Method for controlling a motor vehicle and control device for controlling a motor vehicle system

Abstract

A method for controlling a motor vehicle and a control device for controlling a motor vehicle system. The invention discloses a method for controlling a motor vehicle (10), wherein the motor vehicle (10) is traveling in a current lane (14) on a road (12), wherein the road (12) has at least one other lane (16) adjacent to the current lane (14) of the motor vehicle (10). The method comprises the following steps: generating and / or receiving a plurality of driving behaviors that are different from each other; determining at least two driving behavior categories, wherein the at least two driving behavior categories are defined based on at least one characteristic quantity of the driving behavior, wherein driving behaviors of different driving behavior categories are distinguished by the at least one characteristic quantity; and classifying the driving behaviors into at least two driving behavior categories. In addition, the invention discloses a control device (30) for controlling a motor vehicle (10).

Description

Technical Field

[0001] The invention relates to a method for controlling a motor vehicle, a system for controlling a motor vehicle or a control device for a motor vehicle, a motor vehicle and a computer program for carrying out the method. Background Art

[0002] One of the main challenges for partially automatic control of longitudinal and lateral motion of a motor vehicle, especially for fully automated driving of a motor vehicle, is to analyze the specific situation of the motor vehicle and, based thereon, derive a reasonable driving behavior suitable for the motor vehicle.

[0003] The complexity of calculating driving behaviors usually increases with the duration of a single driving behavior. If a longer time period, for example more than 3 seconds, is to be determined for each possible driving behavior, or if complex driving behaviors with multiple lane changes are involved, currently known methods are no longer able to make real-time selections. Summary of the invention

[0004] The object of the present invention is to provide a method and a system for controlling a motor vehicle which overcome the disadvantages of the prior art.

[0005] The object is achieved according to the invention by a method for controlling a motor vehicle, the motor vehicle being driven in a current lane on a road, wherein the road has at least one other lane adjacent to the current lane of the motor vehicle. The method comprises the following steps: generating and / or receiving a plurality of driving behaviors that are different from one another. Determining at least two driving behavior categories, wherein the at least two driving behavior categories are defined based on at least one characteristic quantity of the driving behavior, wherein driving behaviors of different driving behavior categories are distinguished by the at least one characteristic quantity. Classifying the driving behaviors into the at least two driving behavior categories.

[0006] A “driving behavior” is to be understood here and below to mean a corresponding space-time trajectory which describes the driving behavior in a coordinate system which usually has two space dimensions and one time dimension.

[0007] The driving behavior categories are also each defined by a set of characteristic variables, which in turn are variables that describe the basic characteristics of the respective driving behavior.

[0008] The method according to the invention converts the task of selecting a suitable driving behavior for a motor vehicle into a classification of driving behaviors. Such a classification task can be solved particularly quickly and reliably by machine learning methods, i.e., the method according to the invention can be used to determine and select the causes of more complex and longer-lasting driving behaviors in real time.

[0009] The driving behavior categories are preferably mutually exclusive, that is, each driving behavior belongs to exactly one driving behavior category. A driving behavior consisting of two different driving behavior categories is respectively distinguished by at least one characteristic variable or even by all characteristic variables. Driving behaviors within a driving behavior category may differ in one characteristic variable, but not in all characteristic variables.

[0010] Conversely, characteristic variables of the individual possible driving behaviors can be determined in order to classify the driving behaviors into different driving behavior categories.

[0011] The at least one characteristic variable comprises at least one traffic sequence, which indicates the time course of the passing and / or overtaking of other road users. "Time course" is to be understood here as meaning that the traffic sequence comprises exactly one point in time at which other road users pass or overtake the motor vehicle and / or that the traffic sequence comprises a time sequence of individual events.

