DE102017213621A1 - Method for operating a motor vehicle in an at least partially autonomous driving mode and motor vehicle with a control unit - Google Patents

Abstract

The invention relates to a method for operating a motor vehicle (10) in an at least partially autonomous driving mode. A control unit of the motor vehicle (10) controls the motor vehicle (10) with activated at least partially autonomous driving mode such that the motor vehicle (10) follows a leading vehicle ahead at a predetermined distance. In a navigation unit, at least one danger zone (12) with a limiting boundary edge (14) is stored in a navigation map. The control unit checks whether the motor vehicle (10) is approaching a danger zone (12) (step S1). If this is the case, the following is followed by following the lead vehicle before driving on the detected danger zone (12) at the boundary edge (step S2) and determining an occupancy space (16) which the motor vehicle (10) traverses after recognizing the identified danger zone (FIG. 12) immediately after its boundary edge (14) would occupy (step S3). Only when the detected danger zone (12) and the occupancy space (16) for the motor vehicle (10) are freely passable is the detected danger zone (12) traversed (step S4).

Description

The present invention relates to a method for operating a motor vehicle in an at least partially autonomous driving mode. Moreover, the present invention relates to a motor vehicle with a control unit, which is designed to control the motor vehicle in an activated, at least partially autonomous driving mode.

At least partially autonomously operable motor vehicles (ie partially autonomous or fully autonomously operable motor vehicles) are already known from the prior art. In this case, a control unit of the motor vehicle takes over the guidance or the at least partial guidance of the motor vehicle. In this case, the control unit can take over the control of a transverse steering and / or longitudinal steering of the motor vehicle, such as a control over a speed, steering and / or braking of the motor vehicle. Furthermore, it is known that the control unit regulates a distance to a further motor vehicle traveling ahead, such as, for example, in the case of an adaptive cruise control system. Such an adaptive cruise control is known, for example, under the name Adaptive Cruise Control (Adaptive Cruise Control). In this case, the control unit can control the motor vehicle in such a way that the motor vehicle follows it at a predetermined distance from a preceding motor vehicle. In the following, the preceding vehicle is referred to as a leader vehicle.

This results in the problem that the lead vehicle passes through a danger zone, but should not necessarily continue to follow the lead vehicle following motor vehicle. This is the case, for example, when the leader vehicle passes an intersection, but a jam forms immediately after the intersection, so that the following motor vehicle would come to a stop at the intersection.

The US Pat. No. 9,272,709 B2 describes a camera system for assisting autonomous driving. Before a motor vehicle crosses an intersection, it is checked by means of the camera system whether the intersection is freely passable. For example, a pedestrian crossing the intersection is detected, or another, opposing vehicle.

From the DE 10 2007 056 225 A1 For example, a method for controlling traffic flow at an intersection is known wherein vehicles are detected in a predetermined environment around the intersection. From this, a prediction for occupancy of a predetermined area on a road in a predetermined direction after the intersection is determined. From the prognosis, a behavioral recommendation is issued for a driver of a vehicle.

From the DE 10 2013 218 562 A1 a parking assistant for a vehicle is known. Based on digital maps and a location of the vehicle, the parking assistant can consider stopping zones or no parking zones and checking whether the autonomous parking operation would lead to an unauthorized position of the vehicle.

The object of the present invention is to further develop a method for operating a motor vehicle in an at least partially autonomous driving mode in such a way that general safety on the road is increased.

This object is solved by the subject matters of the independent claims. Advantageous developments of the invention are disclosed by the subclaims, the following description and the figures.

The present invention is based on the recognition that a motor vehicle, which is controlled in a at least partially autonomous driving mode by a control unit such that the motor vehicle follows a leading vehicle ahead, should check whether the consequences in a predetermined situation at all or even poses a safety risk , In particular, it should be avoided that the motor vehicle stops in a danger zone. This can cause a potential source of danger for other road users. Such a semi-autonomous driving mode is performed, for example, in a Staufolgeassistenten by the control unit of the motor vehicle.

