Methods for operating an autonomously controllable vehicle and vehicle

Abstract

The invention relates to a method for operating an autonomously controlled vehicle (1), wherein the vehicle (1) scans its surroundings by means of at least one environmental sensor, detects the presence of a road user (2) in its path and stops due to the presence of the road user (2), and wherein the vehicle (1) emits a light pattern (4, 5) by means of at least one lighting device (3) as an indication of a hazardous situation and / or a current operating mode. The method according to the invention is characterized in that - the vehicle (1) stops until the road user (2) leaves the roadway, whereupon the vehicle (1) autonomously completes the maneuver blocked by the presence of the road user (2), whereby the vehicle (1) emits a light pattern (4) continuously via the lighting device (3) from the beginning of the stop at least until the completion of the maneuver, which is at least partially in a turquoise tone; or - the vehicle (1), if the road user (2) remains in the lane, stops until a specified time period has elapsed, whereupon the vehicle (1) switches from an autonomous operating mode to a manual operating mode, whereby the vehicle (1) emits a light pattern (4) via the lighting device (3) from the beginning of the stop, which is at least partially in a turquoise tone, and ceases to emit light in a turquoise tone when switching to the manual operating mode.

Description

[0001] The invention relates to a method for operating an autonomously controllable vehicle according to the type defined in more detail in the preamble of claim 1 and to a corresponding vehicle according to the type defined in more detail in the preamble of claim 8.

[0002] Automated vehicles are already participating in road traffic today. Such vehicles are capable of determining control commands independently using a computer system, although a human must be present to intervene in an emergency. In the future, autonomously controlled vehicles will also participate in road traffic. Such vehicles can even be controlled without the presence of a human.

[0003] In road traffic, a variety of situations can occur that require communication between a driver and another road user. For example, the driver can interact with another road user through specific gestures, facial expressions, establishing eye contact, and the like. The two road users can also communicate verbally. For example, the driver can signal to a pedestrian with a wave that they intend to stop to allow the pedestrian to cross the road. Establishing direct eye contact can also demonstrate to the other road user that the driver has noticed the other road user.

[0004] Since in the case of an autonomously controlled vehicle there may not be a person driving the vehicle, alternative procedures and means must be provided that allow appropriate communication with other road users.

[0005] It is well known from the state of the art to use vehicle-integrated lighting devices to project light patterns into the environment, which indicate to other road users the control intention of the automated or autonomously controllable vehicle.

[0006] DE 10 2017 222 280 A1 describes an underground lighting system for the ground on which a vehicle travels. This creates an illuminated area surrounding the vehicle on the ground. This area can be divided into individual segments, each of which is illuminated differently depending on the situation. If a collision with another road user, such as a pedestrian, is imminent, such segments can be highlighted in a warning color, such as red. The vehicle can also project light patterns onto other road users in a contact-analogous manner. The design of the light pattern, particularly the color, depends on a collision risk calculated by the vehicle. As soon as a corresponding dangerous situation ends, the vehicle can stop projecting the light pattern into the surrounding area.

[0007] Projecting such light patterns into the surroundings is also known from DE 10 2016 113 913 A1. This document further describes the integration of display devices on the vehicle's exterior skin, so that information can be output to people in the vehicle's vicinity via pictograms, images, and the like displayed on the respective display devices. For example, this can indicate that control of the vehicle is being transferred from a robot to a human. Appropriate light patterns can also be used to inform other road users that the vehicle is waiting to yield priority.

[0008] Similar methods and means of interaction are also known from WO 2019 / 201553 A1. The document further describes that acoustic information can be output via external speakers to convey information to people in the vehicle's vicinity. Furthermore, the vehicle can tilt in a certain direction in response. For example, a pedestrian can be prompted to move forward to clear a path for the vehicle.

[0009] Furthermore, DE 10 2012 203 235 A1 discloses a method for automatically performing a driving maneuver. A detection system detects the surroundings of a motor vehicle and uses the sensor data to determine a trajectory for the motor vehicle. The motor vehicle is then moved along the trajectory, with an option for releasing the driving maneuver being provided to continue moving the vehicle after an interruption of the driving maneuver.

[0010] A particularly relevant traffic situation in which communication between a driver and another road user may be necessary is when parking. In these situations, the vehicle's path may often be blocked by pedestrians or cyclists. Furthermore, the vehicle can usually stop safely, allowing for conversations between road users.

