Method for selecting an optimized trajectory

Abstract

According to the invention, a method for generating a signal for converting a partially automated or highly automated vehicle (201) into a safe system state in a target position (208, 209) is presented. First, the necessity of converting the vehicle (201) into a safe system state is determined. Subsequently, a driving state is determined, wherein the driving state comprises a current vehicle position. The core of the invention consists in implementing the following steps: determining at least one target position (208, 209); determining a driving trajectory (204, 205) from the current vehicle position to the at least one target position (208, 209); evaluating the driving trajectory (204, 205); selecting one of the driving trajectories (204, 205) by means of the implemented evaluation; and generating a signal on the basis of the selected driving trajectory (204, 205).

Description

TECHNICAL FIELD

[0001] The present invention relates to a system for increasing the safety of a partially automated or fully automated vehicle in the event of a system error. BACKGROUND

[0002] In DE 10 2012 008 090 A1 a method or emergency stop assist for implementing a safe emergency stop of a motor vehicle in motion is disclosed. In the method or emergency stop assist a driver is monitored and driver state data is generated, from which a degree of driving ability is determined. Next, in the event that the degree of driving ability of the driver is below a predefined threshold value, the vehicle is transferred into an automated driving mode and a safe emergency stop is implemented. Here, for the emergency stop of the vehicle a risk-minimizing parking position is determined from predicted route data of the future route of the vehicle and the safe emergency stop is implemented by driving to the parking position in automated driving mode.

[0003] In the publication by Fiorini et al. (Fiorini, P.; Shiller, Z., Time optimal trajectory planning in dynamic environments, in Robotics and Automation, 1996, Proceedings of the 1996 IEEE International Conference on, vol.2, pp.1553-1558, 22-28 April 1996) a time-optimal trajectory planning in dynamic environments is introduced. In the publication by Werling et al. (Werling, M.; Ziegler, J.; Kammel, S.; Thrun, S., Optimal trajectoy generation for dynamic street scenarios in a Frenet Frame, in Robotics and Automation (ICRA), 2010 IEEE International Conference on, pp.987-993, 3-7 May 2010) a new semi-reactive planning algorithm is described in addition to a scheme for determining possible trajectories to a target position. SUMMARY

[0004] According to the invention a method is introduced for generating a signal for transferring a partially or highly automated vehicle into a safe system state in a target position. First, the necessity for transferring the vehicle into a safe system state is ascertained. Next, a driving state is determined, wherein the driving state comprises a current vehicle position. The core of the invention consists in implementing the following steps:

[0005] - determining at least one target orientation (or target position);

[0006] - determining a driving trajectory from the current vehicle position to the at least one target orientation;

[0007] - evaluating the driving trajectory;

[0008] - selecting one of the driving trajectories by means of the evaluation carried out;

[0009] - generating a signal on the basis of the selected driving trajectory.

[0010] The method according to the application has the advantage that a trajectory to be driven through is selected. By means of the evaluation, the most probable trajectory can be selected by means of safety-related criteria, whereby the safety of the vehicle passengers and other road users is improved when driving through the trajectory. By means of this method, a great added value is created, in particular for highly automated vehicle systems.

[0011] In the method, by "safe system state" is understood the stationary state of the vehicle after reaching the target orientation, wherein "safe" is understood here to be relative. Depending on the current state of the vehicle and / or the current state of the driver, the priorities relating to safety can change. If there is no immediate danger situation, for example, a drive to a suitable parking space, or, if necessary, even to a factory in an emergency situation. Conversely, if there is an emergency situation, when the situation is estimated to be safer than continuing to drive under the given conditions, which are derived from the state of the vehicle and / or the state of the driver, a safe parking position can also be understood as parking on the street.

[0012] For the current driving state, in addition to the position of the vehicle, for example, the driving direction, the speed, the currently driven driving trajectory, information about other road users and the current traffic situation can also be understood.

[0013] In a preferred embodiment of the method, for determining the necessity, the vehicle state and / or the driver state are determined.

[0014] This embodiment offers the advantage that the necessity can be generated both in relation to the vehicle state and in relation to the driver state. Thereby, it is ensured that the passengers of the vehicle and other road users are protected as far as possible.