A general road safety is thus increased when the control unit checks in the activated at least partially autonomous driving mode, in which the motor vehicle follows a lead vehicle ahead, whether the motor vehicle approaches a danger zone. For this purpose, in a navigation unit of the motor vehicle at least one danger zone is stored in a navigation map. A danger zone can be identified by the fact that a motor vehicle should only be located briefly within this danger zone and / or should traverse the danger zone quickly. A danger zone can therefore be, for example, a road section which is driven by several road users in different directions, such as in two intersecting directions. However, a danger zone can also generally describe an area on the road on which a temporary stopping and / or stopping of the motor vehicle is particularly dangerous or prohibited.

The control unit of the motor vehicle uses the navigation map to control the motor vehicle, for example, as a function of a road course recorded in the navigation map. The at least one danger zone is also recorded in the navigation map. The at least one danger zone has a spatial extent, for example, the danger zone extends over a road intersection and / or over a railroad crossing. The danger zone is limited by a boundary. In other words, the boundary edge forms an outer contour of the danger zone.

In the activated at least partially autonomous driving mode, the control unit of the motor vehicle now checks whether the motor vehicle is approaching one of the at least one danger zone stored in the navigation map. In this case, the control unit can repeat this checking after a predetermined time interval and / or after driving on a predetermined path distance. The control unit recognizes an approach to the at least one danger zone, in particular in that the motor vehicle is at a predetermined distance from the boundary edge of the at least one danger zone.

If the control unit recognizes the approach of the motor vehicle to one of the at least one danger zone, the control unit suspends the following of the preceding lead vehicle from driving past the detected danger zone at the boundary edge. In other words, the control unit controls the motor vehicle in such a way that the motor vehicle first of all follows the leading vehicle ahead only up to the boundary edge of the identified danger zone. For example, the danger zone is a railroad crossing. If the control unit detects that the motor vehicle is at a predetermined distance from the level crossing and controls this level crossing, the motor vehicle follows the leading vehicle ahead only up to the boundary edge of the level crossing, which, for example, at least partially immediately before train tracks or in front of a barrier the railroad crossing runs.

Following the suspension of the sequence of the preceding master vehicle, an occupancy space is determined by the control unit, which would occupy the motor vehicle immediately after passing through the detected danger zone in connection with the boundary edge of the identified danger zone. The occupancy space is thus a further zone on a road section which is immediately adjacent to the danger zone. In particular, the occupancy space adjoins that part of the boundary edge of the danger zone, which the motor vehicle would pass last after passing through the danger zone. A spatial extent of the occupation space is determined by the control unit depending on the motor vehicle. A dimension of the occupancy space is dependent, for example, on at least one dimension of the motor vehicle. For example, another part of the boundary edge runs behind the level crossing, such as immediately after the train tracks or after another barrier of the railroad crossing. In this example, the occupancy space is determined from the space that would occupy the motor vehicle immediately after crossing the railroad crossing behind the railroad crossing.

After determining the occupancy space, the control unit checks whether the detected danger zone and the occupancy space for the motor vehicle are freely passable. In other words, the control unit checks whether an entire area, which is formed by the danger zone stored in the navigation map and the determined occupancy space, is freely passable. In other words, the control unit checks whether the motor vehicle can leave the entire danger zone detected within a foreseeable period of time. If the result of this checking is positive, the motor vehicle is controlled by the control unit in such a way that the motor vehicle passes through the recognized danger zone. By this method, there is the advantage that in the at least partially autonomous driving mode, in which the motor vehicle is controlled to follow a lead vehicle ahead, it is avoided that the motor vehicle comes to a halt in a danger zone. Thus, on the one hand, a traffic jam situation in a danger zone, such as on a road intersection, can be avoided. On the other hand, dangers which would jeopardize the safety of the motor vehicle and possibly other road users are contained. Another advantage of the method according to the invention is that a decision as to whether or not the identified danger zone can be traversed by the motor vehicle is determined on a vehicle-specific basis. For example, a minibus on a section of road behind the danger zone requires more space than a small car. The respective occupancy space of the minibus or the small car is then determined vehicle-specific. Thus, it can also be ensured that no unnecessary gaps in the road traffic arise, which would form a backwater.

