DE102017200436B4 - Method for operating a driver assistance system of a motor vehicle - Google Patents

Abstract

Method for operating a driver assistance system (2) of a motor vehicle (1), comprising the steps: - acquiring situation data relating to a driving situation of the motor vehicle (1), - automatically determining several possible driving maneuvers (15, 16, 17) depending on the situation data, whereby one of the possible driving maneuvers (15, 16, 17) is automatically determined as the preferred driving maneuver (16), - issuing the possible driving maneuvers (15, 16, 17) to a driver of the motor vehicle (1), - carrying out one of the possible driving maneuvers ( 15, 16, 17) driving maneuver (15, 16, 17) selected by an operating input from the driver if the operating input occurs within a predetermined time interval, and otherwise carrying out the preferred driving maneuver (16), the possible driving maneuvers (15, 16 , 17) and/or the selection of the preferred driving maneuver (16) takes place depending on a previous selection of a driving maneuver in a previous driving situation, taking into account operator inputs from the driver that occur after the predetermined time interval has elapsed.

Description

The invention relates to a method for operating a driver assistance system of a motor vehicle. The invention also relates to a motor vehicle and a central device.

Vehicles increasingly have assistance functions that support a driver in carrying out certain driving tasks or can even completely relieve them of certain driving tasks. Corresponding assistance functions range from assistance functions for individual driving situations, which can, for example, automatically regulate a distance to a vehicle in front or can relieve a driver of longitudinal and/or lateral guidance when parking, to complex assistance systems that provide the driver with longitudinal and/or lateral guidance Longer driving periods can be reduced and the vehicle can be driven, for example, partially automated with constant driver monitoring or fully automated, with no driver monitoring necessary.

Corresponding assistance systems can significantly increase driving comfort for a driver. For this purpose, however, it is essential that the vehicle is guided by these assistance systems in a way that corresponds as closely as possible to the driver's wishes and driving habits. For example, a comfort-oriented driver should avoid high cornering speeds and heavy braking or acceleration. On the other hand, a sporty driver may want to enjoy a dynamic ride even when using appropriate assistance systems. It is known to make vehicle systems configurable so that a driver can adapt them to his preferences. However, if a complex assistance system is to be adapted to a driver's preferences, either a very complex configuration is required or the coordination can only be carried out very roughly.

The publication DE 10 2005 047 591 A1 therefore suggests that the driver be actively involved in choosing the driving maneuvers to be carried out. For this purpose, situation data is first obtained by the motor vehicle, and on the basis of this a limited number of driving maneuvers appropriate to the situation are determined. An agreement is then reached between the motor vehicle and the driver to carry out a single driving maneuver appropriate to the situation. The driver can choose the driving maneuver to be carried out, whereby it is possible that the selection of a driving maneuver favored by the assistance system is always possible using the same operating action. The problem here is that the driver has to be constantly involved in the driving operation, which means that the procedure explained is hardly suitable for complex driver assistance systems, in particular not for highly or fully automated control of the motor vehicle.

An alternative approach to operating a driver assistance device is described in the publication DE 10 2014 013 960 A1 disclosed. Here, at least one semi-autonomous driving maneuver of the motor vehicle is initially carried out using the driver assistance device, the implementation being determined by a characteristic curve. The maneuver is then evaluated by the driver of the motor vehicle and, depending on this evaluation, it is determined whether a driver wishes to change how it is carried out. In this case, the corresponding characteristic curve is adjusted. The disadvantage here is that the driver only evaluates the driving maneuver after the driving maneuver. The driver can therefore only prevent an undesired driving maneuver by canceling the automated control of the motor vehicle.

The publication DE 10 2014 223 275 A1 concerns travel verification in the vehicle. A vehicle is operated at least partially autonomously. A predicted path of the vehicle is monitored to identify possible collision objects. Using a graphical user interface, an occupant can select whether to follow the predicted path or a suggested evasion path. The occupant can refrain from responding to a displayed dialog box, whereby after a predetermined period of time has elapsed, an action is taken in accordance with a default selection option, i.e. the suggested path for collision avoidance is followed.

The invention is therefore based on the object of specifying an improved method for operating a driver assistance system of a motor vehicle, which enables convenient adaptation of this driving operation to driver preferences, especially in highly or fully automated driving operations.