[0015] For the determination of the driver state, a monitoring of the driver can be carried out, for example, by means of customary indoor sensing, which consists of a camera and, if necessary, sensors for measuring the health state of the driver. Here, the concept of driver is not necessarily to be understood as a single person, but can also summarize all passengers located in the vehicle. In the case of a highly automated vehicle, the concept must always be further understood, since a driver can no longer be required and, therefore, in this implementation of the method, the state of at least one passenger is monitored. The monitoring can be used to evaluate the state of the vehicle passengers and / or the driver, wherein by means of the state a necessity can be derived to switch the vehicle into a safe system state. A necessity is given, for example, if a vehicle passenger faints or suffers a heart attack or a stroke. Furthermore, the determination of the driving state can also be achieved by analyzing inputs of the vehicle passengers, for example, in the form of voice commands or the manipulation of emergency buttons.

[0016] Instead of or in addition to the consideration of the state of at least one vehicle passenger, the vehicle state can also be incorporated into the determination of the necessity. In this case, for example, the functional capability of the vehicle is considered. If the functional capability is limited, a necessity can also arise. By the functional capability of the vehicle, for example, the functional capability of sensors present in the vehicle and / or on the vehicle can be understood, in particular the functional capability of environmental sensors present, which are important for the implementation of certain automated driving functions. Furthermore, a monitoring of the functional capability of all mechanical functions is carried out, which can determine, for example, limits in the servo steering device, in the brake device or limits of components of the powertrain. A failure or a limitation of a driver assistance system or a highly automated vehicle function also falls under the concept of the functional capability of the vehicle.

[0017] Furthermore, the vehicle state also comprises information on the driving state, i.e. in addition also the position, the driving direction, the speed and information on the traffic situation. The vehicle state can comprise unusual events, such as a burst tire, a rockfall or a fire of the vehicle.

[0018] In other implementations of the method, a determination of the performance of the vehicle is carried out and the determined performance is used to evaluate the driving trajectory.

[0019] This embodiment offers the advantage that the performance of the vehicle is taken into account in the evaluation of the driving trajectory. Here, by performance is understood the state of the vehicle. Information about the functional capability of the present environmental sensors and about the functional capability of the components for driving and controlling the vehicle is taken into account. If, for example, a certain driving maneuver cannot be carried out or can only be carried out with restrictions, this is taken into account in the evaluation of the driving trajectory. If, on the basis of a sensor with restricted functional capability, a certain area can no longer be viewed and / or the passability can no longer be checked, this is likewise taken into account. In the event of a severe damage to the vehicle or a particular dangerous situation, which is known at the time of the performance determination, a driving trajectory to the respective target position, which is as short as possible and / or quickly passable, is evaluated as being of high value accordingly.

[0020] In a particularly preferred embodiment of the method, an expected positioning accuracy along the driving trajectory determined is calculated and the positioning accuracy is used for the evaluation of the driving trajectory.

[0021] By positioning accuracy of the vehicle is understood the accuracy with which the vehicle can be positioned by means of a system for accurately determining the location of the vehicle. For example, the following properties contribute to the positioning accuracy: the GPS signal strength and the number of GPS satellites connectable along the lane, the number of mobile radio towers for positioning by means of a mobile radio network, the accuracy of the map data along the lane, the number of road markings arranged along the lane which can improve the positioning accuracy, and other track properties which can be used for positioning.

[0022] This embodiment offers the advantage that the evaluation is carried out by means of the expected positioning accuracy of the vehicle along the respective driving trajectory. Thereby, the safety along the driving trajectory is increased, in particular in the case of highly automated vehicles. If an automated vehicle can only determine its position and / or the course of the lane with difficulty, the risk of a traffic jam and / or the risk of an accident is increased by the automated vehicle.

[0023] In another preferred embodiment of the method, the calculation of the expected positioning accuracy along the driving trajectory is carried out on the basis of road markings along the driving trajectory.

[0024] In this embodiment, the positioning accuracy along the driving trajectory is calculated by means of road markings present along the driving trajectory. In this embodiment, the positioning of the vehicle is additionally improved by means of road markings detected by suitable environmental sensors present in the vehicle. Thus, by taking into account the road markings along the driving trajectory which can be detected by the environmental sensors, the calculation of the positioning accuracy can be carried out for each driving trajectory.

[0025] In another embodiment of the method, the functional capability of the environmental sensor devices present in the vehicle is determined when the performance of the vehicle is ascertained, and the functional capability is used to calculate the expected positioning accuracy.