The invention also includes developments of the method according to the invention, resulting in additional advantages.

An embodiment of the inventive method provides, after a successful check that the detected danger zone and the Occupancy space for the motor vehicle are freely accessible, is resumed by the control unit, the consequences of the preceding lead vehicle. It may be the same lead vehicle, which the motor vehicle followed before approaching the danger zone. But it may also be another Leitfahrzeug, which now drives directly in front of the motor vehicle ahead. Due to the automatic resumption of the at least partially autonomous driving mode, in which the motor vehicle is controlled by a control unit in such a way that it follows the preceding lead vehicle, the user of the motor vehicle is spared having to activate this at least partially autonomous driving mode again after passing through the recognized danger zone. The user then perceives a quasi-uninterrupted, partially autonomous driving mode. This facilitates the operation of the at least partially autonomous driving mode and increases user comfort.

Another embodiment provides that, if the check whether the detected danger zone and the occupancy space are freely passable, a negative result, in other words the detected danger zone and / or occupancy space are not freely passable, the control unit controls the motor vehicle so in that the motor vehicle waits in front of the recognized danger zone. For example, the motor vehicle continues to be at the boundary edge of the detected danger zone. The control unit then repeats checking whether the detected danger zone and the occupancy space for the motor vehicle are freely passable. This checking may be done after a predetermined period of time after the previous check. However, this checking can also take place again after recognizing a predetermined driving situation within the detected danger zone and / or the occupancy space. For example, another road user within the occupation space is recognized. As soon as a movement of this further traffic participant is detected, the checking as to whether the occupancy space is freely passable is repeated by the control unit. Thus, this embodiment ensures that the at least partially autonomous driving mode is not already exposed after a first test with a negative result. This also increases the user comfort.

Preferably, by the control unit, if a result of repeated checking as to whether the detected danger zone and the occupancy space are freely accessible continues to be negative after a predetermined period of time since a first-time check, the at least partially autonomous drive mode is turned off. In other words, no further checking takes place in this case, as to whether the detected danger zone and the occupancy space are freely passable, and the at least partially autonomous driving mode, such as a so-called adaptive cruise control, is terminated. This prevents the control unit of the motor vehicle from carrying out the checking in a continuous loop. In other words, by monitoring the time period since the first check, an abort condition of the at least partially autonomous drive mode is introduced. The predetermined period of time may, for example, be dependent on the detected danger zone and / or predetermined by a user of the motor vehicle. As soon as the following of the preceding host vehicle is suspended and / or as soon as the first check is made as to whether the detected danger zone and the occupancy space are freely passable, a time measuring device can be started to measure a time duration. The time measuring device may, for example, output a signal to the control unit as soon as the measured time duration exceeds the predetermined time duration. This prevents that in a permanently blocked road section, such as at a construction site and / or a roadblock that motor vehicle stops in front of it and repeatedly checks repeatedly, if the permanently blocked road section is free again.

Preferably, in this case, in the case of terminating the at least partially autonomous driving mode, a signal device in the motor vehicle is actuated by the control unit to output an indication signal to the user of the motor vehicle about terminating the at least partially autonomous driving mode. In other words, the user is notified that checking whether the detected danger zone and the occupancy space are freely passable has repeatedly been negative. The indication signal may include, for example, a request to the user to take over the guidance of the motor vehicle again. This results in the advantage that the user is informed in good time that he must take over the control of his motor vehicle, at least temporarily himself.

