Method for at least partially automated guidance of a motor vehicle

Abstract

The present invention relates to a method for at least partially automatically guiding a motor vehicle (301, 517), comprising the following steps: generating and outputting a driving control signal for controlling the lateral and / or longitudinal guidance of the motor vehicle, so as to at least partially automatically guide the motor vehicle (301, 517) so that the motor vehicle (301, 517) drives into a traffic intersection (501); receiving an environmental signal representing the surrounding environment during the motor vehicle (301, 517) driving into the traffic intersection (501); based on the environmental signal, determining whether the motor vehicle (301, 517) should be able to continue driving into the traffic intersection (501), must stop and / or reverse; based on the determination, generating and outputting a control signal for controlling the lateral and / or longitudinal guidance of the motor vehicle (301, 517), so as to at least partially automatically guide the motor vehicle (301, 517) according to the determination, so that the motor vehicle (301, 517) continues driving into the traffic intersection (501), stops or reverses. The invention also relates to a device, a motor vehicle, a computer program and a machine-readable storage medium.

Description

Technical Field

[0001] The invention relates to a method for at least partially automated guidance of a motor vehicle. The invention also relates to a device, a motor vehicle, a computer program and a machine-readable storage medium.

[0002] This patent application claims the priority of German patent application with application number DE 10 2019105 739.6, filed on March 7, 2019, the contents of which are incorporated herein by reference in their entirety. Background Art

[0003] Methods for longitudinal and lateral guidance of automated motor vehicles are known. Such methods focus primarily on lane centering guidance and longitudinal control with respect to vehicles ahead or other infrastructure conditions.

[0004] When a motor vehicle enters a traffic intersection, it may happen that the motor vehicle wishes to pass through the traffic intersection but will block traffic.

[0005] In view of this, a conception that can efficiently enter a traffic intersection and avoid such traffic jams as much as possible is needed. Summary of the invention

[0006] It is an object of the present invention to provide an efficient concept for at least partially automated guiding of a motor vehicle.

[0007] The solution of the present invention for achieving the above-mentioned object is the subject of the independent claim. The advantageous technical solutions of the present invention are referred to the subject of the dependent claims.

[0008] According to a first aspect, a method for at least partially automatically guiding a motor vehicle is provided, comprising the following steps: generating and outputting an entry control signal for controlling the lateral and / or longitudinal guidance of the motor vehicle, so as to at least partially automatically guide the motor vehicle so that the motor vehicle enters a traffic intersection; receiving an environmental signal representing the surrounding environment during the motor vehicle's entry into the traffic intersection; based on the environmental signal, determining that the motor vehicle should be able to continue to enter the traffic intersection, must stop and / or reverse; based on the determination, generating and outputting a control signal for controlling the lateral and / or longitudinal guidance of the motor vehicle, so as to at least partially automatically guide the motor vehicle according to the determination so that the motor vehicle continues to enter the traffic intersection, stops and / or reverses.

[0009] According to a second aspect, there is provided an apparatus configured to perform all the steps of the method according to the first aspect.

[0010] According to a third aspect, there is provided a motor vehicle comprising an apparatus according to the second aspect.

[0011] According to a fourth aspect, there is provided a computer program comprising instructions which, when the computer program is executed by a computer, for example by an apparatus according to the second aspect, cause the computer to perform the method according to the first aspect.

[0012] According to a fifth aspect, there is provided a machine-readable storage medium having stored thereon a computer program according to the fourth aspect.

[0013] The invention achieves the above object based on the recognition that during the at least partially automatically driven motor vehicle entering a traffic intersection, the surroundings of the motor vehicle are analyzed, namely whether the motor vehicle should be able to continue entering the traffic intersection, must stop or must reverse.

[0014] This can advantageously and effectively avoid blocking situations caused by motor vehicles entering the intersection.

[0015] This can also have the technical advantage of improving the safety of motor vehicles.

