WO2019223909A1

WO2019223909A1 - Method for the at least partially automated control of a motor vehicle

Info

Publication number: WO2019223909A1
Application number: PCT/EP2019/053925
Authority: WO
Inventors: Holger Mielenz; Christoph G. KELLER
Original assignee: Robert Bosch Gmbh; Daimler Ag
Priority date: 2018-05-24
Filing date: 2019-03-14
Publication date: 2019-11-28

Abstract

The invention relates to a method for the at least partially automated control of a motor vehicle, comprising the following steps: receiving ambient signals, which represent the ambient environment of the motor vehicle which is detected by means of ambient environment sensors of the motor vehicle; if an object situated in front of the motor vehicle in relation to the direction of travel of the motor vehicle is detected on the basis of the received ambient signals, determining whether a road junction lies within an overtake trajectory for overtaking the object and whether any oncoming traffic in relation to the motor vehicle will be blocked for the duration of the overtake; if the determination has revealed that there is no road junction lying within an overtake trajectory for overtaking the object and that no oncoming traffic will be blocked for the duration of the overtake, then outputting control signals for at least partially automated control of a transverse and longitudinal guidance of the motor vehicle on the basis of the overtake trajectory. The invention also relates to a device, a motor vehicle, a computer program and a machine-readable storage medium.

Description

description

title

Method for at least partially automated control of a motor vehicle

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

This patent application claims the priority of the German

Patent applications DE 10 2018 1 12 507.0 and DE 10 2018 1 16 982.5, the disclosure of which is hereby incorporated by reference.

State of the art

In urban traffic, it is possible for motor vehicles to park in the second row, so that other motor vehicles must overtake these motor vehicles.

For example, there is a need for at least partially automated automotive vehicles to handle such situations safely and efficiently.

Disclosure of the invention

The object underlying the invention is to provide an efficient concept for at least partially automated control of a motor vehicle, which enables a reliable coping with the situation described above. This object is achieved by means of the subject matter of the independent claims. Advantageous embodiments of the invention are the subject of each dependent subclaims.

According to a first aspect, a method for at least partially automated control of a motor vehicle, comprising the following steps:

Receiving ambient signals representing an environment of the motor vehicle detected by an environmental sensor system of the motor vehicle, upon detection of an object located in front of the motor vehicle based on a direction of travel of the motor vehicle based on the received ambient signals, determining whether a road junction lies within an overtaking trajectory for overtaking the object and whether oncoming traffic of the motor vehicle is blocked for a period of overtaking,

if the determination has revealed that there is no road junction within an overhaul trajectory for overtaking the object, and no oncoming traffic is blocked for a duration of the overtaking, then issuing

Control signals for at least partially automated control of a transverse and longitudinal guidance of the motor vehicle based on the overtaking trajectory.

According to a second aspect, an apparatus is set up to carry out all the steps of the method for the at least partially automated control of a motor vehicle.

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

According to a fourth aspect, there is provided a computer program comprising instructions which, when executed by the computer program by the computer, cause it to carry out a method for at least partially automated control of a motor vehicle.

According to a fifth aspect, a machine-readable storage medium is provided on which the computer program is stored. The invention is based on the finding that the above object can be achieved in that at least two conditions must be fulfilled so that a motor vehicle at least partially overhauled an object which is located in front of the motor vehicle with respect to a direction of travel of the motor vehicle:

On the one hand, an overtaking trajectory for overtaking the object must be free of a road junction. So that means that within the

Overtaking trajectory no road junction may be located.

On the other hand, it must be ensured that for the duration of the overtaking oncoming traffic of the motor vehicle is not blocked by the overtaking motor vehicle.

This means that an overtaking operation is performed by the motor vehicle only if no road junction is crossed during the overtaking process.

At road junctions, there is a likelihood that another car might cross the passing trajectory. Provided

For example, the road junction is an intersection, here could the other motor vehicle from an opening road turn on the road on which the motor vehicle is currently driving. This can potentially lead to a dangerous situation, which can be avoided by the concept.

The fact that the motor vehicle overtakes the object only when the oncoming traffic is not blocked ensures in particular advantageously that potential collisions with oncoming traffic can be avoided.