[0012] According to one aspect of the present invention, the at least one traffic sequence comprises an overtaking sequence, wherein the overtaking sequence comprises a time point at which the motor vehicle overtakes other traffic participants. The overtaking sequence may also comprise a plurality of time points at which the motor vehicle overtakes other traffic participants respectively. In other words, the overtaking sequence indicates the time sequence and / or the exact time points at which the motor vehicle overtakes other traffic participants.

[0013] According to another aspect, the overtaking sequence includes a plurality of time points in chronological order at which the motor vehicle overtakes other road users, respectively. Accordingly, the overtaking sequence indicates exactly in what chronological order the motor vehicle overtakes individual other road users.

[0014] In other embodiments of the present invention, the at least one traffic sequence comprises a passing sequence, wherein the passing sequence comprises at least one time point at which other traffic participants pass the motor vehicle in the opposite direction or in the direction of travel. The passing sequence may also comprise a plurality of time points at which other traffic participants respectively pass the motor vehicle. In other words, the passing sequence indicates the time sequence and / or the exact time points at which other traffic participants pass the motor vehicle. There are two types of "passing by": either the respective other traffic participants pass the motor vehicle in the direction of travel of the motor vehicle, i.e., overtake the motor vehicle, or the respective other traffic participants pass the motor vehicle in the opposite direction of the motor vehicle.

[0015] According to one aspect of the present invention, the passage sequence includes a plurality of time points in chronological order at which other road users respectively pass the motor vehicle in the opposite direction or in the driving direction. Accordingly, the passage sequence accurately indicates in what chronological order individual other road users pass the motor vehicle, preferably wherein the passage sequence also indicates whether the individual other road users pass the motor vehicle in the driving direction of the motor vehicle or in the opposite direction.

[0016] The at least one characteristic variable preferably includes information about the lane in which the motor vehicle is located after the driving maneuver has been completed. The at least one characteristic variable particularly includes information about whether the motor vehicle is again in the current lane, in a different lane or optionally in another lane after the driving maneuver has been completed.

[0017] According to an embodiment of the present invention, the at least one characteristic quantity includes a driving behavior parameter, wherein the driving behavior parameter includes at least the following information: whether the motor vehicle overtakes at least one other traffic participant on the left, whether the motor vehicle overtakes at least one other traffic participant on the right, whether the motor vehicle is driving behind at least one other traffic participant, whether the motor vehicle is driving in front of at least one other traffic participant, or whether the at least one other traffic participant passes the motor vehicle.

[0018] The driving behavior parameters preferably include information about all other road users that are located in the predetermined surroundings of the motor vehicle.

[0019] According to another aspect, a homotopy analysis of the plurality of driving behaviors is performed in order to classify the plurality of driving behaviors into driving behavior categories and / or to determine driving behavior parameters. Specifically, a homotopy analysis is performed on the space-time trajectories corresponding to the plurality of driving behaviors.

[0020] In particular, driving behaviors whose associated space-time trajectories are homotopic to one another are classified into the same driving behavior category, whereas driving behaviors whose associated space-time trajectories are not homotopic to one another are classified into different driving behavior categories.

[0021] According to another aspect, each obstacle on the road is assigned a space-time trajectory for homotopy analysis. In addition, a hypothetical current with a predefined current intensity is sent through each space-time trajectory of the obstacle, wherein the current intensity is the same for all space-time trajectories of the obstacle. For each space-time trajectory corresponding to a driving behavior, a so-called h-mark is then determined, which is defined as the line integral of the magnetic field generated by the hypothetical current along the respective space-time trajectory of the driving behavior. Driving behaviors with space-time trajectories with the same h-mark are classified into the same driving behavior category.

[0022] The obstacles are other road users or another type of obstacle, such as a construction site.

[0023] According to other embodiments of the invention, a plurality of mutually different driving behaviors are generated randomly, pseudo-randomly and / or based on a predefined probability distribution. The motor vehicle is represented as point masses and the acceleration of these point masses is simulated. Obstacles, such as other road users, are taken into account. In particular, it is at least taken into account that the space-time trajectory of the motor vehicle and the space-time trajectory of the obstacles may not intersect or touch each other.

