DE102018124161A1 - Method for at least partially automated driving of a motor vehicle on a roadway - Google Patents

Abstract

The invention relates to a method for at least partially automated driving of a motor vehicle on a roadway, comprising the following steps: receiving environmental signals representing an environment of the motor vehicle detected by means of an environmental sensor system of the motor vehicle, processing the environmental signals in order to detect a traffic situation in the environment, in which a pedestrian could potentially step onto the carriageway from the edge of the roadway, upon detection of the traffic situation, generating control signals for at least partially automated control of the lateral and longitudinal guidance of the motor vehicle, in order for the at least partially automated control of the lateral and longitudinal guidance of the motor vehicle based on the generated Control signals preventively increase a current reaction time window of the motor vehicle in the case of a pedestrian stepping onto the road from the road edge, outputting the generated control signals in order to control the motor vehicle based on the The at least partially automated control signals generated on the roadway. The invention further relates to a device, a motor vehicle, a computer program and a machine-readable storage medium.

Description

The invention relates to a method for at least partially automated driving of a motor vehicle on a roadway. The invention further relates to a device which is set up to carry out all steps of the method for at least partially automated driving of a motor vehicle on a roadway. The invention further relates to a motor vehicle which comprises the device. The invention further relates to a computer program and a machine-readable storage medium.

State of the art

The disclosure DE 10 2015 201 733 A1 discloses a method of operating a vehicle. The method comprises a step of recognizing an impending collision of the vehicle with a collision object, for example with a road user at increased risk, for example with a pedestrian.

The known method further comprises a step of estimating an impact area of the collision object on the vehicle.

The known method further comprises determining a lateral offset of the vehicle to avoid the collision depending on the estimated impact area.

The known method also includes causing the lateral offset to avoid the collision.

Disclosure of the invention

The object underlying the invention is to be seen in providing a concept for the efficient at least partially automated driving of a motor vehicle on a roadway.

This object is achieved by means of the respective subject of the independent claims. Advantageous embodiments of the invention are the subject of dependent subclaims.

• Empfangen von Umgebungssignalen, die eine mittels einer Umfeldsensorik des Kraftfahrzeugs erfasste Umgebung des Kraftfahrzeugs repräsentieren,
• Verarbeiten der Umgebungssignale, um eine Verkehrssituation in der Umgebung zu detektieren, in welcher ein Fußgänger potentiell von einem Fahrbahnrand auf die Fahrbahn treten könnte,
• bei Detektion der Verkehrssituation Erzeugen von Steuersignalen zum zumindest teilautomatisierten Steuern einer Quer-und Längsführung des Kraftfahrzeugs, um bei einer zumindest teilautomatisierten Steuerung der Quer-und Längsführung des Kraftfahrzeugs basierend auf den erzeugten Steuersignalen ein momentanes Reaktionszeitfenster des Kraftfahrzeugs bei einem vom Fahrbahnrand auf die Fahrbahn tretenden Fußgänger präventiv zu erhöhen (bzw. zu vergrößern), Ausgeben der erzeugten Steuersignale, um das Kraftfahrzeug basierend auf den erzeugten Steuersignalen zumindest teilautomatisiert auf der Fahrbahn zu führen.

According to a first aspect, a method for at least partially automated driving of a motor vehicle on a roadway is provided, comprising the following steps:

• Receiving ambient signals that represent an environment of the motor vehicle detected by means of an environment sensor system of the motor vehicle,
• Processing the environmental signals in order to detect a traffic situation in the environment in which a pedestrian could potentially step onto the road from the edge of the road,
• upon detection of the traffic situation, generation of control signals for at least partially automated control of a transverse and longitudinal guidance of the motor vehicle in order to provide an instantaneous reaction time window of the motor vehicle for an at least partially automated control of the transverse and longitudinal guidance of the motor vehicle based on the generated control signals Preventively increasing (or increasing) pedestrians, outputting the generated control signals in order to guide the motor vehicle on the road at least partially automatically based on the generated control signals.

According to a second aspect, a device is provided which is set up to carry out all steps of the method according to the first aspect.

According to a third aspect, a motor vehicle is provided which comprises the device according to the second aspect.

According to a fourth aspect, a computer program is provided which comprises commands which, when the computer program is executed by a computer, for example by the device according to the second aspect, cause the latter to carry out a method according to the first aspect.

According to a fifth aspect, a machine-readable storage medium is provided, on which the computer program according to the fourth aspect is stored.