• - Erfassen von eine Fahrsituation des Kraftfahrzeugs betreffenden Situationsdaten,
• - automatisches Ermitteln mehrerer möglicher Fahrmanöver in Abhängigkeit der Situationsdaten, wobei eines der möglichen Fahrmanöver automatisch zum bevorzugten Fahrmanöver bestimmt wird,
• - Ausgabe der möglichen Fahrmanöver an einen Fahrer des Kraftfahrzeugs,
• - Durchführung eines aus den möglichen Fahrmanövern durch eine Bedieneingabe des Fahrers ausgewählten Fahrmanövers, wenn die Bedieneingabe innerhalb eines vorgegebenen Zeitintervalls erfolgt, und anderenfalls Durchführung des bevorzugten Fahrmanövers,

wobei die Ermittlung der möglichen Fahrmanöver und/oder die Auswahl des bevorzugten Fahrmanövers in Abhängigkeit von einer vorangehenden Auswahl eines Fahrmanövers in einer vorangehenden Fahrsituation erfolgt, wobei hierbei Bedieneingaben des Fahrers berücksichtigt werden, die nach Ablauf des vorgegebenen Zeitintervalls erfolgen.The object is achieved according to the invention by a method for operating a driver assistance system of a motor vehicle, which comprises the following steps:

• - Acquiring situation data relating to a driving situation of the motor vehicle,
• - automatic determination of several possible driving maneuvers depending on the situation data, whereby one of the possible driving maneuvers is automatically determined as the preferred driving maneuver,
• - Issuing possible driving maneuvers to a driver of the motor vehicle,
• - Execution of a driving maneuver selected from the possible driving maneuvers by an operating input from the driver if the operating input occurs within a predetermined time interval, and otherwise carrying out the preferred driving maneuver,

wherein the determination of the possible driving maneuvers and/or the selection of the preferred driving maneuver takes place as a function of a previous selection of a driving maneuver in a previous driving situation, taking into account operator inputs from the driver that occur after the predetermined time interval has elapsed.

According to the invention, it is proposed to give the driver, at least in some driving situations, the opportunity to choose which of several identified possible driving maneuvers should be carried out. If the driver makes a corresponding selection sufficiently quickly, the selected driving maneuver is carried out. If no selection is made by the driver or if such a selection is made too late, a preferred driving maneuver is carried out.

The invention is based on the idea that, on the one hand, in unclear situations in which the driving maneuver to be carried out ultimately depends on the driver's preferred driving style, the driver can be asked which maneuver should be carried out. On the other hand, the preselection of the preferred driving maneuver means that the driver does not necessarily have to react to a corresponding request. If the driver fails to react or reacts late, driving can continue with the preferred driving maneuver. Thus, by driving according to the invention, highly or fully automated operation of the motor vehicle can be realized, in which no constant monitoring of the driving operation by the driver is required. Nevertheless, the driver can always adapt the driving operation to his preferences since, if desired, he can choose between the possible driving maneuvers, after which the selected driving maneuver is carried out.

The steps of the method can preferably be carried out by a vehicle-side driver assistance system, which can be implemented, for example, in a control device of the motor vehicle. However, it is also possible for parts of the processing steps mentioned and/or additional steps, as will be explained in detail later, to be carried out by a central device external to the vehicle.

The specified time interval can be fixed. However, this time interval preferably depends on the preferred driving maneuver or the selected driving maneuver. The time interval can, for example, be selected so that the preferred driving maneuver can still be carried out when the time interval expires. However, it is additionally or alternatively possible for a corresponding time interval to be determined for each of the possible driving maneuvers, with the selected driving maneuver only being carried out if the operating input is within the time interval assigned to the selected driving maneuver.

If an operating input is made too late, so that the preferred driving maneuver is carried out instead of the selected driving maneuver, a visual, acoustic and/or haptic message can be issued to the driver.

As will be explained in detail later, it is provided in the method according to the invention that the determination of the possible driving maneuvers and/or the selection of the preferred driving maneuver takes place depending on a previous selection of a driving maneuver in a previous driving situation. According to the invention, operator inputs from the driver that occur after the specified time interval has elapsed are also taken into account. In this case, although the preferred driving maneuver is carried out, the operating input is still evaluated in order to influence the future determination of possible driving maneuvers and/or the determination of the preferred driving maneuver.