[0024] When generating a plurality of driving behaviors, a diffusion strategy is used in particular. In the process of generating driving behaviors, those space-time trajectories in the vicinity of which many other space-time trajectories already exist are suppressed. In other words, the diffusion strategy also generates space-time trajectories and thus driving behaviors in areas where driving behaviors are less dense in the XYt coordinate system. This makes the driving behaviors more diverse.

[0025] In particular, the lane or at least the current lane and / or at least one other lane is converted into a Frenet-Serret coordinate system. In this coordinate system, each road has no curves, so that the actual course of the road can be ignored and each road traffic situation can be treated in the same way.

[0026] A plurality of driving behaviors and / or driving behavior categories that differ from one another are filtered based on predefined criteria, in particular based on at least one feasibility criterion, at least one comfort criterion and / or at least one safety criterion. An example of a feasibility criterion is whether the motor vehicle can reach a certain spatial-temporal range due to the maximum acceleration or maximum deceleration of the motor vehicle. An example of a comfort criterion is whether the acceleration in the longitudinal direction and / or in the transverse direction exceeds a predefined limit value that is experienced as uncomfortable for the vehicle occupants. An example of a safety criterion is a minimum distance or speed limit to be maintained with respect to other road users.

[0027] These criteria, in particular at least one comfort criterion, can preferably be adjusted by the user and / or depend on the selected driving mode of the motor vehicle. Thus, in the sport mode, the predefined limit values ​​for the acceleration in the longitudinal direction and / or in the transverse direction can be higher than in the standard mode.

[0028] According to another aspect, one of the possible driving behaviors is selected, in particular based on the classification, and the motor vehicle is controlled according to the selected driving behavior. The motor vehicle is hereby controlled at least partially automatically, in particular fully automatically, based on the selected driving behavior.

[0029] In addition, according to the present invention, the object is achieved by a control device for a control system of a motor vehicle or for a motor vehicle, wherein the control device is configured to execute the method described above. With regard to advantages and features, reference is made to the description of the method above, which also applies to the control device.

[0030] Furthermore, according to the invention, the object is achieved by a motor vehicle having a control device as described above. With regard to the advantages and features, reference is made to the above description of the method, which also applies to the motor vehicle.

[0031] In addition, according to the invention, the object is achieved by a computer program with program code means, the computer program is used to execute the steps of the above method, the computer program is executed on a computer or a corresponding computing unit, in particular the computer program is executed on a computing unit of the above control device. With regard to the advantages and features, reference is made to the above description of the method, which also applies to the computer program. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Other advantages and features of the present invention are given by the following description and reference to the accompanying drawings.

[0033] - Figure 1 (a) schematically shows the road traffic conditions;

[0034] - Figure 1 (b) to (d) show various possible driving behaviors of the motor vehicle;

[0035] - Figure 2 shows a schematic block diagram of a motor vehicle having a system for controlling a motor vehicle according to the invention;

[0036] - Figure 3 A flow chart showing the steps of the method according to the present invention;

[0037] - Figure 4 (a) and (b) schematically show a road before or after conversion to the Frenet-Serret coordinate system;

[0038] - Figure 5 (a) and (b) in the figure respectively show possible space-time trajectory diagrams corresponding to the driving behavior of the motor vehicle;

[0039] - Figure 6 schematically showing a decision tree representation of driving behavior parameters; and

[0040] - Figure 7 A diagram showing a homotopy analysis of the method according to the invention is shown. DETAILED DESCRIPTION

[0041] exist Figure 1 (a) in FIG. 1 schematically shows a road traffic situation, in which a motor vehicle 10 is traveling on a road 12 in a current lane 14. In addition to the current lane 14, there are other lanes 16.

[0042] Figure 1 In the embodiment shown in the figure, the other lane 16 is a lane for oncoming traffic. However, it can also be a lane in the driving direction of the motor vehicle 10, for example, the road 12 is designed as a highway.