The invention is based on the knowledge that the above object can be achieved in that, in certain traffic situations in which a pedestrian could potentially step onto the road, a reaction time window of a reaction to such a pedestrian stepping onto the road from the edge of the road preventively, is increased by generating and outputting corresponding control signals in order to guide the motor vehicle on the roadway at least partially automatically based on the generated control signals.

In particular, this has the technical advantage that a risk to a pedestrian who steps onto the road from the edge of the road can be reduced. This is because the reaction window to such a pedestrian has been increased efficiently in an advantageous manner.

This brings about the technical advantage that safety for such a pedestrian can be increased efficiently.

This also has the technical advantage that a collision risk of a collision of the motor vehicle with such a pedestrian can be efficiently reduced.

The wording “at least partially automated control or management” includes the following cases: partially automated control or management, highly automated control or management, fully automated control or management, driverless control or management.

Semi-automated control or guidance means that in a specific application (for example: driving on a motorway, driving within a parking lot, overtaking an object, driving within a lane, which is defined by lane markings), longitudinal and lateral guidance of the motor vehicle automatically being controlled. A driver of the motor vehicle does not have to manually control the longitudinal and transverse guidance of the motor vehicle himself. However, the driver must continuously monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary.

Highly automated control or guidance means that in a specific application (for example: driving on a motorway, driving within a parking lot, overtaking an object, driving within a lane, which is defined by lane markings), longitudinal and lateral guidance of the motor vehicle automatically being controlled. A driver of the motor vehicle does not have to manually control the longitudinal and transverse guidance of the motor vehicle himself. The driver does not have to continuously monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary. If required, a takeover request is automatically issued to the driver to take over control of the longitudinal and transverse guidance. The driver must therefore potentially be able to control the longitudinal and lateral guidance.

Fully automated control or guidance means that in a specific application (for example: driving on a motorway, driving within a parking lot, overtaking an object, driving within a lane, which is defined by lane markings), longitudinal and lateral guidance of the motor vehicle automatically being controlled. A driver of the motor vehicle does not have to manually control the longitudinal and transverse guidance of the motor vehicle himself. The driver does not have to monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary. The driver is not required in the specific application.

Driverless control or guidance means that regardless of a specific application (for example: driving on a motorway, driving within a parking lot, overtaking an object, driving within a lane, which is defined by lane markings), a longitudinal and lateral guidance of the motor vehicle can be controlled automatically. A driver of the motor vehicle does not have to manually control the longitudinal and transverse guidance of the motor vehicle himself. The driver does not have to monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary. The longitudinal and lateral guidance of the vehicle are thus automatically controlled, for example, on all road types, speed ranges and environmental conditions. The driver's complete driving task is thus taken over automatically. The driver is no longer required. The motor vehicle can therefore drive from any start position to any destination position even without a driver. Potential problems are solved automatically, i.e. without the driver's help.

A lane in the sense of the description denotes a traffic area which vehicles, for example motor vehicles, for example bicycles, can drive on.

A lane in the sense of the description includes, for example, one or more lanes.

For example, it is provided that one or more lanes are provided for one direction.

For example, it is provided that one or more lanes are provided for an opposite direction.

A lane in the sense of the description is defined or optically limited, for example, by means of lane markings.

A lane in the sense of the description identifies an area which is available to a vehicle, for example a motor vehicle, for example a bicycle, for travel in one direction.

A lane in the sense of the description is defined, for example, by means of lane boundaries or optically limited.

A walkway as defined describes a part of a street that is intended for pedestrian traffic.

A cycle path in the sense of the description identifies a part of a road that is primarily or exclusively intended for use with a bicycle.

A street in the sense of the description includes, for example, a roadway.

A street in the sense of the description includes, for example, a walkway.

A street in the sense of the description includes, for example, a cycle path.

A street in the sense of the description includes, for example, one or more parking spaces.

A road edge in the sense of the description is formed, for example, by a curb.

The lane edge can be, for example, the right or left lane edge.

The directions “right” and “left” are defined or fixed, for example, relative to a direction of travel of the motor vehicle. The direction of travel of a motor vehicle denotes the direction in which the motor vehicle is moving or is intended to move. A technically possible reversing or sideways movements when cornering the motor vehicle are not defined as "driving direction" in this formal definition.

In one embodiment, in the case of right-hand traffic when the traffic situation is detected, control signals are provided for at least partially automated control of a transverse and longitudinal guidance of the motor vehicle, in order to provide an instantaneous reaction time window of the motor vehicle based on the generated control signals in an at least partially automated control of the transverse and longitudinal guidance of the motor vehicle to preventively increase or enlarge pedestrians stepping onto the lane from the right edge of the lane.