In summary, an efficient concept for at least

partially automated control of a motor vehicle provided, which allows a safe overtaking a befindliches with respect to a direction of travel of the motor vehicle in front of the motor vehicle object. A road junction refers to a road junction and is a physical structure used to link roads or paths. A road junction is, for example, an intersection or a junction. For example, a road junction is a railroad crossing. A road junction is for example a motorway junction or a motorway junction. On

Road junction is for example a motorway junction. On

Road junction is for example a roundabout.

For example, the object is one of the following objects: another

Motor vehicle, a pedestrian and a cyclist.

For example, the object is a stationary object. A stationary object refers to an object having an airspeed of zero m / s.

For example, the object is a mobile object. A mobile object refers to an object that has an airspeed of greater than zero m / s.

In one embodiment, a relative speed of the object is determined based on the received ambient signals and compared to a relative speed threshold, wherein the step of determining whether within an overtake trajectory to overtake the object

Road junction is and whether for a period of overtaking

Blocked oncoming traffic of the motor vehicle, and / or the step of outputting control signals for at least partially automated control of a transverse and longitudinal guidance of the motor vehicle based on the overtake trajectory are only performed when the determined relative speed is greater than or greater than the relative speed threshold.

This causes, for example, the technical advantage that only those objects are overtaken, which represent an obstacle for the motor vehicle. For example, another motor vehicle, which is in search of a parking space, usually drive much slower than the motor vehicle and thus provides an obstacle for the motor vehicle. This applies analogously, for example for a cyclist or a pedestrian, who usually can not reach the same speeds as a motor vehicle.

Blocking oncoming traffic, for example, means that

Motor vehicle during overtaking will collide with oncoming traffic.

Blocking an oncoming traffic means, for example, that the

Decelerate oncoming traffic during overtaking and / or avoid it.

Blocking an oncoming traffic means, for example, that one

Safety distance between the motor vehicle and the oncoming traffic is fallen below during overtaking.

The phrase "at least partially automated control" includes the following cases: semi-automated control, highly automated control,

fully automated taxes, driverless taxes.

Partially automated tax means that in a specific

Use case (for example: driving on a highway, driving inside a parking lot, overtaking an object, driving within a lane defined by lane markers), a longitudinal and a lane

Transverse guide of the motor vehicle to 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. However, the driver must permanently monitor the automatic control of the longitudinal and transverse guidance in order to intervene manually if necessary.

Highly automated tax means that in a specific

Transverse guide of the motor vehicle to 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 permanently monitor the automatic steering of the longitudinal and transverse guidance in order to intervene manually if necessary to be able to. If required, a takeover request is automatically issued to the driver for taking over the control of the longitudinal and transverse guidance. The driver must therefore potentially be able to take over the control of the longitudinal and transverse guidance.

Fully automated tax means that in a specific

Transverse guide of the motor vehicle to 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 steering of the longitudinal and transverse guidance in order to intervene manually if necessary. In the specific application, the driver is not required.

Driverless steering means that, regardless of a specific application (for example: driving on a highway, driving inside a parking lot, overtaking an object, driving within a lane defined by lane markers), one longitudinal and one lane

Transverse guide of the motor vehicle to 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 steering of the longitudinal and transverse guidance in order to intervene manually if necessary. The longitudinal and transverse guidance of the vehicle are thus automatically controlled, for example, in all road types, speed ranges and environmental conditions. The complete driving task of the driver is thus automatically taken over. The driver is therefore no longer required. The motor vehicle can drive without any driver from any starting position to any target position. Potential problems are solved automatically, without the help of the driver.

In another embodiment it is provided that if the determination has shown that a road junction lies within an overtaking trajectory for overtaking the object and / or that an oncoming traffic is blocked for a duration of the overtaking, then a request signal for issuing a Request for the assumption of a manual control of the motor vehicle is issued to a driver of the motor vehicle and / or then a

A request signal for sending a request to take over a manual remote control of the motor vehicle to a remote

Teleoperator is output via a communication network.