[0043] In addition to the motor vehicle 10, on the road 12, there are a first other road user 18 and a second other road user 20 driving in the current lane 14, and a third other road user 22 driving in the other lane 16. In the illustrated embodiment, the other road users 18, 20, 22 are cars, but they may also be trucks, motorcycles, or any other road user.

[0044] The first other road user 18 and the second other road user 20 are in the same lane as the motor vehicle 10 and are traveling in the same direction as the motor vehicle 10. The third other road user 22 is traveling in the other lane 16 in the opposite direction to the motor vehicle.

[0045] also, Figure 1 , a coordinate system having a longitudinal axis and a vertical axis is shown, wherein the longitudinal axis defines the longitudinal direction L and the vertical axis defines the transverse direction N. The origin of the coordinate system is located in the longitudinal direction L at the current position of the front end of the motor vehicle 10 and, viewed in the image direction L, at the right road edge.

[0046] This special coordinate system is also used below, which is a coordinate system fixed relative to the road and therefore does not move with the motor vehicle. Of course, any other coordinate system can also be used.

[0047] Dashed line 24 indicates that motor vehicle 10 plans to overtake the first other road user and the second other road user in the near future. Figure 1 As shown in (b) to (d) in FIG. 8 , there are a number of different possibilities for this driving behavior.

[0048] Therefore, if Figure 1 As shown in (b) in FIG. 1 , before the motor vehicle 10 overtakes the first and second other road users 18 , 20 , the third other road user may be allowed to pass first.

[0049] Figure 1 (c) shows a driving behavior scenario according to which motor vehicle 10 first overtakes a first other road user, then lets a third other road user pass by and overtakes a second other road user.

[0050] Figure 1 (d) in FIG. 1 shows the opposite driving behavior scenario, in which the motor vehicle 10 overtakes the first and second other road users 18 , 20 before the third other road user 22 passes the motor vehicle 10 .

[0051] The motor vehicle 10 is designed to automatically determine possible driving behaviors under given road traffic conditions, select a possible driving behavior and automatically execute the selected driving behavior. Figure 1 The driving behavior described is explained below merely as an example.

[0052] like Figure 2 As shown in FIG. 1 , the motor vehicle 10 has a system 26 for controlling the motor vehicle 10 . The system 26 includes a plurality of sensors 28 and at least one control device 30 .

[0053] The sensors 28 are arranged at the front, rear and / or both sides of the motor vehicle 10 and are designed to detect the surroundings of the motor vehicle 10, generate corresponding environmental data and transmit the data to the control device 30. More specifically, the sensors 28 detect at least information about the current lane 14, other lanes 16 and other road users 18, 20, 22.

[0054] The sensors 28 are each a camera, a radar sensor, a distance sensor, a lidar sensor and / or any other type of sensor suitable for detecting the surroundings of the motor vehicle 10 .

[0055] Alternatively or additionally, at least one sensor 28 is designed as an interface of a transmission system, which is associated with at least the shown section of the road 12 and is designed to transmit environmental data about the road 12 and / or other road users to the motor vehicle 10 and / or other road users 18, 20, 22. In this case, the at least one sensor 28 can be designed as a mobile radio communication module, for example for communication according to the 5G standard.

[0056] In general, the control device 30 processes the environmental data received from the sensor 28 and controls the motor vehicle 10 at least partially automatically, in particular fully automatically, based on the processed environmental data. A driver assistance system is also implemented on the control device 30, which can control the lateral movement and / or longitudinal movement of the motor vehicle 10 at least partially automatically, in particular fully automatically.

[0057] To this end, the control device 30 is constructed to perform the following Figures 3 to 7 Specifically, the control device 30 comprises a data carrier 32 and a computing unit 34 , wherein a computer program is stored on the data carrier 32 , runs on the computing unit 34 and comprises a program code medium in order to implement the steps of the method described below.

