WO2020069812A1

WO2020069812A1 - Method for guiding a motor vehicle on a roadway in an at least partly automated manner

Info

Publication number: WO2020069812A1
Application number: PCT/EP2019/073720
Authority: WO
Inventors: Holger Mielenz; Christoph G. KELLER
Original assignee: Robert Bosch Gmbh; Daimler Ag
Priority date: 2018-10-01
Filing date: 2019-09-05
Publication date: 2020-04-09
Also published as: DE102018124161A1

Abstract

The invention relates to a method for guiding a motor vehicle on a roadway in an at least partly automated manner, comprising the following steps: receiving environmental signals, which represent an environment of the motor vehicle, detected by means of environmental sensor equipment of the motor vehicle; processing the environmental signals in order to detect a traffic situation in the environment, in which a pedestrian could potentially walk from an edge of the roadway into the roadway; upon detecting the traffic situation, generating control signals for controlling, in an at least partly automated manner, a transverse and longitudinal guidance of the motor vehicle, in order, in the case of an at least partly automated control of the transverse and longitudinal guidance of the motor vehicle, based on the generated control signals, to preventively increase a momentary reaction time window of the motor vehicle in the event of a pedestrian stepping from the edge of the roadway into the roadway; outputting the control signals generated to guide the motor vehicle on the roadway based on the control signals generated in an at least partly automated manner. The invention furthermore relates to a device, a motor vehicle, a computer program and a machine-readable storage device.

Description

description

title

Method for at least partially automated driving of a motor vehicle on a roadway

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 published patent application DE 10 2015 201 733 A1 discloses a method for 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.

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 one

Pedestrians could potentially step onto the road, preventively

Response time window of a reaction to such a pedestrian who enters the lane from the edge of the lane is increased by appropriate

Control signals are generated and output in order to guide the motor vehicle on the road 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 advantageously

Response window to such a pedestrian was increased efficiently.

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) one longitudinal and one

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. 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) one longitudinal and one

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 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) one longitudinal and one

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 driver is not required in the specific application.

Driverless control or driving 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 transverse guidance of the motor vehicle are automatically 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 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 is connected to vehicles, for example motor vehicles, for example

Bicycles that can be used.

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

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

Lanes are provided.

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 for example by means of

Lane markings fixed or visually limited.

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, for example, by means of

Lane limits set 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 on detection

Traffic situation generating control signals at least

partially automated control of a transverse and longitudinal guidance of the motor vehicle provided in order to preventively increase or enlarge a momentary reaction time window of the motor vehicle in the case of a partially automated control of the lateral and longitudinal guidance of the motor vehicle based on the generated control signals, when a pedestrian steps onto the lane from the right edge of the road.

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 control signals for at least partially automated control of the transverse and

Include 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 edge of the lane in left-hand traffic and to keep the increased distance, in particular at least keep it. According to one embodiment, it is generally provided that the generated control signals control signals for at least partially automated control of the transverse and longitudinal guidance of the

Motor vehicle include to reduce a current distance to the center of the road and to keep a correspondingly reduced distance, in particular to keep at least.

For example, this has the technical advantage that the

Response window can be increased efficiently.

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

current distance to the left edge of the road 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 an instantaneous distance from the motor vehicle to the right edge of the lane in right-hand traffic or to the left lane edge in left-hand traffic can be increased efficiently without the motor vehicle getting into a neighboring lane and thereby

For example, traffic in this neighboring lane is endangered.

In one embodiment it is provided that the generated control signals control signals for at least partially automated control of the transverse and

Include 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. That on the left lane marking or on the right

Lane marking means in particular that the motor vehicle to the extent that it is guided to the left or right lane marking that a volume of an oncoming lane is not penetrated by a protruding (ie 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 traveling within one of the plurality of lanes, which is different from the outer left

Lanes of the multiple lanes in right-hand traffic or the outer right lane of the multiple lanes in left-hand traffic, 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 change at least one lane from one of the plurality of lanes to one to carry out one of the several lanes on the left lane for right-hand traffic or right lane for 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

Environment signals includes processing the environment signals to detect a surrounding traffic, with detection of a

Traffic control signals depending on the detected

Surrounding traffic are generated.