In one embodiment, in the case of left-hand traffic when the traffic situation is detected, control signals are provided for at least partially automated control of a transverse and longitudinal guidance of the motor vehicle in order to provide an instantaneous reaction time window of the motor vehicle in the case of an at least partially automated control of the transverse and longitudinal guidance of the motor vehicle based on the generated control signals to preventively increase or enlarge pedestrians stepping onto the lane from the left edge of the lane.

According to one embodiment, it is provided that the control signals generated comprise control signals for at least partially automated control of the lateral and longitudinal guidance of the motor vehicle, in order to increase a current distance of the motor vehicle to the right edge of the lane in right-hand traffic or to the left lane edge in left-hand traffic and to keep the increased distance , especially to keep at least. According to one embodiment, it is generally provided that the generated control signals include control signals for at least partially automated control of the transverse and longitudinal guidance of the motor vehicle, to reduce an instantaneous distance to the center of the road and to keep, in particular at least keep, a correspondingly reduced distance.

This has the technical advantage, for example, that the reaction window can be increased efficiently.

This means that in right-hand traffic a current distance to the right edge of the lane is increased. This means that with left-hand traffic a current distance to the left edge of the lane is increased.

According to this embodiment, provision is therefore made for the motor vehicle to be driven further to the left in the case of right-hand traffic or to be guided to the right in the case of left-hand traffic.

The terms "increase" and "increase" can be used interchangeably.

The terms "reduce" and "reduce" can be used interchangeably.

According to a further embodiment, it is provided that when the motor vehicle is driven within a lane of the lane, the control signals generated comprise control signals for at least partially automated control of the lateral and longitudinal guidance of the motor vehicle, in order to move the motor vehicle off-center left in right-hand traffic or off-center right in left-hand traffic To keep lanes.

This has the technical advantage, for example, that a current distance from the motor vehicle to the right edge of the lane in right-hand traffic or to the left edge of the lane in left-hand traffic can be increased efficiently without the motor vehicle getting into a neighboring lane and thereby endangering traffic in this neighboring lane, for example .

In one embodiment it is provided that the generated control signals include control signals for at least partially automated control of the lateral and longitudinal guidance of the motor vehicle in order to guide the motor vehicle within a predetermined maximum distance to a left lane marking of the lane in right-hand traffic or to a right lane marking in left-hand traffic.

This has the technical advantage, for example, that the motor vehicle can be guided efficiently off-center in the lane.

The motor vehicle is therefore guided, for example, to the left lane marking in right-hand traffic or to the right lane marking in left-hand traffic. Leading to the left lane marking or to the right lane marking means in particular that the motor vehicle is guided so far to the left or right lane marking that a volume of an oncoming lane is not penetrated by a protruding (i.e. protruding) component of the motor vehicle. Such a protruding component is, for example, an outside mirror.

According to one embodiment, it is provided that in the case of a plurality of lanes for one direction and when the motor vehicle is driving within one of the plurality of lanes, which is different from the outer left lane of the plurality of lanes in right-hand traffic or the outer right lane of the plurality of lanes in left-hand traffic, the control signals generated include control signals for at least partially automated control of the lateral and longitudinal guidance of the motor vehicle in order to carry out at least one change of lane from one of the plurality of lanes to one on the left of the plurality of lanes in the case of right-hand traffic or right-hand lane in the case of left-hand traffic.

This has the technical advantage, for example, that a space available for one direction can be used efficiently for the motor vehicle in order to efficiently increase a distance of the motor vehicle from the right edge of the lane in right-hand traffic or from a left lane edge in left-hand traffic.

A lane change can also be referred to as a lane change, for example.

In one embodiment it is provided that the processing of the surrounding signals comprises processing the surrounding signals in order to detect a surrounding traffic, the control signals being generated depending on the detected surrounding traffic when a surrounding traffic is detected.

This has the technical advantage, for example, that environmental traffic can be efficiently taken into account when generating the control signals. This means, for example, that the at least partially automated control of the lateral and longitudinal guidance efficiently takes into account surrounding traffic.

In one embodiment it is provided that the control signals for at least partially automated control of a lateral and longitudinal guidance of the motor vehicle, in order to provide an at least partially automated control of the lateral and longitudinal guidance of the motor vehicle based on the generated control signals, a momentary reaction time window of the motor vehicle when the vehicle is on the roadside To preventively increase pedestrians entering the roadway, only in the absence of surrounding traffic, for example oncoming traffic. For example, a temporal prediction is carried out, which indicates for what period of time surrounding traffic is absent. In particular, this means that a prediction or forecast is made for which period of time surrounding traffic will be absent. Depending on a result of the temporal prediction or forecast, for example, the control signals are generated.