[0058] In order to be able to treat all types of driving situations equally independently of the current road traffic situation, the road 12, more precisely the image of the current lane 14 and the other lanes 16 based on the environmental data obtained from the sensor 28, is converted into the Frenet-Serret coordinate system (step S1).

[0059] Figure 4 Step S1 is illustrated in FIG. Figure 4 (a) in FIG. 1 shows the actual direction of the road 12. In the illustrated embodiment, the road has a rightward curve when viewed from the longitudinal direction L. The road 12 is converted into the Frenet-Serret coordinate system by local coordinate system conversion, wherein the road 12 no longer has a curve. The result of this conversion is Figure 4 It can be clearly seen that the road 12 is straight in this coordinate system and has no bends along the longitudinal direction L.

[0060] A plurality of mutually different driving maneuvers are now generated and / or received from control device 30 (step S2 ).

[0061] like Figure 5 As shown, the driving behavior is the space-time trajectory of the motor vehicle 10 , more precisely in the XYt coordinate system, where X corresponds to the longitudinal direction L and Y to the transverse direction N. In particular, it is the space-time trajectory of the motor vehicle 10 in the LNt coordinate system.

[0062] A plurality of mutually different driving behaviors are generated randomly, pseudo-randomly and / or based on a predefined probability distribution. Motor vehicle 10 is represented by point masses, and the accelerations of these point masses are simulated.

[0063] Obstacles that need to be taken into account when generating possible driving maneuvers, such as other road users 18, 20, 22, are Figure 5 In particular, it is at least necessary to take into account that the space-time trajectory of the motor vehicle and the space-time trajectory of the obstacle cannot intersect or touch each other.

[0064] In step S2, a diffusion strategy is used in particular in order to achieve a greater diversity of driving behaviors. In the process of generating driving behaviors, those space-time trajectories in the vicinity of which many other space-time trajectories already exist are suppressed. In other words, the diffusion strategy also generates space-time trajectories and thus driving behaviors in areas where driving behaviors are less dense in the XYt coordinate system. In this way, a large number of different possible driving behaviors is obtained in step S2. Figure 5 (a) in FIG. 1 shows the result of step S2.

[0065] Next, a plurality of different driving behaviors are respectively classified into at least two driving behavior categories that are different from each other (step S3 ).

[0066] The driving behavior categories are each defined by a set of characteristic variables, which in turn are variables that describe the basic characteristics of the respective driving behavior.

[0067] The driving behavior categories are preferably mutually exclusive, that is, each driving behavior belongs to exactly one driving behavior category. Driving behaviors consisting of two different driving behavior categories are respectively distinguished by at least one characteristic variable or even by all characteristic variables. Driving behaviors within a driving behavior category may differ in one characteristic variable, but not in all characteristic variables.

[0068] Conversely, characteristic variables of the individual possible driving behaviors can be determined in order to classify the driving behaviors into different driving behavior categories.

[0069] The characteristic variables include one or more of the following variables: a traffic sequence, an overtaking sequence, a passing sequence, a driving maneuver parameter and / or information about the lane in which the motor vehicle 10 is located after the respective driving maneuver has been completed.

[0070] The traffic sequence indicates the time course in which other road users 18 , 20 , 22 drive past motor vehicle 10 .

[0071] Specifically, the traffic sequence includes an overtaking sequence, which includes one or more time points in chronological order, at which the motor vehicle 10 respectively overtakes other traffic participants. Figure 1 In the exemplary embodiment of FIG. 1 , the first and second other road users 18 , 20 are overtaken.

[0072] Furthermore, the traffic sequence includes a passing sequence, which includes one or more chronological time points at which other traffic participants pass the motor vehicle 10. Figure 1 In the exemplary embodiment, a third other road user 22 is passed.

[0073] Furthermore, the traffic sequence also includes information as to whether other road users are passing motor vehicle 10 in the opposite direction of motor vehicle 10 or in the direction of travel.