[0011] With the help of a wide variety of devices, it is thus possible for an automated or even autonomously controlled vehicle to interact, and in particular to communicate, with other road users. However, this raises the question of how the autonomously controlled vehicle should be controlled if another road user blocks the path of the autonomously controlled vehicle and appropriate communication with the other road user has already taken place. The goal is to remove a blockage situation for the autonomously controlled vehicle.

[0012] The present invention is therefore based on the object of providing an improved method for operating an autonomously controllable vehicle, the application of which enables the removal of corresponding blockage situations.

[0013] According to the invention, this object is achieved by a method for operating an autonomously controllable vehicle having the features of claim 1. Advantageous embodiments and further developments as well as a vehicle for carrying out the method emerge from the dependent claims.

[0014] A generic method for operating an autonomously controllable vehicle, wherein the vehicle scans its surroundings by means of at least one environmental sensor, detects the presence of a road user in a path and stops due to the presence of the road user, and wherein the vehicle emits a light pattern as an indication of a dangerous situation and / or a current operating mode by means of at least one lighting device, provides that - the vehicle stops until the road user leaves the roadway, whereupon the vehicle autonomously completes the driving manoeuvre blocked by the presence of the road user, wherein the vehicle emits a light pattern via the lighting device continuously from the start of the stop at least until the completion of the driving manoeuvre, which light pattern is at least partially turquoise; wherein according to the invention - the vehicle, if the road user remains in the path of travel, stops until a specified period of time has elapsed, whereupon the vehicle switches from an autonomous operating mode to a manual operating mode, wherein the vehicle emits a light pattern via the lighting device from the beginning of the stop, which light pattern is at least partially turquoise, and stops emitting light in the turquoise tone when switching to the manual operating mode; and - the vehicle uses a presence detection device to check whether a person is present in the vehicle interior and only starts the countdown for the specified period of time if the person's presence is detected.

[0015] The method according to the invention thus describes the operating behavior of the autonomously controllable vehicle for a blockage situation until the blockage is lifted.

[0016] As an environmental sensor, the vehicle can incorporate various types of sensors, such as one or more environmental cameras, particularly in the form of a stereo camera, laser scanners such as one or more LiDAR sensors, ultrasonic sensor systems, and / or radar sensor systems. Such sensors can be used to record the vehicle's surroundings and thus detect static and dynamic objects in the environment and locate them relative to the vehicle. The corresponding sensor data is evaluated by an on-board processing unit. An on-board processing unit also determines the control commands for the vehicle. This enables autonomous control of the vehicle. "Autonomous" means that the vehicle drives independently, i.e., in particular, independently assumes lateral and longitudinal control. This initially describes only the technical capabilities of the vehicle and is to be understood independently of any legal regulations.The term "autonomous" therefore also encompasses highly automated or even fully automated control. The autonomous control capability of the vehicle can, for example, be implemented according to SAE Level 3, 4, or 5. Control commands can also be determined using artificial intelligence. These systems can be either openly autonomous or closed autonomous.

[0017] Due to the presence of another road user, such as a pedestrian, scooter rider, cyclist, or the like, in the path of travel, the vehicle must stop to avoid a collision with the other road user. The vehicle is thus prevented from continuing its journey. This situation must be resolved. Generally, a variety of options are possible, such as bypassing the other road user, i.e., determining an alternative route that bypasses the road user. However, depending on the situation, this is not always possible, so the present invention relates to two alternative options. According to the invention, this enables the corresponding blockage situation to be removed regardless of the current traffic situation.

[0018] With the help of one or more lighting devices, the vehicle emits light patterns. This casts turquoise light into the surrounding area, demonstrating to other road users that the vehicle is actively driving autonomously. Specifically, the turquoise color is cyan. For example, the color cyan is known from SAE J3134 as an indicator color for automated driving modes from Level 3 onwards. This ensures widespread public understanding that this indicates an automated / autonomous driving mode.

[0019] Generally, there are two possible responses for the other road user. The other road user can either clear the lane or remain in the lane. If the other road user leaves the lane, the blocking situation ends, according to the invention, by terminating the originally blocked maneuver. The turquoise light is continuously emitted at least until the maneuver is completed. A wide variety of lighting devices can be used to emit the light, such as the vehicle's headlights, display devices such as displays, projectors, light strips, decorative strips, and the like. All proven light sources, such as incandescent bulbs, gas discharge lamps, lasers, LEDs, OLEDs, and the like, can be used.