As a result, in particular the technical advantage causes a

Fallback (driver and / or teleoperator) can be activated, which can take over the leadership and control of the motor vehicle. This

Fallback level can then potentially decide for yourself whether, despite the existence of a road junction yet the other motor vehicle should be overtaken or not. As a result, for example, the technical advantage can be achieved that unnecessary waiting times are avoided until, for example, the object no longer blocks the motor vehicle.

For example, a remote teleoperator refers to a person who can remotely control the vehicle. For example, a remote teleoperator refers to a remote computer that can remotely control the vehicle.

For better discrimination, the request signal for issuing a manual control request may be referred to as a first request signal, and may be the request signal for sending a request to accept a manual remote

Control of the motor vehicle to a remote teleoperator via a communication network can be referred to as a second request signal.

In another embodiment, it is provided that as the duration of overtaking a probable duration of overtaking by means of a

Trajektorienplanungsverfahrens is determined.

As a result, for example, the technical advantage is achieved that the duration of overtaking can be determined efficiently. In particular, a trajectory planning method refers to a geometric or trajectory sampling method that is within the preceding one

Verkehrsraums a bunch of comfortable mobile trajectories on feasibility. With advanced cost functions will be for example

oncoming objects (oncoming traffic), for example, motor vehicles, taken into account and made an exclusion of trajectories, which could for example lead to a blockade, for example, to a collision. Such trajectories have in addition to the geometric path and a spatially resolved speed indication, which is why the required duration for overtaking can be determined by the integration of the route to be traveled, for the planned overtaking.

In another embodiment, it is provided that the estimated duration based on a permissible during overtaking

Maximum speed is determined for the motor vehicle.

This causes, for example, the technical advantage that a maximum permissible speed for the at least partially automated control of the

Motor vehicle is taken into account.

This means, in particular, that in order to determine the duration of the overtaking it is assumed that the motor vehicle may not drive faster than the permissible maximum speed. The minimum possible overtaking time is therefore limited by the permissible maximum speed. The estimated duration is thus greater than or equal to the minimum possible duration of the overtaking.

In another embodiment, it is provided that determining whether within an overtaking trajectory to overtake the object

Road node is located, and / or determining whether for a duration of

Obtaining an oncoming traffic of the motor vehicle is blocked, is performed based on the received ambient signals and / or based on map data of a digital map of the environment of the motor vehicle

is carried out. The map data is preferably received. This, for example, causes the technical advantage that the determination can be carried out efficiently.

The digital map of the environment includes, for example, mobile objects, for example other motor vehicles, driving in the vicinity of the motor vehicle. That is to say, according to one embodiment, not only stationary objects, that is to say in particular road junctions, are drawn in the digital map, but in addition still other motor vehicles.

In one embodiment, a digital map includes static

Environment information, in particular static objects.

In one embodiment, it is provided that dynamic or mobile objects are detected by means of the environment sensor of the motor vehicle, wherein the detected dynamic objects are inserted into the digital map.

In one embodiment, it is provided that dynamic surroundings information, for example via a communication network, for example a WLAN communication network and / or a mobile radio network, are received, wherein the dynamic environment information information, for example position and / or direction and / or speed and / or Guy, over

dynamic objects, such as motor vehicles, pedestrians, cyclists. The received dynamic environment information is inserted, for example, in the digital map.

This dynamic environment information is for example from one or more other vehicles (C2C communication ("Car-to-Car-Kommunikation")) and / or from an infrastructure (C2L communication ("Car-to-Infrastructure communication")) have been sent or have been sent.

Map data thus includes, for example, such dynamic ones

Environment information.

According to another embodiment, it is provided that the motor vehicle moves within a lane, so that the object in the same lane is located so that to overtake the object lane changes are necessary, it being determined that no road junction within a

Overtake trajectory is when, after overtaking, the overtaking trajectory returns the motor vehicle outside the road junction back to the lane.

As a result, for example, the technical advantage causes a

Lane change back to the original lane after completing the overtaking can be completed before the road junction.

In a further embodiment it is provided that if the object is a stationary object and if the determination has revealed that a road junction lies within an overtaking trajectory for overtaking the object and / or that oncoming traffic is blocked for a duration of the overtaking, then control signals for at least partially automated control of a

Longitudinal guide of the motor vehicle are issued to stop the motor vehicle with respect to the direction of travel behind the object, wherein after stopping further ambient signals are received representing an environment of the motor vehicle detected by the environment sensor of the motor vehicle, wherein when detected based on the other

Ambient signals that the object continues to move, control signals for at least partially automated control of a transverse and longitudinal guidance of the motor vehicle are issued to continue the motor vehicle.