[0074] Figure 1 In the exemplary embodiment shown, information is given about the lane in which motor vehicle 10 is located after the corresponding driving maneuver has been completed, whether motor vehicle 10 is again in current lane 14 or in another lane 16 after the driving maneuver has been completed.

[0075] The driving behavior parameters include the following information: whether the motor vehicle 10 overtakes the respective other traffic participants on the left, overtakes the respective other traffic participants on the right, follows the respective other traffic participants from behind, drives in front of the respective other traffic participants, or whether the at least one other traffic participant passes the motor vehicle 10 in the opposite direction of the motor vehicle 10 or in the driving direction.

[0076] Figure 1 The driving behavior parameters in the embodiment are Figure 6 Here, the driving behavior parameters are represented by a decision tree, which indicates respectively three other road users 18, 20, 22, whether the motor vehicle 10 overtakes them on the left (OL), overtakes them on the right (OR), follows them (F), drives in front of them (L), or whether they pass the motor vehicle 10 in the opposite direction or in the driving direction of the motor vehicle 10 (P).

[0077] In order to determine one or more characteristic quantities and classify the driving behaviors, it is preferred to perform homotopy analysis on a plurality of driving behaviors, more precisely, to perform homotopy analysis on space-time trajectories corresponding to the plurality of driving behaviors.

[0078] In other words, those driving maneuvers whose associated space-time trajectories are homotopic to one another are grouped into the same driving maneuver category.

[0079] Driving behaviors whose associated space-time trajectories are not homotopic to one another are classified into different driving behavior categories.

[0080] Figure 7 A homotopy analysis of a two-dimensional simplified illustration is shown. τ1, τ2, and τ3 represent three space-time trajectories connecting points A and B, respectively. In addition, there is an obstacle H through which the trajectory c, τ3 cannot be extended.

[0081] The trajectories τ1 and τ2 are homotopic to each other, and they can be deformed, that is, transformed, into each other stably and without crossing obstacles. Therefore, the trajectories τ1 and τ2 are classified into the same driving behavior category.

[0082] In contrast, τ3 is inhomogeneous with τ1 and τ2 and cannot be stably transformed into τ1 or τ2 without crossing an obstacle. Therefore, trajectory τ3 is classified into another driving behavior category different from τ1 and τ2.

[0083] The concrete possibilities of homotopy analysis are given by the following steps:

[0084] First, each obstacle is assigned a space-time trajectory. In addition, a hypothetical current with a predefined current intensity is sent through each space-time trajectory of the obstacle, wherein the current intensity is the same for all space-time trajectories of the obstacle.

[0085] The space-time trajectory τ corresponding to each driving behavior i , and then determine the so-called h-mark h(τ i ), the h-mark is defined as the magnetic field B generated by the assumed current along τ i The line integral of :

[0086]

[0087] It follows from this that space-time trajectories i belonging to the same homotopy class and therefore to the same driving maneuver class have the same h-sign. Thus, the different driving maneuvers that occur can be classified into driving maneuver classes by determining their h-sign.

[0088] From each driving behavior category, one, in particular exactly one, representative space-time trajectory is stored together with corresponding characteristic variables on the data carrier 32 (step S4 ) and optionally transmitted to an optimization and decision module of the control device 30 . Figure 5 (b) in FIG. 1 shows the result of step S4.

[0089] The optimization and decision module then optionally optimizes a representative driving behavior and / or selects a representative driving behavior and then controls motor vehicle 10 in an automated manner based thereon via control device 30 (step S5 ).

[0090] For this purpose, it can be provided that representative driving behaviors are filtered based on predefined criteria and are excluded before or after the optimization.

[0091] The predefined criteria are feasibility criteria, comfort criteria and / or safety criteria.

[0092] An example of a feasibility criterion is whether the motor vehicle can reach a certain spatial-temporal range due to the maximum acceleration or maximum deceleration of the motor vehicle.