[0020] It is also possible that the road user does not clear the path. This can occur, for example, in a parking situation where a pedestrian reserves a free parking space for another vehicle through their presence. To prevent the vehicle and the other road user from becoming trapped in this blocking situation, the vehicle waits until the specified time has elapsed and then switches from autonomous operating mode to manual operating mode. In manual operating mode, the vehicle can be manually controlled by a vehicle occupant. Accordingly, the turquoise light must be set to project into the surrounding area when autonomous operating mode is ended. This informs people in the vicinity of the vehicle that the vehicle can now be manually controlled.

[0021] As mentioned at the beginning, the vehicle uses a presence detection device to check whether a person is present in the vehicle interior and only starts the countdown for the specified period of time when the person's presence is detected. This allows the vehicle to be controlled particularly reliably. If there is no vehicle occupant present who is generally capable of manually controlling the vehicle, switching the vehicle's operating mode to manual control mode will not remedy the situation. Accordingly, autonomous driving mode should remain activated in such a situation. To do this, the vehicle checks for the presence of the relevant vehicle occupants using the presence detection device. This can involve a wide variety of sensors or combinations of sensor systems.

[0022] For example, the presence of a vehicle occupant can be detected using pressure-sensitive sensors integrated into the vehicle seats. The vehicle interior can also be recorded visually, for example using one or more cameras. In particular, these are cameras capable of detecting infrared light. This can also involve actively illuminating the vehicle interior with infrared light. The presence of vehicle occupants can also be checked acoustically. For example, sound patterns characteristic of the presence of people, such as breathing noises and / or speech, can be identified using vehicle interior microphones. The presence, in particular of an authorized user, can also be determined by detecting an identification feature. For example, an authorized mobile device such as a smartphone, a radio key, or another transponder can be detected.This mobile device can have a unique address or identifier known to the vehicle, such as a Bluetooth address or MAC address. The presence of living beings in the vehicle can also be determined by evaluating radio signal strength. For example, several radio antennas, such as Wi-Fi antennas, can be integrated into the vehicle, and the signal strength of each antenna can be evaluated over time. This makes it possible to identify the slightest movements, even detecting a heartbeat or determining breathing rate.

[0023] In the simplest case, this simply involves checking whether a person is present. However, additional measures can also be taken to pre-screen a vehicle's occupant's fitness to drive. For example, it may be required that at least one occupant scans their driver's license in the vehicle before starting a journey. This prevents a child from being mistakenly classified as "fit to drive."

[0024] An advantageous development of the method according to the invention provides that, in addition to the turquoise light pattern, the vehicle projects at least one light pattern onto a surface in the surroundings by means of a projection device, in particular into a defined surrounding area relative to the vehicle structure and / or relative to the road user and / or into the roadway. With the aid of one or more projection devices, light patterns can also be projected onto objects in the surroundings, such as in particular the ground on which the vehicle is traveling, but also vertical surfaces such as walls, house facades, parked vehicles, and the like. By projecting such an additional light pattern, further information can be communicated to people in the vicinity of the vehicle, such as the vehicle's planned path. Such a light pattern can also be understood as a collision box.The light pattern can be divided into individual segments in a known manner, which can be designed differently, for example, depending on the risk of collision. In particular, the brightness and / or color of the light in these segments can be designed differently. Corresponding light patterns can also be designed dynamically or as an animation. With the help of light patterns projected into the surroundings, it can thus be clearly communicated to other road users that the vehicle intends to continue driving along the roadway, which can prompt the other road user to clear the roadway. Symbols, pictograms, character strings, particularly in the form of a message, and the like can also be included in the light pattern. For example, the request "Please clear the roadway" can be included in the light pattern.Such information messages can, for example, be projected into an area of ​​the surrounding area determined by the vehicle relative to the vehicle structure or relative to other road users.

[0025] The light patterns can be projected before and / or during the blocking situation. In particular, the projection of the light pattern can be changed at the beginning of the blocking situation, i.e., when the vehicle begins to stop.

[0026] According to a further advantageous embodiment of the method according to the invention, in addition to the turquoise light pattern, the vehicle projects at least one further light pattern into the environment by means of a display device, wherein the further light pattern comprises at least one symbol, pictogram and / or a character string, and wherein the further light pattern is in particular animated. Light patterns can thus be projected into the environment not only via lighting devices such as the vehicle's headlights, decorative strips and the like or via projectors, but also via display devices. Particularly extensive information can be presented on such a display device. The display device can be arranged at any desired location on the vehicle. For example, a display device can also be integrated into or form a window of the vehicle, such as a side window, the windshield and / or the rear window.A live video stream of the vehicle interior can also be shown on the display device. An avatar of a vehicle occupant could also be displayed. In particular, the vehicle includes enough display devices to allow people to view corresponding alert messages from any position around the vehicle. Thus, at least one display device can be present at the front of the vehicle, at the rear of the vehicle, and on the left and right sides of the vehicle.