This has the technical advantage that a

Surrounding traffic can be efficiently considered when generating the control signals. So that means, for example, that at least semi-automated control of the transverse and longitudinal guidance efficiently

Environmental traffic taken into account.

In one embodiment it is provided that the control signals for at least partially automated control of a transverse and longitudinal guidance of the motor vehicle in order to control the transverse and

Longitudinal guidance of the motor vehicle based on the generated control signals a momentary reaction time window of the motor vehicle at one of the

To preventively increase the edge of the lane for pedestrians entering the lane only in the absence of surrounding traffic, for example one

Two-way 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 forecast or

A forecast is created 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 transverse and longitudinal guidance of the

Motor vehicle at a momentary distance from the motor vehicle to the right edge of the lane in right-hand traffic or to the left lane edge

To increase left-hand traffic and to keep the increased distance, only at

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 a

Local 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 one

Oncoming traffic.

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

This 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-hand lane edge in right-hand traffic or to the left-hand lane edge 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 when a

Surrounding traffic, for example oncoming traffic, after a

Output of generated control signals in order to increase a current distance of the motor vehicle to the right lane edge in right-hand traffic or to the left lane edge in left-hand traffic and to keep the increased distance, further control signals for at least partially automated control of a lateral and longitudinal guidance of the motor vehicle are generated by the reduce the increased distance again, the generated further control signals being output to the motor vehicle based on the generated further

Control signals at least partially automated on the road.

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 in which high traffic conditions are particularly taken into account

Probability that pedestrians can 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 cover pedestrians or can be detected by means of an environmental sensor system of the

Make motor vehicle 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. Here, 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 vehicles recognize pedestrians, for example, send appropriate information to a backend (remote server). The backend stores the relevant data chronologically and georeferenced. Based on this data, for example, a temporal and local

Probability model for the occurrence of pedestrians 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 with a predetermined one

Probability threshold value is compared, it being determined depending on the comparison that a pedestrian could potentially step onto the road from the road edge 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. Methods 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.

The processing of the environmental signals in order to detect the traffic situation in the environment includes, for example, calculating such a probability value and comparing the calculated one

Probability value with the predetermined one

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

Procedural 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 based on the detected environment

Generate environmental signals that 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”.

The invention is based on preferred

Exemplary embodiments explained in more detail. Show here

1 is a flowchart of a method for at least partially automated driving of a motor vehicle on a road,

2 shows 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,

3 shows a motor vehicle,

4 shows a machine-readable storage medium,

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

6 shows a second traffic situation in which a pedestrian could potentially step onto the road from the edge of the road, and

FIG. 7 is an increase in a response time window of a motor vehicle, which is in the second traffic situation shown in FIG. 6.

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

1 shows a flow chart of a method for at least

partially automated driving of a motor vehicle on a road.

The process includes the following steps: Receiving 101 of environmental signals, which represent an environment of the motor vehicle detected by means of an environmental sensor system of the motor vehicle, processing 103 of the environmental signals in order to detect a traffic situation in the environment in which a pedestrian could potentially step onto the road from a road edge,

upon detection of the traffic situation, generation 105 of control signals for at least partially automated control of a transverse and longitudinal guidance of the motor vehicle in order for 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 at one of the (left in right-hand traffic or left in left-hand traffic)

To preventively increase pedestrians entering the lane on the lane, output 107 of the generated control signals in order to guide the motor vehicle on the lane at least partially automatically based on the generated control signals.

FIG. 2 shows a device 201 that is set up, all steps of a

Execute method for at least partially automated driving of a motor vehicle on a roadway.

For example, device 201 is set up to carry out the method shown in FIG. 1.

The device 201 includes an input 203 for receiving

Ambient 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 comprises 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 when the traffic situation is detected

To generate control signals for at least partially automated control of a transverse and longitudinal guidance of the motor vehicle in order to at least partially automated control of the lateral and longitudinal guidance of the motor vehicle based on the generated control signals

Preventively increase the reaction time window of the motor vehicle in the case of a pedestrian stepping onto the lane from the edge of the lane (right-hand traffic or left-hand traffic on the left).