[0026] This embodiment offers the advantage that, by means of the ascertained functional capability of the environmental sensor devices present in the vehicle, it can be calculated which road signs can be detected by the functionally capable environmental sensor devices. For example, if it is confirmed by ascertaining the performance of the environmental sensors that the respective road sign is no longer in the detection area of the remaining environmental sensors, then the road sign that should be detected in the case of a fully functionally capable environmental sensor is not taken into account when calculating the positioning probability along the trajectory.

[0027] In another embodiment of the method, the curvature of the ascertained driving trajectory is determined, and the curvature is used to evaluate the driving trajectory.

[0028] This embodiment offers the advantage that another criterion for evaluating the driving trajectory can be taken into account, by means of which the positioning accuracy along the respective driving trajectory can be further optimized. If a method of odometry is used in the vehicle for better positioning of the vehicle, the smaller the curvature in the trajectory to be driven through, the more accurate this method is. Thus, by selecting a driving trajectory with limited curvature, the positioning accuracy can be further improved. Odometry denotes a method of estimating the position and orientation (situation estimation) of a mobile system by means of data of the propulsion system of the mobile system.

[0029] In another embodiment of the method, a first and at least one second target orientation are ascertained, wherein the ascertained target orientations are evaluated.

[0030] This embodiment offers the advantage that a plurality of target orientations can be evaluated and thus a larger number of driving trajectories can be evaluated, whereby the ascertaining of the probability of a driving trajectory that can be driven through as safely as possible is increased.

[0031] In a preferred extension of the method, the selection of one of the driving trajectories is additionally carried out by means of the evaluation of the at least two target orientations.

[0032] ​This embodiment offers the advantage that the evaluation of the target position is incorporated into the evaluation of the driving trajectory. Here, different criteria for evaluating the target position are taken into account. For example, the possibility of locating the target position can be taken into account, so that a distress call can be cancelled if necessary with reporting of an accurate vehicle position. Furthermore, the probability of a collision with other traffic participants and / or being obstructed by other traffic participants can be incorporated into the evaluation of the target position. Preferred target positions are, for example, parking facilities, emergency lanes / emergency parking lanes or emergency parking bays. Information about reachable target positions can be requested, for example, from a map server.

[0033] In another embodiment of the method, the at least one target position is determined using a probability value which is calculated from the probability of a collision with other traffic participants and / or being obstructed by other traffic participants at the target position.

[0034] This embodiment advantageously contributes to a maneuver to a target position which is as safe as possible and reduces the probability of being obstructed by other traffic participants or the probability of an accident. In order to calculate the probability value, data from accident research can be used, by means of which a statistic about the probability of accidents at different parking positions is established.

[0035] In another embodiment of the method, map information is taken into account when determining the at least one target position.

[0036] This embodiment offers the advantage that suitable target positions can be selected by means of map information. Here, the respective target positions can either be indicated in the map or alternatively derived from street and environmental data of the map. By taking map information into account, the search area for target positions and the number of target positions to be taken into account can be increased.

[0037] Furthermore, according to the invention, a device for generating a signal for converting a partially or highly automated vehicle into a safe system state at a target position is claimed, which device is designed to carry out the method according to the invention.

[0038] Furthermore, a computer program is claimed, which is designed to carry out all steps of the method according to the invention. BRIEF DESCRIPTION OF DRAWINGS

[0039] Further details, features, combinations of features, advantages and effects based on the present invention result from the following description of preferred embodiments of the invention and the drawings.

[0040] Figure 1 A schematic flow chart of an exemplary method is shown.

[0041] Figure 2 An example for evaluating different driving trajectories is shown. DETAILED DESCRIPTION

[0042] An exemplary flow of the disclosed method in a vehicle 201 is shown in Figure 1 The vehicle is equipped with a corresponding first device on which a computer program is arranged in order to implement the method. Furthermore, the vehicle 201 is equipped with sensors for detecting the surroundings and optionally also for detecting the interior. Furthermore, a second device can be provided in the vehicle 201 which receives signals produced by the first device on the basis of the selected driving trajectory 204, 205 and implements a corresponding actuation of actuators of the vehicle 201 on the basis of the signals in order to guide the vehicle along the selected trajectory 204, 205 automatically.

[0043] The method begins with step 101.

[0044] In step 102, the necessity of converting the vehicle 201 into a safe system state is ascertained. For this purpose, the driver state and / or the vehicle state are ascertained. In order to ascertain the driver state, the interior detection of the vehicle 201 is used.