The acquisition of the situation data and the automated determination of the possible driving maneuvers can be repeated at several times for the respective driving situation, the determination of the possible driving maneuvers and / or the selection of the preferred driving maneuver being carried out by a processing algorithm which is parameterized by at least one processing parameter, whereby the processing parameter used at at least one of the times is determined as a function of at least one driving maneuver selected at a previous time. Preferably, the processing algorithm depends on several processing parameters. The processing parameter or the processing parameters are preferably determined depending on several driving maneuvers selected at different times.

There is no need to distinguish between the driving situation in which a specific driving maneuver is selected, on whose selection the processing parameter(s) depends or depend, and the time at which the correspondingly parameterized processing algorithm is used obviously a direct connection. In particular, the corresponding times can be separated from each other by several minutes, hours or days. The processing parameter or parameters may depend on all selected driving maneuvers that are selected within a certain time window, for example in the last three months.

It is possible that only selected driving maneuvers that were selected by a specific driver are taken into account. For this purpose, it is possible for a driver to identify themselves to the motor vehicle through a personalized vehicle key, a selection of a driver profile or similar. Additionally or alternatively, it is also possible to take into account when, i.e. in particular at what time or on what day of the week, a specific driving maneuver was selected. For example, during a weekend trip, the processing algorithm can be parameterized by processing parameters that depend exclusively on driving maneuvers selected during a weekend trip.

After the selected driving maneuver has been selected, a training data set can be generated, which describes selection information relating to the selected driving maneuver as well as the situation data or status data derived therefrom, the processing parameter being determined or adjusted by training the processing algorithm using several of these training data sets as part of machine learning becomes. Machine learning algorithms, such as neural networks, can be used as the processing algorithm. In this case, the weightings of signals on individual neurons can be set as processing parameters. The processing algorithm can be trained in such a way that, for given situation or status data, the actually selected driving maneuver is selected as the preferred driving maneuver as often as possible, or in such a way that, on average, the preferred driving maneuvers are as similar as possible to the actually selected driving maneuvers. As part of the training, the determination of possible driving maneuvers can be optimized in such a way that possible driving maneuvers are determined that are as similar as possible to the actually selected driving maneuvers.

A measure of the similarity of driving maneuvers can be defined, which can depend, for example, on speeds driven during the driving maneuver, on trajectories or steering angles during the driving maneuver, on accelerations and/or braking processes during the driving maneuver and the like. This measure of similarity can be maximized or a measure of the deviation of the driving maneuvers from one another can be minimized in order to train the processing algorithm. For a neural network, for example, the so-called backpropagation of error can be used.

The training of the processing algorithm can be repeated after each driving maneuver selection by the driver. However, it is also possible to carry it out again only after several selections of selected driving maneuvers have been made, for example whenever computing time is available in the motor vehicle or a device external to the vehicle that carries out the training.

The selection information relating to the driving maneuver can describe the driving maneuver itself or the driving maneuver can be described in an abstract manner, for example in the form of a class of the driving maneuver. The class can describe the type of driving maneuver, for example whether it is turning, overtaking or following a vehicle in front. Additionally or alternatively, certain properties of the driving maneuver can be classified, for example whether the driving maneuver can be assigned to offensive or defensive driving, energy-saving or time-saving driving, or comfort-oriented or dynamic driving.

The state data can abstract the situation data to reduce a data amount. For example, the status data can already represent processing data of the situation data, for example an environment model. Under certain circumstances, this environment model can be further reduced by only including information relevant to determining the driving maneuvers or determining the preferred driving maneuver as additional data in the training data set.

After selecting the selected driving maneuver, selection information relating to the selected driving maneuver as well as the situation data or status data derived therefrom can be transmitted to a central device external to the vehicle, after which the processing parameter is determined by the central device and provided to the motor vehicle. The transmission can take place in particular in the form of a training data set determined on the vehicle side. Alternatively, the data can also be transmitted in any other format, after which training is carried out by the central device data set can be generated from this data. The transmission can in particular be carried out wirelessly. It is possible for the data mentioned to be transmitted during ongoing driving, in particular immediately after the driver has selected the driving maneuver.

The processing parameters can also be provided wirelessly. It is possible here for the processing parameters provided to be immediately adopted by the driver assistance system in order to parameterize the processing algorithm. However, it is also possible that the takeover only takes place after a query has been sent to the driver or that the processing parameters are only queried by the central device when the driver has made a corresponding input. It is also possible that the transmission of data to the central device and/or the adoption of the provided processing parameters only takes place in certain driving situations, for example after the motor vehicle has been parked in a parking position.