[0016] It can also help enhance customer value.

[0017] The technical advantage of effectively avoiding rear-end collisions can also be achieved. Rear-end collisions may occur, for example, if another motor vehicle is forced to brake suddenly due to entering an intersection, resulting in a third motor vehicle colliding with the other motor vehicle.

[0018] In particular, this also results in the technical advantage that an efficient concept for at least partially automated guidance of a motor vehicle is provided.

[0019] The term “at least partially automated guidance” includes one or more of the following situations: assisted driving, semi-automated driving, highly automated driving, and fully automated driving.

[0020] Assisted driving means that the driver of a motor vehicle continuously performs the lateral or longitudinal guidance of the motor vehicle. The other driving tasks (i.e. controlling the longitudinal or lateral guidance of the motor vehicle) are performed automatically. This means that when assisting in driving a motor vehicle, the lateral or longitudinal guidance is controlled automatically.

[0021] Semi-automated driving means that the longitudinal and lateral guidance of the motor vehicle can be automatically controlled in certain situations (e.g. driving on motorways, driving in parking lots, overtaking, driving in a lane delimited by lane markings) and / or for certain periods of time. The driver of the motor vehicle does not have to manually control the longitudinal and lateral guidance of the motor vehicle himself. However, the driver must constantly monitor the automatic control of the longitudinal and lateral guidance in order to be able to intervene manually if necessary. The driver must be ready to fully take over the guidance of the motor vehicle at any time.

[0022] Highly automated driving means that the longitudinal and lateral guidance of a motor vehicle is automatically controlled for a specific period of time and in specific situations (e.g. driving on motorways, driving in parking lots, overtaking, driving in lanes delimited by lane markings). The driver of the motor vehicle does not have to manually control the longitudinal and lateral guidance of the motor vehicle himself. The driver does not have to constantly monitor the automatic control of the longitudinal and lateral guidance but can intervene manually if necessary. If necessary, a takeover request is automatically made to the driver to take over control of the longitudinal and lateral guidance, especially if there is sufficient time left. The driver is then bound to be able to control the longitudinal and lateral guidance. The limits of the automatic control of lateral and longitudinal guidance are automatically identified. In highly automated driving, a low-risk state cannot be automatically achieved based on every initial situation.

[0023] Fully automated driving means that the longitudinal and lateral guidance of a motor vehicle can be automatically controlled in certain situations (e.g. driving on motorways, driving in parking lots, overtaking, driving in lanes delimited by lane markings). The driver of the motor vehicle does not have to manually control the longitudinal and lateral guidance of the motor vehicle. The driver does not have to monitor the automatic control of the longitudinal and lateral guidance and can intervene manually if necessary. Before the end of the automatic control of the lateral and longitudinal guidance, the automation requests the driver to take over the driving task (control of the lateral and longitudinal guidance of the motor vehicle), especially if there is sufficient time to spare. Automatic return to a low-risk state if the driver does not take over the driving task. Automatic identification of the limits of the automatic control of the lateral and longitudinal guidance. Automatic return to a low-risk system state in all situations.

[0024] In the sense of this description, a traffic intersection is, for example, a T-junction or a crossroads.

[0025] In the sense of the present description, an intersection is, for example, the intersection of two or more intersecting carriageways of different roads, which are all continuous but may deviate in some cases.

[0026] In the sense of this specification, a T-junction is, for example, a point where a road meets a continuous road at a right angle or an oblique angle, and the continuous road no longer continues there.

[0027] The term "driving into" is known to the person skilled in the art, for example from Section 8 of the German Road Traffic Code, which states in Article 2, Paragraph 3: "If you cannot see the entire area due to poor visibility, you should drive into the intersection or T-junction with caution until you have a clear view."

[0028] Entering a traffic intersection includes motor vehicles travelling at a maximum speed of 12 km / h, in particular at a maximum speed of 10 km / h, in particular at a maximum speed of 8 km / h, in particular at a maximum speed of 6 km / h, in particular at a maximum speed of 4 km / h, in particular at a maximum speed of 2 km / h.