[0045] Here, the monitoring of the driver state or the vehicle passenger state is achieved by means of known methods. The passengers are observed by means of interior cameras and their state is processed by means of camera image analysis. The camera images can provide, for example, eye movements, body temperature, body posture, unusual movement processes and other details. Furthermore, sensors can be provided in the vehicle 201 which measure current and medically significant values of the passengers, including blood pressure, blood sugar and body temperature. The passengers' electrocardiogram data can also be monitored.

[0046] In order to ascertain the vehicle state, important driving functions are checked and the functional capability of sensors is checked. For this purpose, for example, error reports of the individual vehicle subsystems can be detected as input signals and the state of the vehicle subsystems is derived from these signals. It is also conceivable that logical connections in which the combination of signals of determined subsystems indicates an error of other subsystems.

[0047] If it is ascertained in ascertaining the vehicle state that there is a limitation of the system on the basis of which safety can be impeded, for example in the form of an image sensor failure, the necessity of converting the vehicle 201 into a safe system state is therefore ascertained. The same applies if it is ascertained in ascertaining the driver state that the driver is no longer able to control the vehicle or needs help, for example because of health problems.

[0048] In general, the question of whether the prevailing state (driving state and driver state) gives rise to such a necessity can be made with the aid of stored scenarios.

[0049] If it is established in step 102 that there is a necessity to convert the vehicle 201 into a safe state, the driving state of the vehicle is determined in step 103. Here, the current vehicle position, the driving direction and, optionally, the current trajectory, the current speed and the current traffic situation are ascertained. In order to ascertain the traffic situation, all information about the lanes in the vicinity which can be driven through by the vehicle 201 can be collected. This information includes, for example, traffic jams, construction sites and similar traffic obstructions or vehicle accumulations.

[0050] In step 104, the target positions 208, 209 are ascertained in which the vehicle 201 can be converted into a safe system state. For this purpose, on the one hand the environment sensor system can be used, by means of which, for example, the target positions 208, 209 in the field of vision can be ascertained or the road shoulder or a parking bay can be detected. Furthermore, further controllable target positions 208, 209 can be ascertained by means of map information and the current vehicle position. In addition, for this purpose the driving direction, the current driving trajectory and the current speed can be taken into account. In particular on motorways, the driving direction is of great importance and, depending on the trajectory driven through and the speed, it can no longer be possible to reach a defined parking place because of the impossibility of the vehicle's path change and the necessary deceleration. Furthermore, the current traffic situation should be taken into account when selecting the target positions 208, 209, since these can give an indication of how long it will take to convert the vehicle into the respective target position 208, 209.

[0051] In the present case, the probability values are used in the determination of the target positions 208, 209, which indicate how great the probability of a collision with other traffic participants in the respective target position 208, 209 is. The calculation of this probability can be based here on data from accident research, with the aid of which it can be determined for certain positions that the frequency of accidents in a comparable position (for example an emergency lane) is. The probability values do not have to be represented here in percentage terms, but can, for example, comprise three levels - low, medium or high probability. The connection of the values from the accident research and the aforementioned levels can be achieved, for example, by means of fuzzy logic.

[0052] In step 105, the determination of a driving trajectory 204, 205 from the current vehicle position to the sought target position 208, 209 is implemented. For this purpose, the environmental sensor devices and / or map material are used, depending on the target position 208, 209. In the present case, for determining the driving trajectory 204, 205, a known scheme is used, which is described, for example, in the publication by Fiorini et al. from the prior art mentioned above. For determining the trajectory 204, 205, according to this scheme, the states of other vehicles can be taken into account. From the set of possible, that is to say drivable, trajectories 204, 205 to the target position 208, 209, taking into account, for example, the vehicle model and the drivable trajectories 204, 205 under the circumstances available, n trajectories are selected by means of a minimization method on the basis of a search algorithm.

[0053] In step 106, the determination of the performance of the vehicle 201 is carried out. Here, in determining the vehicle state, the functional capabilities of the environmental sensor devices and the functional capabilities of the components for automated control of the vehicle 201 are examined. In automated control, the determination is implemented, in particular, by detecting the limiting context of the vehicle 201. Here, it is important to know, for example, about faulty sensors, which limit the field of view, and about limited possibilities for controlling the vehicle, for example, steering, braking or speed.