This causes, for example, the technical advantage that the motor vehicle continues automatically when the object no longer blocks the motor vehicle.

In one embodiment, it is provided that the environment sensor system comprises one or more environment sensors.

An environment sensor is, for example, one of the following environment sensors:

Radar sensor, video sensor, lidar sensor, ultrasonic sensor, magnetic field sensor and infrared sensor. In one embodiment, it is provided that the environmental sensor system comprises one or more roof-mounted environmental sensors.

This causes, for example, the technical advantage that the environment or the environment of the motor vehicle can be detected efficiently.

A roof-end environment sensor denotes an environment sensor which is arranged on or at the roof of the motor vehicle.

In one embodiment, it is provided that the motor vehicle according to the third aspect is set up or designed to carry out or carry out the method according to the first aspect.

In a further embodiment it is provided that the method according to the first aspect by means of the device according to the second aspect and / or by means of the motor vehicle according to the third aspect, or carried out.

Device features are analogous to corresponding

Procedural features and vice versa. This means in particular that technical functionalities of the method according to the first aspect result from corresponding technical functionalities of the device according to the second aspect.

This means in particular that further embodiments of the

Device according to the second aspect analogous to corresponding

Embodiments of the method according to the first aspect result.

The invention will be described below with reference to preferred

Embodiments explained in more detail. Show here

1 is a flowchart of a method for the at least partially automated control of a motor vehicle, 2 shows a device which is set up to carry out all the steps of a method for the at least partially automated control of a motor vehicle,

3 a motor vehicle,

4 shows a motor vehicle whose lane is blocked by another motor vehicle,

5 shows a situation in which no overtaking operation is performed,

Fig. 6 shows another situation in which an overtaking operation is performed and

7 shows a machine-readable storage medium.

Hereinafter, like reference numerals may be used for like features.

Fig. 1 shows a flowchart of a method for at least

semi-automated control of a motor vehicle, comprising the following steps:

Receive 101 of ambient signals representing an environment of the motor vehicle detected by an environment sensor of the motor vehicle, upon detection of an object located in front of the motor vehicle based on a direction of travel of the motor vehicle based on the received ambient signals detection 103, whether within an overtaking trajectory to overtake the object Road junction is located and whether for a period of overtaking oncoming traffic of the motor vehicle is blocked,

if the determining 103 has revealed that there is no road junction within an overtaking trajectory for overtaking and no oncoming traffic is blocked for a duration of overtaking, then outputting control signals for at least partially controlling a lateral and longitudinal guidance of the motor vehicle based on the overtaking trajectory to overtake the object. If the determination according to step 103 has revealed that within an overtaking trajectory for overtaking the further motor vehicle

Street node is located and / or that for a period of overtaking an oncoming traffic is blocked, then it is provided according to a step 107 that a request signal for issuing a request to take over a manual control of the motor vehicle to a driver of

Motor vehicle is issued.

In a further embodiment, in the above step 107, alternatively or additionally, it may be provided that a request signal for sending a request to take over a manual remote

Control of the motor vehicle to a remote teleoperator via a

Communication network is output.

FIG. 2 shows a device 201, wherein the device 201 is set up to execute all the steps of a method for the at least partially automated control of a motor vehicle.

The device 201 includes an input 203 for receiving

Ambient signals representing an environment of the motor vehicle detected by an environmental sensor system of the motor vehicle.

The device 201 includes a processor 205 for determining whether a road junction is within an overhaul trajectory for overtaking the object and whether oncoming traffic of the motor vehicle is blocked for a period of overtaking, upon detection of an object located in front of the motor vehicle relative to a direction of travel of the motor vehicle based on the received ambient signals.