[0029] According to one specific embodiment, it is provided that the surrounding signals are processed to detect an object, for example another motor vehicle, approaching the traffic intersection from a different direction than the motor vehicle, wherein the determination is performed as a function of the detection of the corresponding object, for example another motor vehicle.

[0030] This has the particular technical advantage of being able to efficiently execute determinations.

[0031] For example, when an object, in particular another motor vehicle, is detected, it is determined that the motor vehicle must stop or reverse.

[0032] For example, it is provided that if no object is detected, in particular no further motor vehicle is detected, it is determined that the motor vehicle should be able to continue to drive into the traffic intersection.

[0033] According to one specific embodiment, when an object, for example another motor vehicle, is detected, a lane width of the lane is identified based on surrounding signals in which the object, in particular the other motor vehicle, is currently located, wherein the determination is performed as a function of the identified lane width.

[0034] This has the technical advantage of being able to efficiently perform determinations, for example.

[0035] In the above-mentioned embodiments regarding the recognized lane width, it is provided according to one embodiment that the following items can also be used for the determination: a safety distance between the motor vehicle and the lane, and / or an object contour of an object, such as a contour of another motor vehicle, and / or a contour of the motor vehicle. This means that according to one embodiment, the determination is performed based on the recognized lane width and the safety distance between the motor vehicle and the lane and / or an object contour of an object, such as a contour of another motor vehicle and / or a contour of the motor vehicle.

[0036] For example, if the detected lane width (especially taking into account (i.e., for example after corresponding addition) the safety distance between the motor vehicle and the lane and / or the object contours of objects, such as the contours of other motor vehicles and / or the contours of the motor vehicle) is greater than or equal to a predetermined lane width threshold, the motor vehicle should be able to continue to drive into the traffic intersection. In this case, the object, in particular the other motor vehicle, generally has sufficient space for the incoming motor vehicle to give way in its lane.

[0037] For example, if the detected lane width (especially taking into account (i.e., for example after corresponding addition) the safety distance between the motor vehicle and the lane and / or the object contours of objects, such as the contours of other motor vehicles and / or the contours of the motor vehicle) is less than or equal to a predetermined lane width threshold, the motor vehicle must stop or reverse. In this case, the object, in particular the other motor vehicle, generally no longer has sufficient space or space for the incoming motor vehicle to give way in its lane.

[0038] According to one specific embodiment, it is provided that the detected lane width is compared with a predetermined lane width threshold value, wherein the determination is performed as a function of this comparison.

[0039] According to one embodiment, when a corresponding object, such as another motor vehicle, is detected, it is identified based on environmental signals whether the object, in particular the other motor vehicle, can pass through the traffic intersection without hindrance when the motor vehicle is stopped, wherein the determination is performed based on the identification of whether the object, in particular the other motor vehicle, can pass through the traffic intersection without hindrance when the motor vehicle is stopped.

[0040] This has the technical advantage of being able to efficiently perform determinations, for example.

[0041] For example, if it is detected that objects, in particular other motor vehicles, can drive through the traffic intersection unhindered when the motor vehicle is stopped, it is determined that the motor vehicle should stop.

[0042] For example, if it is recognized that when the motor vehicle stops, an object, in particular another motor vehicle, cannot pass through the traffic intersection due to being blocked by the entering motor vehicle, it is determined that the motor vehicle must stop.

[0043] “Unhindered” means in particular that an incoming motor vehicle does not block the intersection to such an extent that objects, in particular other motor vehicles, can no longer pass through the intersection but are forced to stop in order to avoid a collision with the incoming motor vehicle.

[0044] If parking of the motor vehicle would result in the motor vehicle blocking an object, in particular another motor vehicle, it is provided in particular that it is determined that the motor vehicle must reverse.