[0027] A further advantageous embodiment of the method according to the invention further provides that, before and / or during the execution of a driving maneuver, the vehicle mechanically actuates an information flap attached to the outer skin of the vehicle and / or raises, lowers and / or tilts its vehicle structure about a spatial axis. This enables multimodal output of information messages to people present in the vicinity of the vehicle. Information can thus be transmitted not only visually via light, but also by folding out corresponding information flaps and by moving the vehicle structure. For example, the body of the vehicle can be raised and lowered in the direction of the vehicle's vertical axis and / or tilted about the vehicle's longitudinal axis, transverse axis and / or vertical axis or another spatial axis.

[0028] The folding out of a corresponding information flap can be used as a request to clear the roadway, to indicate the roadway and / or to display the vehicle's operating mode. However, specific instructions or messages can also be applied directly to the information flap. For example, the underside of the information flap, i.e. the side facing the vehicle when retracted, can be painted in a specific color, particularly turquoise, and / or symbols, pictograms and / or character strings such as text messages can be applied to the underside of the information flap. Corresponding information flaps can be attached to the vehicle at any suitable location, for example integrated into the outer skin.

[0029] All common types of actuators can be used to extend and retract the flaps. For example, such a flap can be operated by electric motor, pneumatically, hydraulically, magnetically, and the like.

[0030] Such mechanical flaps and / or a body movement can be used to symbolize the "waking up" of the vehicle, for example, the switching on of the vehicle or its on-board electronics or the activation of autonomous operating mode. This can, in particular, prompt people standing or waiting in front of a parked vehicle to clear a path extending from a parking area to a roadway.

[0031] According to a further advantageous embodiment of the method according to the invention, the vehicle outputs an acoustic warning message via external acoustic output means, in particular loudspeakers, before and / or during the execution of a driving maneuver. The multimodal output of instructions to the people in the vicinity of the vehicle is thus supplemented by an additional transmission channel. This enables communication, in particular, with visually impaired people such as blind people. Simple warning sounds such as a horn, a whistle, the ringing of a bell or gong, and the like can be output as an advisory message. Complex information can also be output by reading a text message using a computer voice. In this way, the people in the vicinity of the vehicle or other road users can be clearly and unambiguously informed of the vehicle's driving intentions.For example, appropriate acoustic messages can be used to request other road users to clear the road.

[0032] The blocked driving maneuver is preferably a parking maneuver or a parking exit maneuver. As already mentioned at the beginning, this is a particularly relevant traffic situation that can lead to a blockage of the autonomously controlled vehicle. In particular, the other road user is located in a free parking space into which the autonomously controlled vehicle intends to park, or is blocking the clearing of the parking space occupied by the autonomously controlled vehicle. In general, however, it can also be any driving or maneuvering maneuver, such as a turning maneuver, negotiating a narrow section, and the like.

[0033] A further advantageous embodiment of the method according to the invention further provides that the vehicle analyses the behaviour carried out by the road user while present in the roadway and - immediately jumps to the end of the specified time period if the behaviour indicates that the road user will not leave the roadway; and / or - at least pauses the countdown of the specified time period if the behaviour indicates that the road user will clear the road.

[0034] This makes it possible to adapt the vehicle’s autonomous control behavior even more precisely to the respective traffic situation.

[0035] The behavior of other road users can be analyzed in a variety of ways. For this purpose, the other road user is detected and monitored using the vehicle's own sensors. The other road user can, for example, be recorded with one or more cameras so that gestures, facial expressions, changes in gaze direction, and / or changes in pose, such as moving in a certain direction, can be recognized. For example, the other road user may wave, stop, move out of the path of travel, and the like. To recognize corresponding behavior patterns, the computing unit can use proven behavior analysis methods, particularly AI-based ones. Verbal communication with the other road user can also take place. Human-machine interaction using voice assistants is already state of the art.For this purpose, the vehicle can incorporate external acoustic recording devices such as microphones and external acoustic output devices such as loudspeakers. This makes it possible, for example, to verbally communicate to other road users: "Please clear the roadway," whereupon the other road user can reply: "I am keeping this parking space clear and will therefore remain parked." Common methods in natural language processing, particularly based on AI, can be used to analyze recorded audio signals and / or generate appropriate response messages. Generative artificial intelligence, particularly in the form of a large language model (LLM), is particularly preferred.