The processor 205 is configured to control signals for at least

to generate partially automated control of a lateral and longitudinal guidance of the motor vehicle based on the overtaking trajectory, if the determination has revealed that within a passing trajectory for overtaking the object no road junction is located and that for a period of overtaking no

Oncoming traffic is blocked. The device 201 further comprises an output 207 for outputting control signals for at least partially automated control of a transverse and longitudinal guidance of the motor vehicle based on the overtaking trajectory.

Information, data and / or signals that are received are generally received, for example, via the input 203.

Signals that are output are generally output, for example, via output 207.

In one embodiment, multiple instead of the processor 205

Processors provided.

3 shows a motor vehicle 301.

The motor vehicle 301 comprises the device 201 according to FIG. 2.

The motor vehicle 301 comprises an environment sensor system 303 for detecting an environment of the motor vehicle. The environmental sensor system 303 generates environmental signals representing the detected environment.

The environment sensor system 303 comprises a roof-facing first environment sensor 305 and a second environment sensor 307, which is arranged on the front of the motor vehicle 301.

The first environment sensor 305 is, for example, a video sensor one

Video camera. The second environment sensor 307 is, for example, a radar sensor.

The environmental signals of the first 305 and second environmental sensors 307 are received by the input 203 of the device 201. The processor 205 analyzes the environmental signals, for example, as to whether an object is in front of the motor vehicle 301 in the direction of travel. Upon detection of such an object, the processor 205 performs the above and / or following steps determining and generating control signals. Control signals are output by means of the output 207.

The control signals output by means of the output 207 are output, for example, to a control device 309 which is set up to control a transverse and longitudinal guidance of the motor vehicle 301 at least partially automatically based on the output control signals.

The motor vehicle 301 further optionally includes a communication interface 315 for sending a request signal to a remote teleoperator via a communication network as described above.

The communication section 315 is configured, for example, to receive dynamic environment information as described above,

for example, one or more other motor vehicles and / or an infrastructure. The dynamic environment information received by the communication interface 315 is provided to the input 203, for example.

In one embodiment, the communication interface 315 is part of the device 201.

In one embodiment, the controller 309 is part of the device 201.

The communication network according to one embodiment comprises a WLAN communication network and / or a mobile radio network.

The motor vehicle 301 is, for example, a robot taxi.

The situations described below with reference to FIGS. 4 to 6 see another example as an object as an example

Motor vehicle before, which is parked in the same lane in which the motor vehicle drives or stops. 4 shows a road 401.

The road 401 includes a first lane 403 and a second lane 405. A predetermined by the first lane 403 direction of travel runs with respect to the paper plane from bottom to top. A predetermined by the second lane 405 direction of travel runs opposite thereto, ie based on the paper plane from top to bottom.

A motor vehicle 407 drives on the first lane 403. The motor vehicle 407 comprises a device which is set up to carry out all the steps of a method according to the first aspect. The device is, for example, the device according to FIG. 2. The device is not shown for the sake of clarity. The motor vehicle 407 comprises an environment sensor, which is not shown for the sake of clarity. For example, the motor vehicle 407 is the motor vehicle 301 shown in FIG. 3.

A direction of travel of the motor vehicle 407 is indicated symbolically by an arrow with the reference numeral 409.

On the first lane 403 another motor vehicle 41 1 is parked. The further motor vehicle 41 1 is located in front of the motor vehicle 407 relative to the direction of travel 409 of the motor vehicle 407.

This means that the further motor vehicle 41 1 blocks the first lane 403 for the motor vehicle 407.

To avoid congestion, it makes sense for the motor vehicle 407 to overtake the further motor vehicle 41 1. In this case, the motor vehicle 407 must intersect the opposite lane, that is, the second lane 405, at times.

For the duration of the whereabouts of the motor vehicle 407 on the second lane 405 is to ensure that in this time no pre-driver

Motor vehicle approaches. An oncoming traffic which travels on the second lane 405 is symbolically represented by another motor vehicle 415. A direction of travel of the other motor vehicle 415 is shown symbolically with an arrow with the reference numeral 417.

An overtaking trajectory for overtaking the other motor vehicle 411 by the motor vehicle 407 is symbolically by a curved arrow with the

Reference numeral 413 is shown.

FIG. 5 shows a situation in which, according to the concept described here, no overtaking of the further motor vehicle 41 1 by the motor vehicle 407 is performed.