According to one embodiment, it is provided that the control signals for at least partially automated control of the lateral and longitudinal guidance of the motor vehicle in order to increase a current distance of the motor vehicle to the right edge of the lane in right-hand traffic or to the left lane edge in left-hand traffic and to keep the increased distance Absence of surrounding traffic, for example oncoming traffic, are generated.

This means, in particular, that in the presence of surrounding traffic, for example in the presence of oncoming traffic, the current distance of the motor vehicle is not increased.

In one embodiment it is provided that in the presence of surrounding traffic, instead of or in addition to not increasing the current distance, a longitudinal speed of the motor vehicle is reduced.

In particular, this has the technical advantage that the motor vehicle does not get too close to oncoming traffic.

According to one embodiment, surrounding traffic includes oncoming traffic.

Oncoming traffic refers to traffic that is driving towards the motor vehicle.

That means, for example, that according to one embodiment it is provided that the control signals for at least partially automated control of the lateral and longitudinal guidance of the motor vehicle, in order to increase a current distance from the motor vehicle to the right edge of the lane in right-hand traffic or to the left edge of the lane in left-hand traffic and the increased To keep distance, only be generated in the absence of oncoming traffic, for example oncoming traffic.

According to one embodiment, it is provided that upon detection of surrounding traffic, for example oncoming traffic, after outputting generated control signals, in order to increase a current distance of the motor vehicle to the right-hand lane edge in right-hand traffic or to the left-hand lane edge in left-hand traffic and to keep the increased distance, further control signals for at least partially automated control of a transverse and longitudinal guidance of the motor vehicle are generated in order to reduce the increased distance again, the further control signals generated being output in order to guide the motor vehicle on the roadway at least partially automatically based on the generated further control signals.

This has the technical advantage, for example, that an endangerment of surrounding traffic, for example oncoming traffic, can be efficiently reduced.

In one embodiment it is provided that a traffic situation in the environment in which a pedestrian could potentially step onto the road from the edge of the road is one of the following traffic situations:

The presence of a sidewalk running along the edge of the lane, the presence of motor vehicles parked on the edge of the lane.

This has the technical advantage, for example, that traffic situations are particularly taken into account in which pedestrians are highly likely to step onto the road from the edge of the road. In particular, this allows situations to be taken into account in which pedestrians can step onto the road immediately, i.e. suddenly.

In particular, motor vehicles parked at the edge of the roadway can conceal pedestrians or can make detection by means of an environmental sensor system of the motor vehicle more difficult or impossible. In such a situation, it is therefore particularly sensible and advantageous to increase the corresponding instantaneous reaction time window, for example by increasing a current distance of the motor vehicle to the right edge of the lane in right-hand traffic or to the left edge of the lane in left-hand traffic and maintaining an increased distance.

Such a traffic situation is identified, for example, on the basis of a digital map. If such a digital map shows pedestrian paths running parallel to the roadway, it can be assumed that such a traffic situation exists.

Detecting such a traffic situation includes, for example, detecting parked motor vehicles and / or partially covered pedestrians by means of a motor vehicle's own environmental sensor system. A prediction of a movement of the detected pedestrians can also be carried out using situation-specific prediction models (for example based on DNN methods (DNN stands for Deep Neural Network, i.e. machine learning using artificial neural networks) learned via labeled methods).

Such a traffic situation is recognized, for example, based on knowledge of pedestrian detections that are aggregated over time. Other motor vehicles, for example, recognize pedestrians and send corresponding information to a backend (remote server). The backend stores the relevant data chronologically and georeferenced. On the basis of this data, for example, a temporal and local probability model for the occurrence of pedestrians is generated and made available to the motor vehicle.

In order to determine that a pedestrian could potentially step onto the road from an edge of the road, it is provided according to one embodiment that, based on the ambient signals, a probability value is calculated which indicates a probability that a pedestrian will step onto the road from the edge of the road, wherein the calculated probability value is compared with a predetermined probability threshold value, it being determined depending on the comparison that a pedestrian could potentially step onto the lane from the edge of the lane or not. For example, it is determined that a pedestrian could potentially step onto the lane from the edge of the lane if the calculated probability value is greater than or greater than or equal to the predetermined probability threshold. For example, it is determined that no pedestrian could potentially step onto the lane from the edge of the lane if the calculated probability value is less than or less than or equal to the predetermined probability threshold. Procedure for Determining such a probability can e.g. B. be mathematical methods of artificial intelligence that carry out pedestrian intention detection based on situation-specific training data.