[0054] In step 107, the determined driving trajectory 204, 205 is evaluated. For this purpose, the expected positioning accuracy of the vehicle 201 along the driving trajectory 204, 205 is calculated. This can be carried out, for example, on the basis of road marks 206, 207 arranged along the driving trajectory 204, 205, which are used for positioning the vehicle 201. Here, a probabilistic model provides the basis for estimating the expected positioning accuracy along the driving trajectory 204, 205. For deriving the model, it is assumed that the global vehicle pose results from the matching of road marks 206, 207 of a global positioning map with the corresponding road mark measurements. For the algorithms used for this, error propagation can be implemented. The resulting probabilistic model describes the relationship between input values (corresponding road marks, error model for road mark measurements) and the expected insecurity (variance) in estimating the global vehicle position. The model is given in closed analytical (non-iterative calculation method) form and provides an estimate of the positioning accuracy for a given arrangement of road marks 206, 207, which is known from map information (in this case from a highly accurate map). By the closed analytical form, the evaluation of the trajectory is associated with low computational effort.

[0055] ​In addition, the properties of the vehicle 201 can also be taken into account in the evaluation of the driving trajectory 204, 205. If, for example, the optical components of the installed cameras are soiled or a camera for observing a defined area fails, road signs 206, 207 that can no longer be detected due to the limitations of the sensor system are not taken into account when calculating the positioning accuracy. In addition, the masking effect of road signs 206, 207 by static objects along a defined driving trajectory 204, 205 can be taken into account in the calculation, whereby, for example, a driving trajectory 204, 205 on another path can become preferred.

[0056] In addition, the masking effect caused by movable objects can be taken into account when evaluating the driving trajectory 204, 205. For example, the probability of masking by an object on the right side of a two-lane street should be estimated higher when the vehicle 201 is driving on the left lane than if it were driving on the right lane. Motor vehicles 202, 203 and trucks 202, 203 on the right lane can mask defined road signs 206, 207.

[0057] If the functional capability of other sensors is limited, for example a GPS sensor, a sensor for positioning by mobile radio signals, a yaw rate sensor, an angular velocity sensor, an acceleration sensor, a wheel speed sensor, a radar sensor, an optical radar sensor or an ultrasonic sensor or all other sensors available for determining the driving state, they have a corresponding influence on the evaluation of the driving trajectory 204, 205.

[0058] If the freedom of movement of the vehicle is limited, for example only a certain steering angle can be achieved, this can also be taken into account in the evaluation of the driving trajectory 204, 205. Driving trajectories 204, 205 with too great a curvature can be excluded in this case.

[0059] In addition to positioning the vehicle 201 by means of road signs 206, 207 detected by the environment sensor system, or as an alternative positioning method, odometry can also be used in the vehicle 201. Since a great curvature of the driving trajectory 204, 205 can have a negative effect on the accuracy of this positioning method, the driving trajectory 204, 205 can be evaluated by means of the occurring curvature when odometry is used.

[0060] Before the final selection of the driving trajectory 204, 205, the evaluation of the target position 208, 209 corresponding to the driving trajectory 204, 205 can be incorporated into the evaluation of the driving trajectory 204, 205. If, for example, two driving trajectories 204, 205 to different target positions 208, 209 are evaluated as equally good, the conditions of the target position 208, 209 can play a decisive role in the final selection of the driving trajectory 204, 205. Here, the positioning accuracy of the target position 208, 209 and the probability of a collision with or obstruction by other traffic participants can be incorporated into the evaluation of the target position 208, 209.

[0061] In step 108, the selection of the driving trajectory 204, 205 to be driven through is carried out. The selection is achieved by means of the evaluation carried out in step 107, wherein the driving trajectory 204, 205 with the highest evaluation is selected.

[0062] In step 109, the generation of a signal takes place on the basis of the driving trajectory selection carried out in step 108. The signal can here contain information about the road signs, the speed and the acceleration. The specification can be made in the vehicle coordinate system or in the map coordinate system. In the present embodiment, the use of two characteristic forms is preferred:

[0063] 1) If a stable communication with the map server and an environment detection with sufficient functional capability are guaranteed, the driving trajectory 204, 205 in the map coordinate system is used. In this way, a map-dependent positioning can be implemented. As a result, no drift in the estimation of the vehicle attitude due to inaccurate ranging methods occurs.