In particular, if the processing parameters are determined by training the processing algorithm using a machine learning method, this process is relatively computationally complex. By moving this data processing to a central device external to the vehicle, it is possible to significantly reduce the requirements for the driver assistance system. This makes it possible to reduce the weight and energy consumption of the motor vehicle and to provide corresponding functionality at low cost.

In a further development of the method according to the invention, it is possible for the processing parameter to be provided to at least one further motor vehicle and/or for the processing parameter to be determined depending on additional data transmitted to the central device by the further motor vehicle. The additional data can in particular essentially correspond to the previously discussed data transmitted from the motor vehicle to the central device. For example, the method explained can also be carried out in the further vehicle and corresponding further selection information as well as the further situation data of the further motor vehicle can be transmitted to the central device.

The use of a central device that communicates with several motor vehicles makes it possible, on the one hand, for a driver to use his driver profile, for example the processing parameters that influence the selection of the preferred driving maneuver and/or the determination of the possible driving maneuvers, in several motor vehicles or during use several motor vehicles can train. Additionally or alternatively, the procedure described makes it possible for the central device to determine at least one standard profile, which is determined by evaluating the selection of possible driving maneuvers by several drivers in several motor vehicles. A motor vehicle can query such a standard profile from the central device, for example, if no information is available about a driver's preferences or if the processing parameters should be reset to standard values for other reasons. A corresponding standard profile can be determined once and then permanently saved or it can be updated repeatedly. A corresponding update can take place automatically, with confirmation by a current driver of the respective motor vehicle preferably being required before an update of the processing parameters in a specific motor vehicle.

In the cases explained in which processing parameters are provided to several motor vehicles or are determined depending on data from several motor vehicles, this can be done separately for several groups of motor vehicles. For example, motor vehicles can be grouped according to the motor vehicle model and/or according to their performance classes.

In the method according to the invention, it is possible for processing parameters provided by the central device to be used to parameterize the processing algorithm only after an operator input from the driver. The operating input can be an active request to update the processing parameters, in particular being able to choose between several profiles. However, it is also possible for the processing parameters to be updated automatically, with the updated processing parameters only being used as confirmation for the parameterization of the processing algorithm after an operator input.

The possible driving maneuvers can be communicated to the driver acoustically or visually. A visual output can be provided by a display device, with the possible driving maneuvers being represented in particular graphically. It is also possible for the optical output to be in the form of an augmented reality display. An acoustic output can preferably take place through voice output.

Preferably, the preferred driving maneuver is highlighted as part of the output of the possible driving maneuvers to the driver. This can be done, for example, by positioning it on a display device or by outputting it first in a voice output. Additionally or alternatively, the preferred driving maneuver can be output louder in the case of an acoustic output or brighter in the case of an optical output, provided with a frame, underlined, flashing or similar.

The method according to the invention can preferably be carried out as part of an assisted or at least partially automated driving operation of the motor vehicle. In particular, the selected or preferred driving maneuver is carried out with assistance and/or automation. This is preferably carried out in a highly or fully automated manner, so that no permanent monitoring of the driving operation by the driver is required. However, it is also possible to carry out the driving maneuver with assistance or partially automatically, so that the execution must be permanently monitored by the driver. The names of the different levels of automation correspond to the names used in the article “Legal consequences of increasing vehicle automation” in the publication Research compact 11/12 of the Federal Highway Research Institute.

In addition to the method according to the invention, the invention relates to a motor vehicle with a driver assistance system which is designed to carry out driving interventions to guide the motor vehicle, the driver assistance system being set up to carry out the method explained above. Here, the situation data can be recorded in particular via one or more sensor devices of the motor vehicle. For example, a display device of the motor vehicle can be used to output the possible driving maneuvers. A control device implemented in the driver assistance system can be used to determine the possible driving maneuvers and to select the preferred driving maneuver. Processing parameters of a processing algorithm that can be used for this purpose can be determined as explained above, wherein the determination of the processing parameters can be carried out either by the control device itself or by a central device external to the vehicle. If a central device is used, the driver assistance system can control a communication device of the motor vehicle for communication with the central device.

In addition, the invention relates to a central device with a communication device and a processing device that is set up to take part in the method explained above. The central device can be used in all or parts of the method variants explained in which the processing parameters are determined by a central device.