A further advantageous development of the method according to the invention provides that the control unit determines the occupancy space of the motor vehicle on the basis of a motor vehicle length of the motor vehicle. For example, the vehicle length is stored in the control unit of the motor vehicle. When determining the occupancy space and / or when checking whether the danger zone and the occupancy space are freely passable, the control unit adds then only the vehicle length of the motor vehicle to a length of the danger zone along a trajectory to be traveled by the motor vehicle within the danger zone , This has the advantage that it can be tested in a particularly simple manner, whether the motor vehicle can safely traverse the danger zone.

A further advantageous development of the method according to the invention provides that the control unit carries out the checking as to whether the detected danger zone and the occupancy space for the motor vehicle are freely passable by means of a distance sensor and / or by means of a camera. For this purpose, the distance sensor and / or the camera is arranged on an outer region of the motor vehicle and communicate with the control unit. For example, the control unit controls the distance sensor and / or the camera in order to carry out the check on the occupancy of the danger zone and / or the occupancy space. The distance sensor can be designed, for example, as a laser scanner and / or as a lidar and / or as a radar.

A further advantageous development of the method according to the invention provides that the control unit checks whether the motor vehicle is approaching one of the at least one danger zone stored in the navigation map by means of determining current location coordinates of the motor vehicle and comparing it with the geographical location stored in the at least one danger zone Coordinates. For example, the geographical coordinates of the respective boundary edge are stored in the navigation map to the respective danger zone. In this case, the navigation map can update itself automatically and / or store, for example, by radio transmitted geographical coordinates to another danger zone in the navigation map. The control unit checks at regular time and / or distances, whether the current location coordinates of the motor vehicle with at least one of the stored geographical coordinates to a danger zone match. Alternatively, the control unit checks, by means of the current location coordinates of the motor vehicle, whether these location coordinates are located at a predetermined distance from the geographic coordinates of the danger zone, wherein an approach of the motor vehicle to the danger zone is detected at this predetermined distance. Since the control unit for operating the motor vehicle in the at least partially autonomous driving mode usually knows the current location coordinates of the motor vehicle anyway and uses them to control the motor vehicle, this development is particularly simple and inexpensive to implement.

In a further advantageous development of the method according to the invention, at least one no-stopping zone and / or at least one danger zone is defined as the danger zone. For example, the danger zone includes a railroad crossing and / or a bascule bridge and / or a road crossing area and / or an exit from an ambulance service. In these areas, it can be particularly life-threatening if the vehicle lingers here too long or even comes to a halt. By marking these areas in the navigation map as danger zones and checking whether it is even possible in particular to pass through this danger zone quickly and also to leave completely in time, a general safety in road traffic is increased.

The motor vehicle according to the invention has a control unit which is designed to control the motor vehicle in an activated at least partially autonomous driving mode such that the motor vehicle follows a lead vehicle ahead at a predetermined distance. Furthermore, the motor vehicle has a navigation unit with a navigation map in which at least one danger zone is stored. The at least one danger zone is marked in the navigation map by a boundary edge, which at the same time defines a spatial extent of the danger zone. The control unit is designed to check whether the motor vehicle is approaching one of the at least one danger zone. If the control unit recognizes the approach of the motor vehicle to one of the at least one danger zone, the control unit is designed to suspend the following of the preceding lead vehicle, at least temporarily, from driving past the detected danger zone at the boundary edge. Furthermore, the control unit is designed to determine an occupancy space, which would occupy the motor vehicle after passing through the detected danger zone immediately following the boundary edge of the detected danger zone. Furthermore, the control unit is designed to check whether the detected danger zone together with the occupancy space for the motor vehicle is freely passable. If this test is positive, the control unit is designed to control the motor vehicle such that the motor vehicle passes through the detected danger zone.

The invention also includes developments of the motor vehicle according to the invention, which have features as they have already been described in connection with the developments of the method according to the invention. For this reason, the corresponding developments of the motor vehicle according to the invention are not described again here.