Processing the environmental signals to detect the traffic situation in the environment includes, for example, calculating such a probability value and comparing the calculated probability value with the predetermined probability threshold.

According to one embodiment, it is provided that the method according to the first aspect is carried out by means of the device according to the second aspect.

Device features result analogously from corresponding process features and vice versa.

That means in particular that technical functionalities with regard to the device result analogously from corresponding technical functionalities of the method and vice versa.

According to one embodiment, the device or the motor vehicle comprises an environment sensor system for detecting an environment of the motor vehicle. The environment sensor system is set up to generate environment signals based on the detected environment, which represent an environment of the motor vehicle.

The environment sensors include, for example, one or more environment sensors.

An environment sensor is e.g. one of the following environmental sensors: radar sensor, lidar sensor, ultrasonic sensor, magnetic field sensor, infrared sensor and video sensor.

According to one embodiment, the method includes detecting the surroundings of the motor vehicle using the surroundings sensors.

According to one embodiment, the method comprises controlling the lateral and longitudinal guidance of the motor vehicle based on the generated control signals.

According to one embodiment, the device or the motor vehicle comprises a control device which is set up to control the lateral and longitudinal guidance of the motor vehicle based on the control signals generated.

The abbreviation "or" stands for "or".

The wording “or” includes in particular the wording “respectively”.

The wording “respectively” includes in particular the wording “and / or”.

• 1 ein Ablaufdiagramm eines Verfahrens zum zumindest teilautomatisierten Führen eines Kraftfahrzeugs auf einer Fahrbahn,
• 2 eine Vorrichtung, die eingerichtet ist, alle Schritte eines Verfahrens zum zumindest teilautomatisierten Führen eines Kraftfahrzeugs auf einer Fahrbahn auszuführen,
• 3 ein Kraftfahrzeug,
• 4 ein maschinenlesbares Speichermedium,
• 5 eine erste Verkehrssituation, in welcher ein Fußgänger potentiell von einem Fahrbahnrand auf eine Fahrbahn treten könnte,
• 6 eine zweite Verkehrssituation, in welcher ein Fußgänger potentiell von einem Fahrbahnrand auf eine Fahrbahn treten könnte, und
• 7 ein Erhöhen eines Reaktionszeitfensters eines Kraftfahrzeugs, welches sich in der in 6 gezeigten zweiten Verkehrssituation befindet.

The invention is explained in more detail below on the basis of preferred exemplary embodiments. Show here

• 1 1 shows a flow chart of a method for at least partially automated driving of a motor vehicle on a roadway,
• 2nd a device which is set up to carry out all the steps of a method for at least partially automated driving of a motor vehicle on a roadway,
• 3rd a motor vehicle,
• 4th a machine-readable storage medium,
• 5 a first traffic situation in which a pedestrian could potentially step onto the road from the edge of the road,
• 6 a second traffic situation in which a pedestrian could potentially step onto a lane from the edge of a lane, and
• 7 increasing a response time window of a motor vehicle, which is in the in 6 shown second traffic situation.

In the following, the same reference symbols can be used for the same features.

1 shows a flowchart of a method for at least partially automated driving of a motor vehicle on a road.

• Empfangen 101 von Umgebungssignalen, die eine mittels einer Umfeldsensorik des Kraftfahrzeugs erfasste Umgebung des Kraftfahrzeugs repräsentieren, Verarbeiten 103 der Umgebungssignale, um eine Verkehrssituation in der Umgebung zu detektieren, in welcher ein Fußgänger potentiell von einem Fahrbahnrand auf die Fahrbahn treten könnte, bei Detektion der Verkehrssituation Erzeugen 105 von Steuersignalen zum zumindest teilautomatisierten Steuern einer Quer-und Längsführung des Kraftfahrzeugs, um bei einer zumindest teilautomatisierten Steuerung der Quer-und Längsführung des Kraftfahrzeugs basierend auf den erzeugten Steuersignalen ein momentanes Reaktionszeitfenster des Kraftfahrzeugs bei einem vom (bei Rechtsverkehr rechten bzw. bei Linksverkehr linken) Fahrbahnrand auf die Fahrbahn tretenden Fußgänger präventiv zu erhöhen, Ausgeben 107 der erzeugten Steuersignale, um das Kraftfahrzeug basierend auf den erzeugten Steuersignalen zumindest teilautomatisiert auf der Fahrbahn zu führen.