[0036] This makes it possible to switch to manual operation mode before the specified time has elapsed, or to maintain autonomous operation mode if interaction with the other road user reveals that the other road user will clear the path after the specified time has elapsed. The countdown of the specified time can be paused or restarted.

[0037] For example, the other road user may be someone with walking difficulties who needs a particularly long time to clear the roadway. For example, the person may be using a walking aid, such as crutches, a wheelchair, a walker, a mobility scooter, or the like. The walking aid may malfunction, such as being stuck in a manhole cover, having a completely discharged electrical energy storage device, or the like. In this case, the other road user may need assistance to continue moving. The vehicle can determine this through dialogue with the other road user and thus wait until the roadway is clear.

[0038] In such a situation, it may also be the case that no other pedestrians are present who can assist the person with mobility impairment. The vehicle may have communication devices that allow the person with mobility impairment to call for help. For example, an in-vehicle telecommunications system can call an emergency hotline, so that emergency personnel such as paramedics can be dispatched to the other road user.

[0039] In a vehicle comprising at least one environmental sensor, at least one lighting device, and at least one computing unit for outputting autonomous control commands and for controlling the lighting device, according to the invention, the environmental sensor, the lighting device, and the computing unit are configured to execute a method described above. The vehicle is, in particular, a road vehicle such as a car, truck, van, bus, or the like.

[0040] Further advantageous embodiments of the method according to the invention for operating the autonomously controllable vehicle also emerge from the exemplary embodiments which are described in more detail below with reference to the figures.

[0041] Showing: Fig. 1 a schematic plan view of a traffic situation; Fig. 2 is a schematic perspective view of a vehicle according to the invention; and Fig. 3 a schematic rear view of the vehicle according to the invention.

[0042] Fig. Figure 1 shows a bird's-eye view of an autonomously controllable vehicle 1 according to the invention attempting to park in a free parking space 7. However, another road user 2, a pedestrian, is located in the free parking space 7. The other road user 2 thus blocks the vehicle 1 from continuing its journey, as the other road user 2 is in the path of the vehicle.

[0043] This is where a method according to the invention for operating the autonomously controllable vehicle 1 comes into play, enabling the blockage situation to be resolved. To this end, it is necessary to communicate with the road user 2 at least via light patterns 4 and to adapt the operating behavior of the vehicle 1.

[0044] Particularly in autonomously controllable vehicles 1, it may happen that no vehicle occupant is present who can communicate with road user 2. In this case, vehicle 1 must be able to independently output its information to road user 2. For this purpose, vehicle 1 comprises at least one lighting device 3 for outputting a light pattern 4 in a turquoise color during an activated autonomous operating mode. The turquoise, particularly cyan, light can be used to communicate to road user 2 that an autonomous operating mode is activated.

[0045] Road user 2 can either clear the path so that vehicle 1 can autonomously complete the blocked maneuver, or they can remain in the path, so that, according to the invention, vehicle 1 switches from autonomous operating mode to manual operating mode. If autonomous operating mode is active, lighting device 3 remains continuously activated to emit turquoise light pattern 4. However, if autonomous operating mode is ended, the turquoise light output is also discontinued.

[0046] The vehicle 1 can advantageously have additional lighting devices 3, via which additional light patterns 5 can be projected into the surroundings. For example, the surface traveled by the vehicle 1 can be illuminated. Individual segments 8 of such an additional light pattern 5 can be designed differently, in particular with different brightness and / or color. This can visually convey to the road user 2 that the vehicle 1 has detected the road user 2 and that the road user 2 is blocking the path of the vehicle 1. For example, an arrow 9 could also be projected onto the ground to illustrate the path.

[0047] All conceivable possibilities for projecting and / or projecting light patterns 4 and 5 into the environment are possible. In particular, the light patterns 5 can include symbols, pictograms, images, text, numbers, special characters, and the like. Particularly advantageously, the light patterns 4 and 5 can also be animated.

[0048] Fig. Figure 2 once again shows the vehicle 1 according to the invention in a perspective view. In addition to the output of the light pattern 4, the vehicle 1 can have further output modalities for corresponding communication with the road user 2. This enables multimodal hazard communication. For example, the vehicle can have one or more warning flaps 6 that can be extended from a retracted position to an extended position for interaction with the road user 2. The vehicle 1 can also have acoustic output means (not shown in detail), such as loudspeakers, via which acoustic warning tones and / or messages can also be output.