The advantages and further developments described above in connection with the method according to the invention for operating a motor vehicle in an at least partially autonomous driving mode thus apply mutatis mutandis to the motor vehicle according to the invention with a control unit.

• 1 ein Diagramm, welches die Verfahrensschritte eines Verfahrens zum Betreiben eines Kraftfahrzeugs in einem zumindest teilautonomen Fahrmodus erläutert;
• 2 eine schematische Darstellung eines Bahnübergangs und einer durch den Bahnübergang gebildeten Gefahrenzone;
• 3 eine schematische Darstellung einer Straßenkreuzung und einer durch die Straßenkreuzung gebildeten Gefahrenzone; und
• 4 eine schematische Darstellung einer Autobahnausfahrt und einer durch die Autobahnausfahrt gebildeten Gefahrenzone.

In the following, embodiments of the invention are described. This shows:

• 1 a diagram which illustrates the method steps of a method for operating a motor vehicle in an at least partially autonomous driving mode;
• 2 a schematic representation of a railroad crossing and a danger zone formed by the railroad crossing;
• 3 a schematic representation of a road junction and a danger zone formed by the intersection; and
• 4 a schematic representation of a motorway exit and a danger zone formed by the motorway exit.

The exemplary embodiments explained below are preferred embodiments of the invention. In the exemplary embodiments, the described components of the embodiments each represent individual features of the invention, which are to be considered independently of one another, which each further develop the invention independently of one another and thus also individually or in a different combination than the one shown as part of the invention. Furthermore, the described embodiments can also be supplemented by further features of the invention already described.

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

In 1 are schematically the method steps for a method for operating a motor vehicle 10 explained in an at least partially autonomous driving mode, wherein the motor vehicle 10 a control unit comprising the motor vehicle 10 in an activated at least partially autonomous driving mode controls such that the motor vehicle 10 at a predetermined distance follows a preceding master vehicle. Such a semi-autonomous driving mode is formed, for example, as a traffic jam assistant. The car 10 has a navigation unit in which navigation data are stored, the at least one danger zone 12 define. A danger zone 12 is characterized in the road, for example, by the fact that here an increased risk for a motor vehicle occupant and for an environment of the motor vehicle 10 exists when the motor vehicle 10 in the danger zone 12 comes to a stop. The danger zone 12 denotes, for example, a no-stopping zone and / or a level crossing and / or a bascule bridge and / or a road intersection and / or an exit reserved for other motor vehicles. The respective danger zone 12 is by a bounding edge 14 limited. For example, the bounding edge includes 14 an entire area of the no-stop zone. Thus, an area is the danger zone 12 with a circumference of this area in the navigation unit of the motor vehicle 10 deposited. The boundary edge 14 forms the circumference of the danger zone 12 trained area.

In a first process step S1 is by the control unit of the motor vehicle 10 checked if the motor vehicle 10 to one of the at least one danger zone stored in the navigation unit 12 approaches. This check can be carried out continuously by the control unit, for example continuously during operation of the motor vehicle 10 in the at least partially autonomous driving mode. Once approached by the control unit to one of the at least one danger zone 12 is detected, the control unit controls the motor vehicle 10 such that this before driving the detected danger zone 12 at the boundary edge 14 the danger zone 12 in a second process step S2 first of all suspends the consequences of the leading carrier vehicle. For example, the motor vehicle remains 10 first before or immediately on the boundary edge 14 stand.