[0045] “Unhindered” means in particular that the oncoming motor vehicle at least partially blocks the lane of the object, in particular the lane of another motor vehicle. This is because the oncoming motor vehicle is at least partially located in the lane.

[0046] According to one specific embodiment, a lane width required for the object to pass unimpeded is performed based on a prediction of the contours of the objects detected along the lane.

[0047] According to one embodiment, when a corresponding object, in particular another motor vehicle, is detected, it is identified based on environmental signals whether a yielding plan exists for the object, in particular the other motor vehicle, wherein the determination is performed based on the identification of whether a yielding plan exists for the object, in particular the other motor vehicle.

[0048] This has the technical advantage of being able to efficiently perform determinations, for example.

[0049] In particular, it is provided that if a yielding plan is identified for an object, in particular another motor vehicle, then the incoming motor vehicle must stop. In this case, for example, before the motor vehicle continues to enter the traffic intersection, wait for the object, in particular another motor vehicle, to pass the traffic intersection due to yielding.

[0050] For example, if it is detected that no yielding solution exists for an object, in particular another motor vehicle, it is determined that the motor vehicle must reverse.

[0051] According to one embodiment, when it is determined that the motor vehicle must reverse, a reversing position into which the motor vehicle should reverse is identified based on environmental signals, wherein a control signal is generated and outputted based on the reversing position to at least partially automatically guide the motor vehicle to the reversing position.

[0052] This has the technical advantage that, for example, a motor vehicle can be effectively reversed.

[0053] In this context, "reverse" refers in particular to the direction opposite to the direction in which the motor vehicle is moving in. "Reverse" refers in particular to such an environment or area: behind the motor vehicle in relation to the motor vehicle, ie behind the motor vehicle in relation to the direction in which the motor vehicle is traveling.

[0054] According to one specific embodiment, an object width of an object, in particular a motor vehicle width of a further motor vehicle, is detected based on the surrounding signal, wherein the reverse parking position is detected based on the detected object width, in particular the detected motor vehicle width.

[0055] This has the technical advantage of being able to effectively identify reverse parking positions, for example.

[0056] According to one specific embodiment, it is provided that the reverse parking position is determined as a function of the detected lane width.

[0057] This has the technical advantage of being able to effectively identify reverse parking positions, for example.

[0058] According to one specific embodiment, it is provided that the method according to the first aspect is carried out by means of the device according to the second aspect and / or the motor vehicle according to the third aspect.

[0059] The technical functionality of the method according to the first aspect is derived analogously from the corresponding technical functionality of the device according to the second aspect and / or from the technical functionality of the motor vehicle according to the third aspect, and vice versa.

[0060] This means, in particular, that device features are derived from corresponding method features and vice versa.

[0061] By the term “a further motor vehicle”, according to one embodiment, a plurality of further motor vehicles is to be understood.

[0062] According to an embodiment, the ambient signal comprises an ambient sensor signal from an ambient sensor system of the motor vehicle. According to an embodiment, the ambient sensor system of the motor vehicle comprises one or more ambient sensors.

[0063] For example, an environmental sensor is one of the following environmental sensors:

[0064] Radar sensors, ultrasonic sensors, lidar sensors, infrared sensors, magnetic field sensors, and video sensors.

[0065] According to one specific embodiment, the environment signal comprises a map signal from a digital map of the surroundings of the motor vehicle.

[0066] According to an embodiment, a control device is provided, which is configured to control lateral and / or longitudinal guidance of a motor vehicle based on output control signals, so as to at least partially automate the guidance of the motor vehicle based on the output control signals.

[0067] According to an embodiment, the apparatus according to the second aspect comprises the control device.

[0068] According to an embodiment, a motor vehicle according to the third aspect comprises the control device.

[0069] According to one embodiment, the device according to the second aspect and / or the motor vehicle according to the third aspect comprises the above-described surroundings sensor system.

[0070] In one embodiment, the method is a computer-assisted method.