5, a road junction 501 is provided, according to which a two-lane road 503 opens with respect to the paper plane coming from the left in the road 401. Coming from the left relative to the plane of the paper from the road 503, a fourth motor vehicle 505 approaches the second lane 405. A direction of travel of the fourth motor vehicle 505 is shown symbolically with an arrow with the reference numeral 507.

The further motor vehicle 41 1 is parked within the road junction 501. In this situation, the overtaking trajectory 413 would become the

Cross road junction 501.

That is, in this situation, the road junction 501 is within the overhaul trajectory 413.

In this respect, in this situation refrained from passing.

This means, for example, that the motor vehicle 407 is at least partially controlled based on corresponding control signals such that the motor vehicle 407 stops behind the further motor vehicle 41 1.

If, for example, it is detected using the environment sensor system that the further motor vehicle 41 1 no longer blocks the first lane 403, For example, because it was driven away, it is provided, for example, that the motor vehicle 407 is controlled based on appropriate control signals at least partially automated so that the motor vehicle 407 continues.

FIG. 6 shows a further situation in which, according to the concept described here, an overtaking operation is carried out.

According to the further situation shown in FIG. 6, the further motor vehicle 411 is no longer parked within the road junction 501. Rather, the further motor vehicle 411 is parked in the direction of the road junction 501 in relation to the direction of travel predefined by the first lane 403.

In other words, here the overtaking trajectory 413 does not have the

Road junction 501 crosses. This means that the road junction 501 in the further situation shown in Fig. 6 is not within the

Overtaking trajectory 413 is located.

Furthermore, oncoming traffic in an overtaking process is no longer blocked.

Thus, at least two conditions are met so that the motor vehicle 407 overtakes the further motor vehicle 411.

FIG. 7 shows a machine-readable storage medium 701.

A computer program 703 is stored on the machine-readable storage medium 701. The computer program 703 comprises instructions which, when executed by the computer program 703 by a computer, for example by the device 201, cause it to carry out a method according to the first aspect.

In summary, an efficient concept is provided to

decide whether a motor vehicle in front can be bypassed such that, for example, an overtaking trajectory traced back to the original lane, without this obstructing an oncoming motor vehicle is and without the overtaking is within a road junction.

In one embodiment, the environmental sensor system detects, for example, the environmental sensors of the environmental sensor system, an environment of the motor vehicle and thus make it possible to interpret an anticipated traffic situation, to anticipate and, for example, to make further driving decisions. For this interpretation or the anticipation or the meeting of the further driving decisions map information, for example, extended map information from localization and / or planning maps are used according to an embodiment.

In one embodiment, situations are recognized with pre-standing or parked vehicles that block the lane of the motor vehicle, at least temporarily. For this recognition or this interpretation or the anticipation or the meeting of the further driving decisions, according to one embodiment, semantic information is output

Planning maps, for example, the digital map, used and fused with more widely recognized environment information environmental monitoring, such as the environment sensor of the motor vehicle. For example, a preceding object, for example another motor vehicle, may be recognized as a waiting object on a stop sign if there is such a road junction immediately in front of the object, a stop sign is detected and, for example, the taillights or brake lights of the object are actuated ,

In one embodiment, it is provided that by means of the environmental sensor system, for example by means of a roof-mounted environmental sensor, and / or by means of map information, a geometry of the traffic routes ahead is determined and then analyzed, whether within an overtaking trajectory

Bypass or to overtake the preceding object, so the next remaining motor vehicle, a road junction is located. Further, according to one embodiment, it is provided that, based on the environment detected by means of the environmental sensor system, it is determined whether an oncoming motor vehicle is not blocked for a duration of the overtaking process.

In one embodiment, an anticipated duration of the overtaking operation is determined by means of a trajectory planning method. On the basis of the permitted maximum speed, according to one embodiment, a necessary distance to overtake is checked to see whether a drive release can actually take place. If both conditions apply, no

Oncoming motor vehicle and no road junction, which is within the overtake trajectory, the overtaking process is triggered. The required distance for bypassing a stationary object, for example the further motor vehicle, is based for example on comfort conditions of the motor vehicle with regard to a tolerable lateral acceleration. Thus, for example, a Ausscher- and Einschertrajektorie for bypassing an object, for example the other motor vehicle, chosen on the one hand a tolerable

Transverse acceleration, on the other hand, however, the allowed

Top speed falls below.