In a third process step S3 the control unit determines an occupancy space 16 to which the motor vehicle 10 immediately after traversing the detected danger zone 12 would take in the street. The control unit determines the occupation space 16 based on dimensions of the motor vehicle 10 , For example, based on a vehicle length of the motor vehicle 10 , The control unit then checks to see if the detected danger zone 12 and the occupancy space 16 behind the danger zone 12 for the motor vehicle 10 are freely passable. For example, a distance sensor of the motor vehicle determines 10 a distance between the motor vehicle 10 and a nearest obstacle object in the direction of travel of the motor vehicle 10 , The control unit checks whether this determined distance is greater than a length of the danger zone 12 taken together with the vehicle length of the motor vehicle 10 , The length of the danger zone 12 corresponds to the length of a driving trajectory, which by the motor vehicle 10 when crossing the danger zone 12 from the beginning of the danger zone 12 at a part of the boundary edge 14 until the end of the danger zone 12 at another part of the boundary edge 14 is driven.

This test proves that the motor vehicle 10 the danger zone 12 can traverse free of obstacle objects and immediately after the danger zone 12 has enough free space to the danger zone 12 completely leave, so the motor vehicle 10 not within the danger zone 12 stops, is the motor vehicle by the control unit 10 in a fourth process step S4 controlled so that the detected danger zone 12 is crossed. This will ensure that the car 10 not or not in part for a longer period in the danger zone 12 protruding and thus constitute a potential source of danger in road traffic. In the positive test or after crossing the danger zone 12 can the motor vehicle 10 the at least partially autonomous driving mode, in which a leading carrier vehicle is automatically followed, resume. The at least teilautonom driving motor vehicle 10 may therefore follow the leading vehicle before again only when the danger zone 12 together with the occupation room 16 behind the danger zone 12 is freely passable.

However, the test proves that traversing the danger zone 12 currently not possible, for example, behind the danger zone 12 has formed a traffic jam, so the motor vehicle remains 10 in front of the danger zone 12 continue to stand. However, the test can be repeated continuously or at predeterminable intervals until the test is positive. Furthermore, an abort condition may be present if, after a predetermined period of time, the danger zone 12 and the occupancy space 16 still not freely accessible. In this case, the at least partially autonomous driving mode is deactivated and the driver of the motor vehicle 10 issued an indication that this is the motor vehicle 10 should control manually.

In 2 . 3 and 4 are each shown schematically road maps, on each of which a danger zone 12 is marked. In 2 is the danger zone 12 formed by a railroad crossing. The marked area additionally comprises a road area, which is a motor vehicle 10 immediately after crossing the railroad crossing on the road. This street area draws the occupation space 16 of the motor vehicle 10 from and is the control unit in response to at least one dimension of the motor vehicle 10 determined.

In 3 schematically a road junction is shown, on which two roads intersect. The danger zone 12 , which emanates from this intersection, is here, for example, rectangular. Depending on which direction and from which road the motor vehicle 10 As the road intersection approaches, the control unit determines a different occupancy space 16 , In addition, the occupancy space 16 depending on which road and in which direction the motor vehicle 10 intends to drive. The occupation room 16 then borders, for example, in a left turn of the motor vehicle 10 on a left side of the danger zone 12 at.

In 3 is a street area in which a motorway entrance and a motorway exit are shown schematically. This road area is considered a danger zone 12 marked, since it is particularly dangerous here, if a motor vehicle 10 comes to a halt or possibly a continuation of another motor vehicle 10 with special needs. As in the case of the intersection, the control unit determines vehicle-specific here as well, where there is an occupancy space 16 of the motor vehicle 10 would be located. For example, the motor vehicle may 10 from the motorway exit do not drive into a traffic, if this is not freely passable.