The process includes the following steps:

• Receive 101 processing of environmental signals, which represent an environment of the motor vehicle detected by means of an environment sensor system of the motor vehicle 103 generate the ambient signals in order to detect a traffic situation in the environment in which a pedestrian could potentially step onto the road from the edge of the lane when the traffic situation is detected 105 of control signals for at least partially automated control of a transverse and longitudinal guidance of the motor vehicle, in order to provide an at least partially automated control of the transverse and longitudinal guidance of the motor vehicle based on the generated control signals, a current reaction time window of the motor vehicle for one of the (left in right-hand traffic or left in left-hand traffic) Stepping onto the road Preventively raise pedestrians, spending 107 of the generated control signals in order to guide the motor vehicle on the road at least partially automatically based on the generated control signals.

2nd shows a device 201 , which is set up to carry out all steps of a method for at least partially automated driving of a motor vehicle on a roadway.

For example, the device 201 set up the in 1 shown procedures to perform.

The device 201 includes an entrance 203 for receiving environmental signals that represent an environment of the motor vehicle detected by means of an environment sensor system of the motor vehicle.

The device 201 further includes a processor 205 for processing the environmental signals in order to detect a traffic situation in the environment in which a pedestrian could potentially step onto the road from the edge of the road.

The processor 205 is set up to generate control signals for the at least partially automated control of a lateral and longitudinal guidance of the motor vehicle upon detection of the traffic situation, in order to provide an instantaneous reaction time window of the automotive vehicle at an at least partially automated control of the lateral and longitudinal guidance of the motor vehicle based on the generated control signals Preventively increase right-hand traffic on the right-hand side or left-hand traffic on left-hand traffic).

The device 201 also includes an exit 207 , which is set up to output the generated control signals in order to guide the motor vehicle based on the generated control signals at least partially automatically on the road.

In one embodiment, instead of the processor 205 several processors are provided.

In one embodiment, the entrance comprises 203 a first communication interface, which is set up to receive the environmental signals via a communication network.

In one embodiment, the exit comprises 207 a second communication interface, which is set up to output the generated control signals via the communication network.

The second communication interface can be, for example, the first communication interface. That means in particular that a communication interface is provided which implements the functionalities of the first communication interface and the second communication interface.

A communication interface in the sense of the description is, for example, a CAN communication interface.

A communication network in the sense of the description includes, for example, a CAN communication network.

3rd shows a motor vehicle 301 .

The car 301 includes the in 2nd shown device 201 .

The car 301 includes a radar sensor as an environmental sensor 303 , which on the front of the motor vehicle 301 is arranged.

The car 301 also includes a video camera as an environmental sensor system 305 comprising a video sensor 306 , the video camera 305 on the roof side of the motor vehicle 301 is arranged.

The radar sensor 303 and the video sensor 306 accordingly capture an environment of the motor vehicle 301 and generate corresponding environmental signals. These environmental signals are then from the radar sensor 303 or from the video sensor 306 to the entrance 203 the device 201 sent.

The entrance 203 the device 201 receives these environmental signals.

The processor 205 the device processes these environmental signals, as described above and / or below, and generates corresponding control signals, as described above and / or below, upon detection of the corresponding traffic situation.

That by means of the processor 205 Control signals are generated by means of the output 207 to a control device 307 of the motor vehicle 301 spent.

The control device 307 controls transverse and longitudinal guidance of the motor vehicle based at least partially automatically on the basis of the control signals output 301 to guide the motor vehicle at least partially automatically on the road based on the generated control signals.

4th shows a machine-readable storage medium 401 on which a computer program 403 is saved.

The computer program 403 includes commands that run when the computer program runs 403 by a computer, for example by the device 201 , cause the latter to carry out a method for at least partially automated driving of a motor vehicle on a roadway.

5 shows a first traffic situation in which a pedestrian could potentially step onto the road from the edge of the road.

A street is shown 501 comprising a two-lane lane 503 . There is exactly one lane per direction 505 , 507 intended.

So that means the lane 503 a first lane 505 comprises, which specifies a first direction, which refers to the paper plane from bottom to top.

The roadway 503 thus includes a second lane 507 , which specifies a direction that points from top to bottom in relation to the paper plane.

The second lane 507 can refer to the first lane 505 also as an oncoming lane for the first lane 505 be designated.

The roadway 503 is on both sides by a first lane boundary 509 and a second lane boundary 511 limited.

The two lanes 505 , 507 are by means of a dashed center line 513 separated from each other.