The motor vehicle according to the invention and the central device according to the invention can be further developed with the features explained for the method according to the invention and vice versa.

• 1 eine Verkehrssituation, in der ein Ausführungsbeispiel des erfindungsgemäßen Verfahrens durch ein Ausführungsbeispiel eines erfindungsgemäßen Kraftfahrzeugs und ein Ausführungsbeispiel einer erfindungsgemäßen Zentraleinrichtung durchgeführt wird, und
• 2 den Bildschirm einer Anzeigeeinrichtung in dem in 1 gezeigten Kraftfahrzeug.

Further advantages and details of the invention result from the following exemplary embodiments and the associated drawings. Show schematically:

• 1 a traffic situation in which an exemplary embodiment of the method according to the invention is carried out by an exemplary embodiment of a motor vehicle according to the invention and an exemplary embodiment of a central device according to the invention, and
• 2 the screen of a display device in the in 1 shown motor vehicle.

1 shows a traffic situation in which a motor vehicle 1 is guided automatically by a driver assistance system 2. The guidance is carried out in such a way that a driver (not shown) does not necessarily have to intervene in the driving operation. Nevertheless, the driver assistance system 2 is set up so that a driver can choose between several driving options in driving situations in which several driving maneuvers are possible, the choice of driving maneuver ultimately being a question of driving style.

In order to make this possible, situation data relating to a driving situation of the motor vehicle is first recorded by the driver assistance system 2 via a sensor device 3 of the motor vehicle. The sensor device can also include several components. For example, the sensor device can include one or more cameras, a GPS sensor for position determination, at least one radar sensor and/or at least one ultrasonic sensor.

The driver assistance system 2 determines that the motor vehicle 1 is on a three-lane road 4, with a motor vehicle 5, which is moving at a lower speed than the motor vehicle 1, being in the same lane in front of the motor vehicle 1. Motor vehicle 6, which is moving at a medium speed, is also located in the adjacent lane. In this driving situation, the driver assistance system 2 determines three possible driving maneuvers. The Motor vehicle 1 can follow motor vehicle 5, as shown by arrow 7, change to the middle lane and follow motor vehicle 6, as shown by arrow 8, or change to the left lane and pass both motor vehicles 5, 6, as shown by arrow 9. These three possible driving maneuvers are displayed for the driver on the display device 10. This is in 2 shown. Here, the driving maneuver 15 corresponds to following the motor vehicle 5, the driving maneuver 16 corresponds to following the motor vehicle 6 and the driving maneuver 17 corresponds to overtaking both motor vehicles 5, 6.

As mentioned at the beginning, driving the motor vehicle 1 should be possible without driver intervention. Therefore, one of the driving maneuvers 15, 16, 17 is determined as the preferred driving maneuver. Without further training of this selection, which will be explained in detail later, the driving maneuver 16, which corresponds to a movement of the motor vehicle 1 at medium speed, is initially selected as the preferred driving maneuver 16. This driving maneuver is highlighted on the display device 10, for example by a different color. The driver can now select one of the driving maneuvers 15, 16, 17 within a predetermined time interval, for example until position 18 is reached, from which the different driving maneuvers 15, 16, 17 differ from one another, which is then carried out automatically by the driver assistance system. If no selection is made within this time interval, the motor vehicle 1 carries out the preferred driving maneuver 16 and thus follows the motor vehicle 6. A selection can be made, for example, by a speaker recognition, touching a corresponding selection element on a touchscreen or via a rotary push button.

In the motor vehicle 1 it is provided that the driver assistance system 2 learns the driver's preferences and thus always selects that driving maneuver 15, 16, 17 as the preferred driving maneuver 16, which the driver would probably also choose. In addition, the possible driving maneuvers 15, 16, 17 displayed for selection are determined in such a way that they correspond as closely as possible to the driver's preferences. This is achieved by determining the possible driving maneuvers 15, 16, 17 and selecting the preferred driving maneuver 16 by a processing algorithm that is trained using a machine learning method. However, the training does not take place in the motor vehicle 1 itself, but in a central device 12 external to the vehicle.