[0071] Computer-assisted methods are also called computer-implemented methods.

[0072] In one embodiment, an object in the sense of this specification is one of the following objects: another motor vehicle, a cyclist, a pedestrian.

[0073] If the term "object" is used in this description, the term "further motor vehicle" shall always be included and vice versa. Statements relating to the object apply analogously to the further motor vehicle and vice versa.

[0074] According to one embodiment, a motor vehicle in the sense of the specification is an unmanned motor vehicle, a shuttle, a car, a robot taxi, a multi-purpose vehicle, etc.

[0075] In one specific embodiment, it is provided that the entry control signal is generated based on the received surroundings signal.

[0076] The terms "laneway" and "motorway" are used synonymously. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] Embodiments of the present invention are illustrated in the accompanying drawings and described in detail below. In the drawings:

[0078] Figure 1 A flow chart showing a method of at least partially automating the guidance of a motor vehicle;

[0079] Figure 2 A device is shown;

[0080] Figure 3 A motor vehicle is shown;

[0081] Figure 4 A machine-readable storage medium is shown; and

[0082] Figure 5 and Figure 6 A motor vehicle entering a traffic intersection is respectively shown. DETAILED DESCRIPTION

[0083] In the following, the same reference numerals may be used for the same features.

[0084] Figure 1 A flow chart showing a method of at least partially automating the guidance of a motor vehicle.

[0085] The method comprises the following steps:

[0086] Generate 101 and output 103 an entry control signal for controlling the lateral and / or longitudinal guidance of the motor vehicle so as to at least partially automatically guide the motor vehicle so that the motor vehicle enters the traffic intersection; receive 105 an environmental signal representing the surrounding environment during the motor vehicle entering the traffic intersection; based on the environmental signal, determine 107 that the motor vehicle should be able to continue to enter the traffic intersection, must stop and / or reverse; based on the determination, generate 109 and output 111 a control signal for controlling the lateral and / or longitudinal guidance of the motor vehicle so as to at least partially automatically guide the motor vehicle according to the determination so that the motor vehicle continues to enter the traffic intersection, stops and / or reverses.

[0087] Figure 2 Device 201 is shown.

[0088] The apparatus 201 is configured to execute all steps of the method according to the first aspect.

[0089] The device 201 comprises an input 203 configured to receive the above and / or below mentioned ambient signals.

[0090] The apparatus 201 further comprises a processor 205 .

[0091] The processor 205 is configured to generate the above and / or below mentioned entry control signals.

[0092] Processor 205 is also configured to determine, based on the environmental signals, whether the motor vehicle should be able to continue into the traffic intersection, must stop, and / or reverse.

[0093] The processor 205 is also configured to generate the control signals described above and / or below.

[0094] The device 201 further comprises an output terminal 207 .

[0095] The output terminal 207 is configured to output the above-mentioned and / or the following entry control signal.

[0096] The output terminal 207 is further configured to output the control signals mentioned above and / or below.

[0097] In an embodiment not shown, a plurality of processors are provided instead of one processor 205 .

[0098] In one embodiment, the processor 205 is configured to process the environmental signals in order to determine whether the motor vehicle should be able to continue into the traffic intersection, must stop and / or reverse.

[0099] Processing the surrounding signals includes, for example, carrying out an object detection method in order to detect a further motor vehicle approaching the traffic intersection from a different direction than the motor vehicle.

[0100] In one embodiment, it is provided that the processor 205 is configured to perform one or more of the above-mentioned determining steps.

[0101] Figure 3 A motor vehicle 301 is shown.

[0102] Motor vehicle 301 includes a Figure 2 Device 201.

[0103] The motor vehicle 301 comprises a front radar sensor 303 and a roof side camera 305 with a video sensor (not shown). The roof side camera 305 is, for example, a 360° camera.

[0104] Radar sensor 303 and camera 305 including a video sensor (not shown) form an environmental sensor system of motor vehicle 301 .