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

In one embodiment, there are several instead of processor 205

Processors provided.

In one embodiment, input 203 comprises a first one

Communication interface, which is set up to receive the ambient signals via a communication network.

In one embodiment, output 207 includes 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.

3 shows a motor vehicle 301. The motor vehicle 301 comprises the device 201 shown in FIG. 2.

The motor vehicle 301 comprises a radar sensor 303 as the environment sensor system, which is arranged on the front of the motor vehicle 301.

The motor vehicle 301 further includes a video camera 305 comprising a video sensor 306 as the environment sensor system, the video camera 305 being arranged on the roof side of the motor vehicle 301.

The radar sensor 303 and the video sensor 306 accordingly detect an environment of the motor vehicle 301 and generate corresponding ones

Ambient signals. These environmental signals are then sent from the radar sensor 303 or from the video sensor 306 to the input 203 of the device 201.

The input 203 of the device 201 receives these environmental signals.

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

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

The control device 307 controls, based on the output control signals, at least partially automatically, a transverse and longitudinal guidance of the motor vehicle 301 in order to move the motor vehicle based on the generated ones

Control signals at least partially automated on the road.

FIG. 4 shows a machine-readable storage medium 401, on which a computer program 403 is stored. The computer program 403 comprises instructions which are executed when the

Computer program 403 by a computer, for example by the device 201, cause the latter a method for at least

partially automated driving of a motor vehicle on a road surface.

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

A road 501 is shown comprising a two-lane roadway 503. Exactly one lane 505, 507 is provided for each direction.

This means that the roadway 503 comprises a first traffic lane 505 which specifies a first direction which points from the bottom to the top in relation to the paper plane.

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

The second lane 507 can also be referred to as a counter lane for the first lane 505 with respect to the first lane 505.

The carriageway 503 is on both sides by a first one

Lane limitation 509 and a second lane boundary 511 limited.

The two lanes 505, 507 are separated from one another by a dashed center line 513.

The motor vehicle 301 shown in FIG. 3 is traveling on the first lane 505. For the sake of clarity, only the motor vehicle 301 is shown without the other elements shown in FIG. 3.

A direction of travel of motor vehicle 301 is indicated by an arrow with the

Reference symbol 515 is shown symbolically. For the motor vehicle 301, the center line 513 forms a left lane boundary or a left lane marking.

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

In relation to the direction of travel 515, another motor vehicle 517 is driving in front of the motor vehicle 301. A direction of travel of the further motor vehicle 517 is symbolically represented by an arrow with the reference number 519.

A third motor vehicle 521 is traveling on the oncoming lane 507. One

The direction of travel of the third motor vehicle 521 is symbolically represented by an arrow with the reference symbol 523.

Relative to the motor vehicle 301, to the right of the first lane 505 there is a walkway 523 on which a first pedestrian 527 and a second pedestrian 529 walk.

In such a traffic situation, it is potentially to be expected that one of the pedestrians 527, 529 from the right-hand lane edge 525 will refer to the

Motor vehicle 301 will step onto the carriageway 503.

Furthermore, a double arrow is drawn in with the reference symbol 531, which symbolically denotes a distance between the motor vehicle 301 and the right edge of the road 525.

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

The illustration shown in FIG. 6 essentially corresponds to the illustration according to FIG. 5.

As a difference, the third motor vehicle 521 is not present on the oncoming lane 507. Furthermore, three motor vehicles 601, 603, 605 are parked on the right-hand edge 525 of the motor vehicle 301.

These three parked motor vehicles 601, 603, 605 can, for example, hide the pedestrians 527, 529 and, for example, make it difficult or impossible to detect these pedestrians 527, 529 by means of the environmental sensors of the motor vehicle 301.

Even in such a traffic situation, pedestrians can suddenly step onto the carriageway 503 between these parked motor vehicles 601, 603, 605.

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

Motor vehicle on a roadway.

The motor vehicle 301 has increased the distance 531 to the right edge of the road 525. If one of the pedestrians 527, 529 suddenly steps onto the road 503, the motor vehicle 301 is at a greater distance from this pedestrian compared to the distance 531 shown in FIG. 6.

