicle (13, 13 '), and depending on which lane (4, 5) the single-lane vehicle (13, 13') drives, the driving authorization signal is generated. Method according to Claim 11 , characterized in that the driving authorization signal is generated when the single-track vehicle (13, 13 ') is not in a radially outermost traffic lane (5) and an orientation of the inclination (15) is detected, in which a lane change of the single-lane vehicle ( 13, 13 ') to the radially outermost traffic lane (5) is impossible, and / or the driving authorization signal is generated when the one-lane vehicle (13, 13') is located on the radially outermost traffic lane (5) and an orientation of the inclination (5 15) is detected, in which a lane change of single-track vehicle (13, 13 ') takes place on a radially inner lane (4). Device (18) for a motor vehicle (1) having at least one detection device (8, 12), wherein the device (18) is designed to carry out a method according to one of the preceding claims. Driver assistance system (20) with a device (18) according to Claim 13 , Motor vehicle (1) with a driver assistance system (20) according to Claim 14 ,

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