[0049] Light pattern 4 can be output, for example, via the headlights and / or various decorative strips. A lighting device 3 integrated into an exterior mirror can also be used for this purpose. Furthermore, a turquoise light strip can be projected onto the ground as light pattern 4. A vehicle outline can also be projected onto the ground as an additional light pattern 5. These light patterns projected onto the ground can also be turquoise, thus forming light pattern 4.

[0050] Fig.3 shows a rear view of the vehicle 1 according to the invention. For example, a narrow light strip can run around the circumference of the vehicle 1, which can emit light in turquoise, in particular cyan. If the autonomous operating mode is ended, light in a different color, preferably white, can be emitted via this light strip, or the light strip can be deactivated. Further lighting devices 3, such as in the form of one or more display devices, can be present below the light strip. For example, arrows moving from the center of the vehicle outwards can be displayed in an animated manner. This can illustrate to people in the vicinity of the vehicle 1 that the area of ​​the ground illuminated by the vehicle 1 should be cleared.

[0051] The method according to the invention enables reliable operation of the vehicle 1 according to the invention by resolving corresponding blockage situations. This involves communication with road users 2 as appropriate to the situation and the corresponding adjustment of vehicle operation.

Claims

[1] Method for operating an autonomously controllable vehicle (1), wherein the vehicle (1) scans its surroundings by means of at least one environmental sensor, detects the presence of a road user (2) in a travel path and stops due to the presence of the road user (2), and wherein the vehicle (1) emits a light pattern (4, 5) as an indication of a dangerous situation and / or a current operating mode by means of at least one lighting device (3), wherein - the vehicle (1) stops until the road user (2) leaves the roadway, whereupon the vehicle (1) autonomously completes the driving maneuver blocked by the presence of the road user (2), wherein the vehicle (1) emits a light pattern (4) via the lighting device (3) from the start of the stop continuously at least until the completion of the driving maneuver, which light pattern is at least partially turquoise; characterized by , that - the vehicle (1), if the road user (2) remains in the path of travel, stops until a specified period of time has elapsed, whereupon the vehicle (1) changes from an autonomous operating mode to a manual operating mode, wherein the vehicle (1) emits a light pattern (4) via the lighting device (3) from the beginning of the stop, which light pattern is at least partially turquoise, and stops emitting light in the turquoise tone when changing to the manual operating mode; wherein - the vehicle (1) checks whether a person is present in the vehicle interior using a presence detection device and only starts the countdown for the specified period of time if the person's presence is detected. [2] Method according to claim 1, characterized bythat the vehicle (1), in addition to the light pattern (4) in turquoise, projects at least one further light pattern (5) onto a surface in the environment by means of a projection device, in particular into a defined environmental area relative to the vehicle structure and / or relative to the road user (2) and / or into the roadway. [3] Method according to claim 1 or 2, characterized by in that, in addition to the light pattern (4) in turquoise, the vehicle (1) projects at least one further light pattern (5) into the environment by means of a display device, wherein the further light pattern (5) comprises at least one symbol, pictogram and / or a character string, wherein in particular the further light pattern (5) is animated. [4] Method according to one of claims 1 to 3, characterized bythat the vehicle (1) mechanically actuates an indication flap (6) attached to the outer skin of the vehicle (1) before and / or during the execution of a driving maneuver and / or raises, lowers and / or tilts its vehicle structure about a spatial axis. [5] Method according to one of claims 1 to 4, characterized by that the vehicle (1) outputs an acoustic warning message via vehicle-external acoustic output means, in particular loudspeakers, before and / or during the execution of a driving maneuver. [6] Method according to one of claims 1 to 5, characterized by that the blocked driving maneuver is a parking or exiting maneuver. [7] Method according to one of claims 1 to 6, characterized by that the vehicle (1) analyses the behaviour carried out by the road user (2) while present in the roadway and - immediately jumps to the end of the specified time period if the behaviour indicates that the road user (2) will not leave the roadway; and / or - at least pauses the countdown of the specified period of time if the behaviour indicates that the road user (2) will clear the road. [8] Vehicle (1) comprising at least one environmental sensor, at least one lighting device (3) and at least one computing unit for outputting autonomous control commands and for controlling the lighting device (3), characterized by that the environmental sensor, the lighting device (3) and the computing unit are configured to carry out a method according to one of claims 1 to 7.

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