In one embodiment it is provided that in the case that the

Overtaking can not be passed without crossing a road junction, a fallback is activated, which may for example consist of a teleoperator and / or a driver of the motor vehicle.

In one embodiment, it is provided that it is waited until the traffic situation lying ahead dissolves, that is, until, for example, the further motor vehicle has been driven away before the motor vehicle continues.

The advantages of the concept described here are, in particular, the avoidance of dangerous situations which result from overtaking in urban traffic by oncoming traffic and reciprocating passengers

Junction, so generally in the road junction, can result.

The advantages of the concept described here are, in particular, avoidance of longer service lives that would arise if a autonomously driving motor vehicle would wait for a natural dissolution of the situation.

Claims

claims

A method for at least partially automated control of a motor vehicle (301, 407), comprising the following steps:

Receiving (101) ambient signals, the one by means of a

Environment sensor system (303) of the motor vehicle (301, 407) detected environment of the motor vehicle (301, 407),

upon detection of a relative to a direction of travel (409) of the

Motor vehicle (301, 407) in front of the motor vehicle (301, 407) located object (411) based on the received ambient signals determine (103), whether within a passing trajectory (413) for overhauling the object (41 1) is a road junction (501) and whether for a duration of

Overturning an oncoming traffic (415) of the motor vehicle (301, 407) is blocked,

if the determination (103) has revealed that within a

Overtaking trajectory (413) for overtaking the object (411) no

Road node (501) is located and that for a duration of overtaking no oncoming traffic (415) is blocked, then outputting (105) of control signals for at least partially automated control of a transverse and longitudinal guidance of the motor vehicle (301, 407) based on the overtaking trajectory (413) ,

2. The method of claim 1, wherein when the determination (103) has shown that within a passing trajectory (413) for overtaking the object (41 1) is a road junction (501) and / or that for a period of overtaking an oncoming traffic (415) is blocked, then on

Request signal for issuing a request to take over a manual control of the motor vehicle (301, 407) to a driver of the motor vehicle (301, 407) is output and / or then a

A request signal for sending a request to take over a manual remote control of the motor vehicle (301, 407) to a remote teleoperator via a communication network is output.

3. The method of claim 1 or 2, wherein as the duration of the overtaking an anticipated duration of overtaking by means of a

Trajektorienplanungsverfahrens is determined.

4. The method of claim 3, wherein the estimated duration is determined based on a permissible during overtaking maximum speed for the motor vehicle (301, 407).

The method of claim 1, wherein determining (103) whether within a passing trajectory (413) to overtake the object (411) is a road junction (501), and / or determining (103) whether for a duration overtaking, oncoming traffic (415) of the motor vehicle (301, 407) is blocked, performed based on the received environmental signals, and / or performed based on map data of a digital map of the surroundings of the motor vehicle (301, 407).

6. The method according to claim 1, wherein if the object is a stationary object and if the determination (103) has shown that within a passing trajectory (413) for overtaking the object (41 1) lies a road junction (501) and / or that oncoming traffic (415) is blocked for a period of overtaking, then control signals for at least partially automated control of a longitudinal guidance of the motor vehicle (301, 407) are output to the motor vehicle (301, 407) with respect to the direction of travel behind the object ( 411), wherein after stopping further ambient signals are received, one by means of

Environment of the motor vehicle (301, 407) detected environment of the motor vehicle (301, 407), wherein upon detection based on the further ambient signals that the object continues to move, control signals for at least partially automated control of a transverse and longitudinal guidance of the motor vehicle (301, 407) are output to continue the motor vehicle (301, 407).

7. Device (201) that is set up, all the steps of the method according to

to execute one of the preceding claims.

8. motor vehicle (301, 407), comprising the device (201) according to claim 7.

A computer program (703), comprising instructions that are executed upon execution of the

Computer program (703) caused by a computer this one

Process according to one of Claims 1 to 6.

A machine readable storage medium (701) storing the computer program (703) of claim 9.