For this purpose, the driver assistance system 2 controls a communication device 11 of the motor vehicle each time the driver selects one of the possible driving maneuvers 15, 16, 17 in order to send the situation data and selection information relating to the selected driving maneuver via the communication devices 11 and 13 to the central device 12 transmitted. The transmitted data is combined into a respective training data set by a processing device 14 of the central device 12. The processing parameters are determined by training the processing algorithm with the corresponding training data sets using a machine learning method. For example, a neural network can be trained as a processing algorithm using what is known as backpropagation of error. Here, the processing algorithm is trained in such a way that a measure of the similarity of the preferred driving maneuver determined for each training data set with the driving maneuver described by the selection information and actually selected by the driver is maximized. The resulting processing parameters are then provided again to the motor vehicle 1.

In a further development of the procedure explained, it would be possible, for example, to also provide the generated processing parameters to other motor vehicles and/or to additionally determine the processing parameters depending on additional data, in particular training data sets, from other motor vehicles in order to generate a common driver profile if a driver has several motor vehicles or to provide a standard profile for a variety of motor vehicles.

In the example explained, driving maneuvers are selected for driving on a multi-lane road. However, the same approach can also be applied to a variety of other driving situations. For example, when cornering, several trajectories and/or speeds can be suggested as possible driving maneuvers, for following a motor vehicle, several following distances can be selected as possible driving maneuvers, it can be selected whether a motor vehicle should be overtaken on a country road or in an urban area, to what extent lanes should be changed if there are gaps or something similar.

Claims (11)

Method for operating a driver assistance system (2) of a motor vehicle (1), comprising the steps: - acquiring situation data relating to a driving situation of the motor vehicle (1), - automatically determining several possible driving maneuvers (15, 16, 17) depending on the situation data, whereby one of the possible driving maneuvers (15, 16, 17) is automatically determined as the preferred driving maneuver (16), - issuing the possible driving maneuvers (15, 16, 17) to a driver of the motor vehicle (1), - carrying out one of the possible driving maneuvers (15, 16, 17) of driving maneuvers (15, 16, 17) selected by an operating input from the driver, if the operating input occurs within a predetermined time interval, and otherwise carrying out the preferred driving maneuver (16), the determination of the possible driving maneuvers ( 15, 16, 17) and/or the selection of the preferred driving maneuver (16) takes place depending on a previous selection of a driving maneuver in a previous driving situation, taking into account operator inputs from the driver that occur after the predetermined time interval has elapsed. Procedure according to Claim 1 , characterized in that the acquisition of the situation data and the automated determination of the possible driving maneuvers (15, 16, 17) is repeated at several times for the respective driving situation, the determination of the possible driving maneuvers (15, 16, 17) and / or the The preferred driving maneuver (16) is determined by a processing algorithm which is parameterized by at least one processing parameter, the processing parameter used at at least one of the times being determined as a function of at least one driving maneuver (15, 16, 17) selected at a previous time. Procedure according to Claim 2 , characterized in that after the selected driving maneuver (15, 16, 17) has been selected, a training data set is generated which describes selection information relating to the selected driving maneuver (15, 16, 17) as well as the situation data or status data derived from these, whereby the Processing parameters are determined or adjusted by training the processing algorithm using several of these training data sets as part of machine learning. Procedure according to one of the Claims 2 or 3 , characterized in that after the selected driving maneuver (15, 16, 17) has been selected, selection information relating to the selected driving maneuver (15, 16, 17) as well as the situation data or status data derived from these are transmitted to a central device (12) external to the vehicle, after which the processing parameters are determined by the central device (12) and provided to the motor vehicle (1). Procedure according to Claim 4 , characterized in that the processing parameter is provided to at least one further motor vehicle and/or that the processing parameter is determined depending on additional data transmitted to the central device (12) by the further motor vehicle. Procedure according to Claim 4 or 5 , characterized in that the processing parameter provided by the central device (12) is only used to parameterize the processing algorithm after an operator input from the driver. Method according to one of the preceding claims, characterized in that the possible driving maneuvers (15, 16, 17) are output to the driver acoustically or visually. Method according to one of the preceding claims, characterized in that the preferred driving maneuver (16) is highlighted as part of the output of the possible driving maneuvers (15, 16, 17) to the driver. Method according to one of the preceding claims, characterized in that it is carried out as part of an assisted or at least partially automated driving operation of the motor vehicle (1). Motor vehicle (1) with a driver assistance system (2) which is designed to carry out driving interventions to guide the motor vehicle (1), characterized in that the driver assistance system (2) is set up to carry out the method according to one of the preceding claims. Central device (12) with a communication device (13) and a processing device (14), characterized in that it is set up to take part in a method according to one of Claims 4 until 9 to participate.

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