On the first lane 505 does that go in 3rd shown motor vehicle 301 . For the sake of clarity, only the motor vehicle is 301 drawn without the others in 3rd elements shown.

A direction of travel of the motor vehicle 301 is with an arrow with the reference symbol 515 represented symbolically.

For the motor vehicle 301 forms the center line 513 a left lane boundary or a left lane marking.

For the motor vehicle 301 forms the first lane marking 509 a right lane marking or a right lane edge.

In relation to the direction of travel 515 drives in front of the motor vehicle 301 another motor vehicle 517 . A direction of travel of the other motor vehicle 517 is with an arrow with the reference symbol 519 represented symbolically.

On the oncoming lane 507 drives a third motor vehicle 521 . A direction of travel of the third motor vehicle 521 is symbolic with an arrow with the reference symbol 523 shown.

Related to the motor vehicle 301 is to the right of the first lane 505 a walkway 523 on which a first pedestrian 527 and a second pedestrian 529 go.

In such a traffic situation it is potentially to be expected that one of the pedestrians 527 , 529 from the right edge of the road 525 related to the motor vehicle 301 on the road 503 will kick.

Next is a double arrow with the reference symbol 531 which symbolically represents a distance between the motor vehicle 301 and the right edge of the road 525 indicates.

6 shows a second traffic situation in which a pedestrian potentially stepping onto the road from the edge of the road must be expected.

In the 6 The illustration shown essentially corresponds to the illustration according to 5 .

One difference is the third motor vehicle 521 on the oncoming lane 507 unavailable.

There are also three motor vehicles 601 , 603 , 605 on the right edge of the road 525 related to the motor vehicle 301 switched off.

These three parked vehicles 601 , 603 , 605 can, for example, pedestrians 527 , 529 cover and for example a capture of these pedestrians 527 , 529 by means of the environment sensors of the motor vehicle 301 complicate or prevent.

Even in such a traffic situation, pedestrians can park between these parked vehicles 601 , 603 , 605 suddenly on the road 503 to step.

7 shows a behavior of the motor vehicle 301 in accordance with the concept described here for at least partially automated driving of a motor vehicle on a road.

The car 301 has the distance 531 to the right edge of the lane 525 elevated. Should then be one of the pedestrians 527 , 529 suddenly on the road 503 kick, so the motor vehicle 301 a greater distance from this pedestrian compared to that in 6 shown distance 531 .

The motor vehicle stands by this greater distance 301 more response time available than if the motor vehicle 301 the distance 531 would not have increased.

In summary, the concept described here is based, among other things, on planning behavior and a trajectory in such a way that a reaction time to a pedestrian spontaneously stepping onto the road is increased, which can advantageously reduce a risk of a dangerous situation.

The concept described here includes, in particular, evaluating an environment of the motor vehicle based on the ambient signals for traffic situations in which a pedestrian could potentially step onto the road. Such a traffic situation includes, for example, streets with sidewalks running parallel to the road. Such a traffic situation includes, for example, a road train with motor vehicles parked parallel and / or transverse to the carriageway, which can lead to pedestrians being hidden.

According to one embodiment, it is provided that the generated control signals include control signals for at least partially automated control of the lateral and longitudinal guidance of the motor vehicle in order to guide the motor vehicle up to the left marking limit, for example to the left lane marking, of one's own lane. It is provided here, for example, that such control signals are only generated when there is no oncoming traffic. This means in particular that these control signals are only generated in the absence of oncoming traffic.

According to one embodiment, the method comprises detecting an environment of the motor vehicle.

According to one embodiment, the method comprises generating ambient signals corresponding to the detected environment.

According to one embodiment, the method comprises processing the environmental signals.

The processing of the environmental signals includes the determination of potential dangerous situations (the traffic situation described here).

According to one embodiment, the method comprises a determination, for example a predictive determination (that is, a prediction), an own lane geometry and / or a determination, for example a predictive determination (that is, a prediction), a lane geometry of a surrounding traffic, for example an oncoming traffic. The determination is carried out, for example, based on the environmental signals.

According to one embodiment, an absence of surrounding traffic, for example oncoming traffic, is detected based on the surrounding signals.

According to one embodiment, planning is a trajectory (which can be comprised, for example, of the generation of the control signals) and implementation (which, for example, of the output of the generated control signals and / or of the at least partially automated control of the lateral and / or or longitudinal guidance of the motor vehicle can be provided) of the planned trajectory, which leads the motor vehicle to the left lane edge or to the left lane marking and stops there.