[0093] An example of a comfort criterion is whether the acceleration in the longitudinal direction and / or in the transverse direction exceeds a predefined limit value which, according to experience, is perceived as uncomfortable by the vehicle occupants.

[0094] Examples of safety criteria are a minimum distance to other road users or a speed limit.

Claims

1. A method for controlling a motor vehicle (10), the motor vehicle (10) being driven in a current lane (14) on a road (12), wherein the road (12) has at least one other lane (16) adjacent to the current lane (14) of the motor vehicle (10), the method comprising the following steps: - generating and / or receiving a plurality of mutually different driving behaviors of the motor vehicle (10); - determining at least two driving behavior categories, which are defined as a function of at least one characteristic variable of the driving behavior, wherein driving behaviors of different driving behavior categories are differentiated by the at least one characteristic variable; - classifying the driving behavior into the at least two driving behavior categories; as well as - based on the classification, selecting one of the possible driving behaviors and controlling the motor vehicle (10) according to the selected driving behavior, In this case, a homotopy analysis of a plurality of driving behaviors is performed in order to assign the plurality of driving behaviors to driving behavior categories and / or to determine driving behavior parameters.

2. The method according to claim 1, characterized in that The at least one characteristic variable comprises at least one traffic sequence which indicates the time course of the passing and / or overtaking of other road users.

3. The method according to claim 2, characterized in that The at least one traffic sequence comprises an overtaking sequence, wherein the overtaking sequence comprises at least one point in time at which the motor vehicle (10) overtakes another traffic participant (18, 20).

4. The method according to claim 3, characterized in that The overtaking sequence comprises a plurality of chronological points in time at which the motor vehicle (10) respectively overtakes other road users (18, 20).

5. The method according to any one of claims 2 to 4, characterized in that The at least one traffic sequence comprises a passing sequence, wherein the passing sequence comprises at least one time point at which another traffic participant (22) passes the motor vehicle (10) in the opposite direction or in the direction of travel.

6. The method according to claim 5, characterized in that The traffic sequence comprises a plurality of chronologically sequential time points at which another road user (22) respectively drives past the motor vehicle (10) in the opposite direction or in the direction of travel.

7. The method according to claim 1, characterized in that The at least one characteristic variable comprises information about a lane in which the motor vehicle (10) is located after the driving maneuver has been completed.

8. The method according to claim 1, characterized in that The at least one characteristic variable comprises a driving behavior parameter, wherein the driving behavior parameter comprises at least the following information: whether the motor vehicle (10) overtakes at least one other traffic participant (18, 20, 22) on the left, whether the motor vehicle (10) overtakes at least one other traffic participant (18, 20, 22) on the right, whether the motor vehicle (10) is driving behind at least one other traffic participant (18, 20, 22), whether the motor vehicle (10) is driving in front of at least one other traffic participant (18, 20, 22), or whether the at least one other traffic participant (18, 20, 22) has passed the motor vehicle (10).

9. The method according to claim 1, characterized in that: A plurality of driving behaviors that differ from one another are generated randomly, pseudo-randomly, and / or based on a predefined probability distribution.

10. The method according to claim 1, characterized in that At least the current lane (14) and / or at least one other lane (16) are converted into a Frenet-Serret coordinate system.

11. The method according to claim 1, characterized in that: The plurality of mutually different driving behaviors and / or driving behavior categories are filtered based on predefined criteria.

12. The method according to claim 11, characterized in that The predefined criterion is at least one feasibility criterion, at least one comfort criterion and / or at least one safety criterion.

13. A control device (30) for a control system (26) of a motor vehicle (10) or for a motor vehicle (10), wherein the control device (30) is configured to execute the method according to any one of claims 1 to 12.

14. A motor vehicle (10) having a control device (30) according to claim 13.

15. A computer-readable storage medium storing a computer program having program code means for executing the steps of the method according to any one of claims 1 to 12 when the computer program is executed on a computer or a corresponding computing unit.

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