[0105] In one specific embodiment (not shown), it is provided that one or more of the above-mentioned surroundings sensors are provided in addition to or instead of radar sensor 303 and / or camera 305 .

[0106] Radar sensor 303 detects the front area of ​​motor vehicle 301. Radar sensor 303 provides corresponding radar signals for this detection.

[0107] The camera 305 accordingly captures a certain area, for example a 360° area, around the motor vehicle 301. The camera 305 then provides a video signal corresponding to this detection.

[0108] According to the present specification, the video signal and the radar signal represent the surroundings of the motor vehicle 301 and thus serve as environmental signals.

[0109] The video signal and the radar signal are supplied to an input 203 of the device 201 .

[0110] The input terminal 203 receives the video signal and the radar signal. Then, the processor 205 performs the corresponding steps of the method according to the first aspect based on the video signal and the radar signal.

[0111] Output 207 outputs the respectively generated entry control signal and the generated control signal to a control device 307 of motor vehicle 301 .

[0112] The control device 307 controls the lateral and / or longitudinal guidance of the motor vehicle 301 based on the output control signals and based on the output control signals in order to guide the motor vehicle at least partially automatically based on these output signals.

[0113] In one specific embodiment, it is provided that the entry control signal is generated based on the received surroundings signal.

[0114] Figure 4 A machine-readable storage medium 401 is shown.

[0115] The machine-readable storage medium 401 stores a computer program 403. The computer program 403 includes instructions, and when the computer program 403 is executed by a computer, such as the apparatus 201, the instructions cause the computer to execute the method according to the first aspect.

[0116] Figure 5 A T-junction 501 is shown as an example of a traffic intersection.

[0117] The T-junction 501 includes a first road 503 extending from bottom to top with respect to the paper surface. The first road 503 leads to a second road 505 extending from left to right with respect to the paper surface.

[0118] The second road 505 includes a first motorway 507 and a second motorway 509 .

[0119] The two motorway lanes 507 , 509 are separated from one another by a dashed line 511 .

[0120] A first parked motor vehicle 513 and a second parked motor vehicle 515 are parked on the first motor vehicle lane 507 .

[0121] The first motor vehicle lane 507 specifies a motor vehicle travel direction extending from left to right with respect to the paper surface.

[0122] The second motor vehicle lane 509 specifies a motor vehicle travel direction extending from right to left with respect to the paper surface.

[0123] Motor vehicle 517 coming from first road 503 wants to turn left with respect to the paper plane onto second road 505 .

[0124] A corresponding curved path is symbolically indicated by an arrow provided with reference numeral 518 .

[0125] The motor vehicle 517 may be, for example, Figure 3 301 of motor vehicles.

[0126] Motor vehicle 517 enters T-junction 501 .

[0127] The motor vehicle 517 comprises an environment sensor system (not shown) configured to detect the surroundings of the motor vehicle 517. The motor vehicle 517 further comprises an apparatus according to the second aspect (not shown).

[0128] The detection range of the surroundings sensor system is symbolically indicated by the shaded area denoted by reference numeral 519 .

[0129] However, second parked motor vehicle 515 may prevent the environmental sensor system from detecting the surroundings of motor vehicle 517 .

[0130] For example, second parked motor vehicle 515 partially blocks a radar sensor of the surroundings sensor system.

[0131] For example, second parked motor vehicle 515 blocks the field of view of a camera of an environmental sensor system of motor vehicle 517 .

[0132] The detection region 519 is thus reduced, which is symbolically indicated by the straight line marked with the reference numeral 521 .

[0133] As a result, the environmental sensors of the motor vehicle 517 are not able to fully capture the portion of the second road 505 where the motor vehicle 517 intends to turn, as would be the case if the two parked motor vehicles 513 , 515 were not present.

[0134] For this purpose, it is proposed that the motor vehicle 517 enters the T-junction 501 .

