Methods for operating motor vehicles and motor vehicles

Abstract

The present invention relates to a method for operating a motor vehicle (1) designed for autonomous and / or partially autonomous driving, wherein the motor vehicle (1) moves along a predetermined driving trajectory (10) and, during autonomous or partially autonomous driving: moves the driving trajectory (10) extending centrally or substantially centrally along the driving lane toward the edge of the driving lane based on lane information describing the driving lane currently being traveled by the motor vehicle (1), speed information describing the current speed of the motor vehicle (1), and at least one traffic information describing the current traffic flow in the environment of the motor vehicle (1); and / or stops the motor vehicle (1) before passing through the narrow position or intersection (23) based on route information describing a narrow position or intersection (23) in the direction of travel, and additionally based on emergency vehicle information describing the presence of an emergency vehicle (20) in the environment of the motor vehicle (1) and / or accident information describing an accident (21) in the direction of travel.

Description

Technical Field

[0001] This invention relates to a method for operating a motor vehicle, wherein the motor vehicle is designed for autonomous and / or partially autonomous driving, in which the motor vehicle moves along a predetermined driving trajectory. Furthermore, this invention also relates to a motor vehicle. Background Technology

[0002] Clear regulations have been issued within the framework of road traffic laws, outlining how to create emergency lanes, particularly on multi-lane road sections, to ensure unimpeded passage for rescue vehicles during periods of increased traffic flow. Despite this, drivers of emergency vehicles repeatedly report delays in arriving at or leaving accident scenes due to the lack of properly constructed emergency lanes. To avoid this, drivers are repeatedly reminded, for example, of how to ideally create emergency lanes, using informational banners on highway bridges. Beyond manual operation controlled by the driver, efforts are also being made to create compliant emergency lanes without driver intervention for autonomous or partially autonomous operation—in which the vehicle is fully or partially controlled without driver input. Various solutions for this are known from existing technology.

[0003] DE 10 2016 011 544 A1 describes a method for operating a vehicle having a driver assistance device for partially or autonomously operating the vehicle. The driver assistance device detects traffic-important information, wherein, when it is determined that an impending traffic jam is about to occur, the vehicle is guided based on the detected traffic-important information to create and maintain a rescue lane in the lane. Here, the driving behavior of vehicles traveling ahead is detected as traffic-important information.

[0004] DE 10 2013 220 307 A1 describes a system for better assisting motor vehicle drivers in forming a rescue lane. This system includes multiple detection devices characterizing traffic conditions and the vehicle's surrounding environment. A control unit determines the necessity of forming a rescue lane based on the detected parameters. Furthermore, it determines one or more actions of the motor vehicle to form a rescue lane and outputs corresponding information to the driver, and / or performs semi-automatic or fully automatic control of the motor vehicle.

[0005] DE 10 2015 014 789 A1 describes a method for creating a driving lane in a road segment with high traffic volume, wherein a driving lane is created in the road segment to allow at least one emergency vehicle to pass during traffic congestion. For this purpose, a first vehicle detects an emergency vehicle following behind or an oncoming vehicle using its own sensors and initiates an evasive maneuver, wherein information regarding the identification of an emergency vehicle or oncoming vehicle is sequentially passed from one vehicle to the next. Here, an instruction for the evasive maneuver initiated by the vehicle that issued the information is added to the information, and based on the instruction, the receiving vehicle derives its own evasive maneuver. Summary of the Invention

[0006] The purpose of this invention is to improve the characteristics / behavior of motor vehicles during autonomous and / or partially autonomous driving operations when forming rescue channels.

[0007] To achieve this objective, according to the invention, in methods of the type described at the beginning, during autonomous or partially autonomous driving operations:

[0008] - Based on lane information describing the current lane traveled by the motor vehicle, speed information describing the current speed of the motor vehicle, and at least one type of traffic information describing the current traffic flow in the motor vehicle's environment, the vehicle moves centrally along its travel trajectory toward the edge of the lane, and / or

[0009] - Based on route information / direction information / outline information describing the narrow location or intersection / crossroads in the intended road direction, and additionally based on emergency vehicle information describing the presence of emergency vehicles in the motor vehicle environment and / or accident information describing the accident in the intended road direction, the motor vehicle is stopped before passing through the narrow location or intersection.

[0010] The advantage of the solution according to the invention is that the vehicle can react proactively during autonomous and / or partially autonomous driving operations, and in particular, it can prevent the rescue path from being unintentionally blocked by the vehicle. Furthermore, the method according to the invention advantageously avoids the need for driver intervention to keep the rescue path clear during autonomous / assisted driving, i.e., when the vehicle is operating in an autonomous or partially autonomous driving mode, where such intervention must be performed in opposition to the current control function of the control device enabling autonomous or partially autonomous driving. Therefore, in partially autonomous operation, for example when using lane keeping assist and / or traffic jam assist, the driver does not need to steer against the steering torque generated within the range of partially autonomous operation or brake against the acceleration torque to create a rescue passage or stop the vehicle to keep the rescue path clear.

[0011] In principle, during autonomous driving operation, the vehicle moves along a driving trajectory that extends centered or at least substantially centered along the lane in which the vehicle is currently traveling. To create a rescue passage and / or to bring the vehicle to a stop, the driver must actively steer against the directional control of the driver assistance system during autonomous or partially autonomous driving operation to move away from the center of the lane, or, for example, by over-controlling the directional control during the stopping process, thereby creating a rescue passage and / or keeping narrow spaces clear.