Overall, the examples show how a motor vehicle can be operated safely in an at least semi-autonomous driving mode by the invention, wherein the motor vehicle is controlled in an activated at least partially autonomous driving mode by a control unit such that the motor vehicle follows a lead vehicle ahead.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• US 9272709 B2 [0004]
• DE 102007056225 A1 [0005]
• DE 102013218562 A1 [0006]

Claims (10)

A method for operating a motor vehicle (10) in an at least partially autonomous driving mode, wherein the motor vehicle (10) comprises a control unit which controls the motor vehicle (10) in at least partially autonomous driving mode such that the motor vehicle (10) at a predetermined distance ahead Leader vehicle follows, wherein in a navigation unit of the motor vehicle (10) at least one danger zone (12) is stored in a navigation map, wherein the at least one danger zone (12) by a boundary edge (14) is limited, and wherein the control unit performs the following steps : - checking whether the motor vehicle (10) is approaching one of the at least one danger zone (12) (step S1); and if the control unit recognizes the approach of the motor vehicle (10) to one of the at least one danger zone (12): - suspending the following of the preceding host vehicle before entering the identified danger zone (12) at the boundary edge (14) (step S2); - Determining an occupancy space (16), which the motor vehicle (10) would take after passing through the detected danger zone (12) immediately following the boundary edge (14) of the detected danger zone (12) (step S3); - Check whether the detected danger zone (12) and the occupancy space (16) for the motor vehicle (10) are freely passable (step S3); and - Traversing the detected danger zone (12), if the check shows that the detected danger zone (12) and the occupancy space (16) are freely passable (step S4). Method according to Claim 1 in which the control unit carries out the following further step: - resuming the following of the preceding host vehicle, if the checking reveals that the identified danger zone (12) and the occupancy space (16) are freely passable. Method according to one of the preceding claims, wherein if said checking reveals that the detected danger zone (12) and / or the occupancy space (16) are not freely passable: Waiting in front of the identified danger zone (12) and repeating the checking. Method according to Claim 3 wherein, if a result of the repeated checking as to whether the detected danger zone (12) and the occupancy space (16) are freely passable is still negative after a predetermined period of time since a first-time check: abort testing and deactivation of the at least partially autonomous drive mode. Method according to Claim 4 in which the control unit, upon termination of the at least partially autonomous driving mode in the motor vehicle (10), actuates a signaling device to output a warning signal about deactivation to a user of the motor vehicle (10). Method according to one of the preceding claims, wherein the control unit determines the occupancy space (16) of the motor vehicle (10) on the basis of a motor vehicle length of the motor vehicle (10). Method according to one of the preceding claims, wherein the control unit checking whether the detected danger zone (12) and the occupancy space (16) for the motor vehicle (10) are freely passable, by means of a distance sensor, in particular by means of a laser scanner, and / or by lidar and / or by means of radar, and / or determined by means of a camera. The method of claim 1, wherein the control unit checks whether the motor vehicle approaches at least one of the at least one danger zone by means of determining current location coordinates of the motor vehicle and by comparing with the vehicle at least one danger zone (12) stores stored geographic coordinates. Method according to one of the preceding claims, wherein by means of the at least one danger zone (12) a no-stopping zone and / or a danger zone is defined. Motor vehicle (10) with a control unit, wherein the control unit is adapted to control the motor vehicle (10) in an activated at least partially autonomous driving mode such that the motor vehicle (10) follows a preceding leader vehicle at a predetermined distance, wherein the motor vehicle (10 ) has a navigation unit in which at least one danger zone (12) is stored in a navigation map, wherein the danger zone (12) is delimited by a delimiting edge (14), and wherein the control unit is designed to - check whether the motor vehicle ( 10) approaches one of the at least one danger zone (12) (step S1); and - if the control unit recognizes the approach of the motor vehicle (10) to one of the at least one danger zone (12), performing the following steps: - suspending following of the lead vehicle prior to entering the detected danger zone (12) at the boundary edge (14) (Step S2); - Determining an occupancy space (16), which the motor vehicle (10) after passing through the detected danger zone (12) immediately in connection at the boundary edge (14) of the detected danger zone (12) would take (step S3); - Check whether the detected danger zone (12) and the occupancy space (16) for the motor vehicle (10) are freely passable (step S3); and traversing the detected danger zone (12) if the checking reveals that the recognized danger zone (12) and the occupancy space (16) are freely passable (step S4).

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