Because of this larger distance, the motor vehicle 301 has more reaction time than if the motor vehicle 301 had not increased the distance 531.

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

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. To one

Traffic situation counts, for example, a street train with parallel and / or transverse Motor vehicles parked to the roadway, which can lead to the concealment of pedestrians.

Include 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 a

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

Ambient 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 (ie a prediction), of one's own

Lane geometry and / or a determination, for example a

predictive determination (i.e. a prediction) of a lane geometry of surrounding traffic, for example of oncoming traffic. The determination is carried out, for example, based on the environmental signals.

In one embodiment, detecting an absence is a

Surrounding traffic, for example oncoming traffic, is provided 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 the motor vehicle to the left lane edge or to the left

Lane marking leads and stops there.

According to one embodiment, an approaching detection

Oncoming traffic provided an assessment of whether a width of oncoming traffic leads to the motor vehicle going back into a

Lane middle position must be guided. 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 when the

Corresponding control signals are generated to traffic situation

Motor vehicle to drive on the outer left lane for right-hand traffic or on the outer right lane for 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 an at least partially automated driver

Motor vehicle on pedestrians spontaneously stepping onto the road.

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

Claims

Expectations

1. A 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 the at least partially automated Controlling a transverse and longitudinal guidance of the motor vehicle (301) in order to provide a momentary reaction time window of the at least partially automated control of the transverse and longitudinal guidance of the motor vehicle (301) based on the generated control signals

Motor vehicle (301) from the edge of the road (509, 511) to the

Preventively increasing pedestrian (527, 529) entering the carriageway (503), outputting the generated control signals in order to guide the motor vehicle (301) on the carriageway (503) at least partially automatically based on the generated control signals.

2. The method of claim 1, wherein the generated control signals

Control signals for at least partially automated control of the lateral and longitudinal guidance of the motor vehicle (301) comprise in order to increase 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 and the increased distance to keep.

3. The method of claim 1 or 2, wherein when driving the

Motor vehicle (301) within a lane (505, 507) of the lane (503), the control signals generated at least control signals Partially automated control of the lateral and longitudinal guidance of the motor vehicle (301) comprise to the left of the motor vehicle (301) off-center

Right-hand traffic or off-center right in left-hand traffic in the lane (505, 507).

4. The method according to claim 3, wherein the generated control signals

Control signals for at least partially automated control of the lateral and longitudinal guidance of the motor vehicle (301) comprise in order to move the motor vehicle (301) within a predetermined maximum distance to a left lane marking (513) of the lane (505, 507) in right-hand traffic or to a right lane marking To drive left-hand traffic.

5. The method according to any one of the preceding claims, wherein in several

Lane (505, 507) for one direction and when driving the

Motor vehicle (301) within one of the multiple lanes (505, 507), which is different from the outer left lane (505, 507) of the multiple lanes (505, 507) in right-hand traffic or the outer right lane (505, 507) of the multiple Lanes (505, 507) in the case of left-hand traffic, 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 change at least one lane from one of the plurality of lanes (505, 507) to one related to the one of the multiple lanes (505, 507) on the left lane (505, 507)

Right-hand traffic or right lane (505, 507) for left-hand traffic.

6. The method according to any 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 depending on the detected surrounding traffic (521).

7. The method according to any one of the preceding claims, wherein a

Traffic situation in the area in which a pedestrian (527, 529) could potentially step onto the carriageway (503) from the edge of a carriageway (509, 511) is one of the following traffic situations: presence of one running along the carriageway edge (509, 51 1) Sidewalk (523), Presence of parked on the roadside (509, 51 1)

Motor vehicles (601, 603, 605).

8. The device (201), which is set up to carry out all steps of the method according to one of the preceding claims.

9. Motor vehicle (301) comprising the device (201) according to claim 8.

10. Computer program (403), comprising commands which, when the computer program (403) is executed by a computer, cause the computer to carry out a method according to one of claims 1 to 7.

1 1. Machine-readable storage medium (401) on which the computer program (403) according to claim 10 is stored.