[0135] The advantage of this approach is in particular that an appropriate and timely reaction can still be carried out when another motor vehicle approaches.

[0136] exist Figure 5 In the illustrated situation, there are no other motor vehicles approaching T-junction 501 , thereby allowing motor vehicle 517 to continue approaching the traffic intersection, in this example, T-junction 501 .

[0137] and Figure 5 compared to, Figure 6 Another situation is shown in which a further motor vehicle 601 enters intersection 501 from left to right with respect to the paper plane.

[0138] The direction of travel of further motor vehicle 601 is symbolically indicated by an arrow provided with reference numeral 603 .

[0139] The other motor vehicle 601 must change lanes to the second motor vehicle lane 509 in order to overtake the two parked motor vehicles 513 , 515 .

[0140] As a result of the entry, motor vehicle 517 has already partially reached second motorway 509 and is thus blocking further motor vehicles 601 from passing.

[0141] Therefore, according to the concept described herein, it is determined that the motor vehicle 517 must be parked and reversed. To this end, it is proposed to identify the reverse parking position 605 to which the motor vehicle 517 should be reversed.

[0142] Furthermore, trajectory 607 is determined for guiding motor vehicle 517 to reverse parking position 605 .

[0143] Accordingly, motor vehicle 517 is then reversed at least partially automatically along trajectory 607 into reverse parking position 605 .

[0144] This has the beneficial effect that another motor vehicle 601 can pass through the T-junction 501 without hindrance.

[0145] The traffic flow on second road 505 is accordingly advantageously maintained.

[0146] In particular, reverse parking position 605 is selected such that at least the vehicle width required to free second lane 509 for a further motor vehicle 601 is present.

[0147] In summary, the concept described herein is based in particular on the following: when a motor vehicle enters a traffic intersection, it should be determined whether the traffic conditions in the target lane of the entering motor vehicle require the motor vehicle to reverse along a certain trajectory in order to keep traffic flowing.

[0148] Furthermore, the concepts described herein are based in particular on planning and executing a trajectory for reversing a motor vehicle to a parking point (reversing position) to be defined. For example, in the lane occupied by the incoming motor vehicle, the parking point can be identified by the width of other motor vehicles that enter the traffic intersection from a different direction than the incoming motor vehicle.

[0149] According to one specific embodiment, provision is made for the motor vehicle to be able to enter a traffic intersection, in particular in the case of a poor field of view of an ambient sensor system of the motor vehicle.

[0150] In one embodiment, it is provided that it is determined whether another motor vehicle is detected or recognized during the approach. For example, it is also determined whether the other motor vehicle does not have a yielding plan for changing lanes to another lane.

[0151] According to one specific embodiment, provision is made that, in particular during the oncoming movement, the current lane of the oncoming motor vehicle and the target lane of the oncoming motor vehicle are identified. For example, this identification is performed using ambient signals.

[0152] According to one embodiment, stationary objects and approaching motor vehicles are detected. The detection includes, for example, the recognition of the outline of the detected object and / or the detected approaching motor vehicle (further motor vehicle). The detection includes, for example, the recognition of the distance between the approaching motor vehicle and the respective detected object.

[0153] According to one specific embodiment, it is provided that one or more movement variables of the detected object or objects are identified and / or measured.

[0154] The movement variable is, for example, velocity or acceleration.

[0155] According to one specific embodiment, it is provided that the detected object is associated with a lane.

[0156] According to one embodiment, it is determined whether there is a yield solution for the detected object approaching the traffic intersection.

[0157] According to one embodiment, it is provided that the behavior of an object approaching a traffic intersection is predicted.

[0158] According to one specific embodiment, it is provided that after the oncoming motor vehicle has stopped, for example after a short rest, it is determined whether an object approaching the traffic intersection can pass through the target lane without hindrance.