According to one embodiment, when an approaching oncoming traffic is detected, an evaluation is provided as to whether a width of the oncoming traffic leads to the motor vehicle having to be guided back into a lane center position. For this evaluation, it is provided, for example, that in addition to a motor vehicle width, oncoming traffic, ie oncoming traffic, is also predicted.

This evaluation is carried out, for example, based on the ambient signals.

If, for example, several lanes are provided in one direction, it is provided according to one embodiment that corresponding control signals are generated when the traffic situation is detected, in order to guide the motor vehicle on the outer left lane in right-hand traffic or on the outer right lane in left-hand traffic. This means in particular that the motor vehicle is advantageously guided on or within the lane that is facing away from a sidewalk or a potential dangerous situation.

The concept described here has the particular advantage of increasing a reaction time window of a motor vehicle that is at least partially automated to pedestrians spontaneously stepping onto the road.

Another advantage of the concept described here is in particular the reduction of an accident risk with pedestrians.

QUOTES INCLUDE IN THE DESCRIPTION

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Patent literature cited

• DE 102015201733 A1 [0002]

Claims (11)

Method for at least partially automated driving of a motor vehicle (301) on a roadway (503), comprising the following steps: Receiving environmental signals which represent an environment of the motor vehicle (301) detected by means of an environmental sensor system of the motor vehicle (301), Processing the environmental signals in order to detect a traffic situation in the environment in which a pedestrian (527, 529) could potentially step onto the road (503) from a road edge (509, 511), upon detection of the traffic situation, generating control signals for at least partially automated control of a transverse and longitudinal guidance of the motor vehicle (301) in order to provide a current reaction time window of the motor vehicle (301) based on the generated control signals in an at least partially automated control of the transverse and longitudinal guidance of the motor vehicle (301) ) preventively increase if a pedestrian (527, 529) steps from the edge of the road (509, 511) onto the road (503), Outputting the generated control signals in order to guide the motor vehicle (301) on the roadway (503) at least partially automatically based on the generated control signals. Procedure according to Claim 1 The control signals generated comprise control signals for at least partially automated control of the transverse and longitudinal guidance of the motor vehicle (301) by a current distance (531) of the motor vehicle (301) to the right-hand lane edge (525) in right-hand traffic or to the left-hand lane edge in left-hand traffic increase and keep the increased distance. Procedure according to Claim 1 or 2nd , When driving the motor vehicle (301) within a lane (505, 507) of the roadway (503), the control signals generated comprise control signals for at least partially automated control of the transverse and longitudinal guidance of the motor vehicle (301) around the motor vehicle (301) off-center left for right-hand traffic or off-center right for left-hand traffic in the lane (505, 507). Procedure according to Claim 3 The control signals generated comprise control signals for at least partially automated control of the lateral and longitudinal guidance of the motor vehicle (301) in order to move the motor vehicle (301) within a predetermined maximum distance to a left lane marking (513) of the lane (505, 507) during right-hand traffic or lead to a right lane marking in left-hand traffic. Method according to one of the preceding claims, wherein in the case of a plurality of lanes (505, 507) for one direction and when the motor vehicle (301) is traveling within one of the plurality of lanes (505, 507), which is different from the outer left lane (505, 507 ) of the multiple lanes (505, 507) for right-hand traffic or the outer right lane (505, 507) of the plurality of lanes (505, 507) for left-hand traffic, the control signals generated are control signals for at least partially automated control of the lateral and longitudinal guidance of the motor vehicle ( 301) to include at least one change of lane from one of the plurality of lanes (505, 507) to a lane (505, 507) on the left relative to the one of the plurality of lanes (505, 507) in the case of right-hand traffic or right-hand lanes (505, 507 ) for left-hand traffic. Method according to one of the preceding claims, wherein the processing of the surrounding signals comprises processing the surrounding signals in order to detect a surrounding traffic (521), wherein upon detection of a surrounding traffic (521) the control signals are generated as a function of the detected surrounding traffic (521). Method according to one of the preceding claims, wherein a traffic situation in the environment in which a pedestrian (527, 529) could potentially step onto the road (503) from a road edge (509, 511) is one of the following traffic situations: presence of a along the sidewalk (523) running along the edge of the carriageway (509, 511), motor vehicles (601, 603, 605) parked at the carriageway edge (509, 511). Device (201) which is set up to carry out all the steps of the method according to one of the preceding claims. Motor vehicle (301) comprising the device (201) according to Claim 8 . Computer program (403), comprising instructions which cause the computer program (403) to be executed by a computer, a method according to one of the Claims 1 to 7 to execute. Machine-readable storage medium (401) on which the computer program (403) Claim 10 is saved.

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