[0064] 2) For vehicle systems with great functional limitations, especially in the case of a communication with the map server and a limited environment perception, the preferred characteristic solution is the specification of the driving trajectory in the vehicle coordinate system, since safe driving through is also possible without map material.

[0065] Depending on the embodiment and the use of the method according to the application, the signal can be sent directly to the respective vehicle regulator, which operates the respective actuators of the vehicle 201, so that the vehicle is controlled along the driving trajectory 204, 205.

[0066] Alternatively, the signal can also be sent to another control device, which processes the information and subsequently carries out an automated driving along the driving trajectory.

[0067] The method ends in step 110.

[0068] In this method, the order of the steps is also changeable. For example, the determination of the performance is carried out before the determination of the driving trajectory 204, 205 and is thus taken into account when planning the driving trajectory.

[0069] In Figure 2 It is exemplarily shown by means of which criteria the selection of the driving trajectory can be carried out.

[0070] In the example, the vehicle 201 drives on a three-lane motorway and thus has the possibility to drive over all three lanes. On the left lane, a heavy goods vehicle 202 approaches from behind, which restricts the environmental sensor system of the vehicle 201. This is also the case for a heavy goods vehicle 203 on the right side of the vehicle 201, which prevents the environmental sensor system of the vehicle 201 from detecting the road marking 206.

[0071] In Figure 2 Two target positions 208, 209 are shown in the middle, and the driving trajectories 204, 205 corresponding to the target positions 208, 209 are shown respectively. The evaluation of the driving trajectories 204, 205 is based on the expected positioning accuracy of the vehicle 201 along the trajectories 204, 205, wherein the calculation of the positioning accuracy is carried out by means of the road markings 206, 207 present.

[0072] Since the evaluation of the trajectory 204 is rated higher due to the large number of detectable road markings, this driving trajectory 204 is selected and a corresponding signal is generated on the basis of the selection.

Claims

1. A method for generating signals to convert a partially automated or highly automated vehicle (201) into a safe system state at a target orientation, wherein, The safe system state is the stationary state of the vehicle after reaching the target orientation. The method includes the following steps: - Determine the necessity of converting the vehicle (201) to a safe system state. - Determine the driving status, wherein the driving status includes the current vehicle position. Its characteristics include the following steps: - Determine at least one target location; - Calculate the driving trajectory from the current vehicle position to the at least one target location; - Evaluate the driving trajectory; - Select one of the driving trajectories based on the implemented evaluation, wherein the driving trajectory with the highest evaluation is selected; - The signal is generated based on the selected driving trajectory. -Based on the generated signals, the partially automated or highly automated vehicle (201) is converted to a safe system state at the target orientation. Specifically, the expected positioning accuracy along the obtained driving trajectory is calculated, and the positioning accuracy is used to evaluate the driving trajectory. In order to determine the necessity, the vehicle state and / or driver state are determined.

2. The method according to claim 1, characterized in that, The performance of the vehicle (201) is determined, and the determined performance is used to evaluate the driving trajectory.

3. The method according to claim 1, characterized in that, The expected positioning accuracy on the driving trajectory is calculated based on the road signs (206, 207) along the driving trajectory.

4. The method according to claim 2 or 3, characterized in that, When determining the performance of the vehicle, the functional capabilities of the environmental sensing devices present in the vehicle (201) are determined, and the functional capabilities are used to calculate the expected positioning accuracy.

5. The method according to any one of the preceding claims, characterized in that, Determine the curvature of the desired driving trajectory, and use the curvature to evaluate the driving trajectory.

6. The method according to any one of the preceding claims, characterized in that, Determine a first and at least one second target orientation, wherein the determined target orientation is evaluated.

7. The method according to claim 6, characterized in that, Additionally, the driving trajectory is selected using the assessment of the at least two target orientations.

8. The method according to any one of the preceding claims, characterized in that, In order to obtain the probability value of the use of the at least one target orientation, the probability value is calculated from the probability of collision with and / or obstruction by other traffic participants at the target orientation.

9. The method according to any one of the preceding claims, characterized in that, Map information is taken into account when determining the location of the at least one target.

10. An apparatus for generating signals to convert a partially automated or highly automated vehicle (201) into a safe system state at a target orientation, characterized in that, The device is configured to implement the method according to any one of claims 1 to 9.

11. A computer program configured to perform all the steps of the method according to any one of claims 1 to 9.

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