[0159] In the case where an approaching object is blocked by an oncoming motor vehicle, one embodiment provides for identifying a reversing point (reversing position) and an associated trajectory along which the motor vehicle must reverse out of the lane to allow the oncoming vehicle to continue.

[0160] In one specific embodiment, it is provided that the lane width of the respective lane is determined.

[0161] In one specific embodiment, it is provided that the motor vehicle width of an approaching motor vehicle is determined.

[0162] In one specific embodiment, it is provided that the current parking position of the oncoming motor vehicle in the target lane is detected.

[0163] In one specific embodiment, it is provided that a necessary distance is determined, by which an oncoming motor vehicle must reverse in order to allow the approaching motor vehicle to move freely.

[0164] In one specific embodiment, it is provided that a trajectory to the reverse parking point is derived and executed.

[0165] In one specific embodiment, it is provided that it is determined that the further motor vehicle has completely passed the oncoming motor vehicle and that, after completion of this process, a further oncoming process is started.

Claims

1. A method for at least partially automated guidance of a motor vehicle, comprising the following steps: generating and outputting entry control signals for controlling lateral and / or longitudinal guidance of the motor vehicle in order to at least partially automatically guide the motor vehicle so that the motor vehicle enters the traffic intersection; receiving an environmental signal representing the surrounding environment of the motor vehicle during its entry into the traffic intersection; Based on the environmental signal, determining that the motor vehicle should be able to continue to enter the traffic intersection, must stop and / or reverse; Based on the determination, generating and outputting control signals for controlling lateral and / or longitudinal guidance of the motor vehicle so as to at least partially automatically guide the motor vehicle in accordance with the determination so that the motor vehicle continues to enter the traffic intersection, stops and / or reverses; The environmental signals are processed to detect an object approaching the traffic intersection from a different direction than the motor vehicle, wherein the determining is performed based on the detected object; wherein, when an object is detected, a lane width of a lane is identified based on an environmental signal in which the object is currently located, wherein the determining is performed based on the identified lane width; wherein if the identified lane width is greater than or equal to a predetermined lane width threshold, then it is determined that the motor vehicle should be able to continue to enter the traffic intersection; If the identified lane width is less than or less than or equal to a predetermined lane width threshold, it is determined that the motor vehicle must stop or reverse.

2. The method according to claim 1, wherein: When a corresponding object is detected, it is identified based on the environmental signal whether the object can pass through the traffic intersection unimpeded when the motor vehicle is stopped, wherein the determination is performed based on identifying whether the object can pass through the traffic intersection unimpeded when the motor vehicle is stopped.

3. The method according to claim 1, wherein: When the corresponding object is detected, whether a yielding solution exists for the object is identified based on the environmental signal, wherein the determining is performed according to identifying whether a yielding solution exists for the object.

4. The method according to claim 1, wherein: When it is determined that the motor vehicle must reverse, a reverse parking position to which the motor vehicle should reverse is identified based on the environmental signal, wherein the control signal is generated and output based on the reverse parking position to at least partially automatically guide the motor vehicle to the reverse parking position.

5. The method according to claim 4, wherein: The ambient signal is processed to detect an object approaching the traffic intersection from a different direction than the motor vehicle, wherein the determination is performed based on the detection of the corresponding object, wherein an object width of the object is identified based on the ambient signal, wherein the reverse parking position is identified based on the identified object width.

6. The method according to claim 4, wherein: When an object is detected, a lane width of a lane is identified based on an environmental signal where the object is currently located, wherein the determining is performed based on the identified lane width, wherein the reverse parking position is determined based on the identified lane width.

7. A device for at least partially automated guidance of a motor vehicle, the device being configured to carry out all the steps of the method according to any one of the preceding claims.

8. A motor vehicle comprising a device according to claim 7.

9. A machine-readable storage medium having a computer program stored thereon, the computer program comprising instructions, and when the computer program is executed by a computer, the instructions cause the computer to execute the method according to any one of claims 1 to 6.

Images