[0012] By moving a centrally or substantially centrally positioned driving trajectory along the edge of the driving lane according to lane information, speed information, and traffic information, a motor vehicle can independently move from the center of the driving lane to the edge during autonomous or partially autonomous driving. This allows for the automatic formation of a rescue lane when needed, based on the vehicle's current speed and the current traffic flow in the vehicle's environment. The driving trajectory can be maintained indefinitely or for a certain period. In particular, the moved driving trajectory can be used for autonomous or partially autonomous driving until continuously detected speed information and / or continuously detected traffic information clearly indicates that it is no longer necessary to form or maintain a rescue lane. The method according to the invention can be used both in urban and out-of-town environments.

[0013] Lane information can describe whether a vehicle is on a single-lane road, or whether it is currently on a multi-lane road, and which lane it is currently in. Based on the lane the vehicle is currently in, the driving trajectory can be adjusted to the left or right edge of the lane. The moving trajectory can, for example, be positioned next to a lane marker on the edge of the currently traveling lane. To determine which lane edge the vehicle should move to, the lane information can additionally include information such as which predetermined rule should be followed to create a rescue lane in the currently traveling lane. The driving trajectory can then be moved to the lane edge required by the predetermined rule for creating a rescue lane. For example, these rules might stipulate that when traveling in the leftmost lane of a multi-lane road, the driving trajectory moves to the left edge of the lane, and in other lanes of the multi-lane road, the driving trajectory is moved to the right edge of the lane.

[0014] By taking into account speed and traffic information, the driving trajectory is only moved when the vehicle's speed and the surrounding traffic flow indicate that a rescue passage needs to be formed. This effectively avoids unintentional movement of the driving trajectory when rescue vehicles can already pass without any problems.

[0015] Furthermore, advantageously achieved by the method according to the invention, when there are narrow spaces or intersections in the desired road direction / road profile / route, and in addition, when there are emergency vehicles in the motor vehicle environment and / or when there is an accident on the desired road direction, the motor vehicle stops before passing through the narrow space or intersection. Emergency vehicles here can be, in particular, emergency vehicles with special right-of-way, such as ambulances, police cars, or fire trucks. Parking according to the invention represents an emergency stop during autonomous or partially autonomous driving operations, particularly without manual intervention from the driver.

[0016] By stopping motor vehicles according to the present invention, emergency vehicles crossing an intersection, for example, can pass unimpeded. Furthermore, it advantageously avoids the situation where motor vehicles enter narrow spaces, such as construction sites or narrow lanes, and block these spaces for approaching emergency vehicles, thus hindering their unimpeded passage. By stopping before a narrow space, one or more lanes in the narrow space are not blocked by motor vehicles moving in autonomous or partially autonomous driving modes, allowing emergency vehicles to still enter the narrow space or intersection unimpeded.

[0017] In a preferred embodiment of the invention, it can be proposed that the driving trajectory be moved to the edge of the driving lane based on lane information before the vehicle stops. This advantageously allows for the space-saving positioning of vehicles parking in narrow locations or at intersections, while allowing as much space as possible for emergency vehicles that may approach from the front or rear. For this purpose, lane information describing the driving lane currently being used by the vehicle can be considered. As previously described regarding the moving driving trajectory, it can be similarly determined based on the parking lane information whether the vehicle should stop at the left or right edge of the driving lane. In single-lane roads, it can also be determined, if necessary, based on the lane information whether the vehicle should move towards the left or right edge of the driving lane when stopping.

[0018] According to the present invention, when a driving lane is adjacent to another driving lane, an emergency lane, or an emergency stopping point, the driving trajectory can be moved across the edge of the driving lane to the other driving lane, emergency lane, or emergency stopping point. Here, the lane information used may describe, for example, whether the other driving lane is adjacent to the currently driving lane, which side of the currently driving lane it may be adjacent to, and / or whether the driving lane is adjacent to an emergency lane or emergency stopping point. Moving the driving trajectory across the edge of the currently driving lane advantageously provides as much free space as possible for potentially approaching emergency vehicles to pass. By moving the driving trajectory across the edge of the currently driving lane to the other driving lane, emergency lane, or emergency stopping point, it is possible for a motor vehicle, in its autonomous or partially autonomous driving operation, to deviate from its theoretical trajectory located in the middle of the driving lane and cross another driving lane, or cross an emergency lane, or proceed to an emergency stopping point and / or stop at an emergency stopping point.

[0019] In a preferred embodiment of the invention, it can be proposed that the driving trajectory be moved when the speed of the vehicle is below a limit and / or when increased traffic flow is described by traffic information. When the speed of the vehicle is above the limit and / or when traffic flow is very low, it is not necessary to form a rescue lane as a proactive measure, because situations where the speed of the vehicle is above the limit and the traffic flow is very low only occur under the following traffic conditions: under these traffic conditions, the possible passage of emergency vehicles is not obstructed by current traffic, thus eliminating the need for a rescue lane. For example, a speed limit of 30 km / h can be used, so that the driving trajectory is moved only when the speed of the vehicle is below 30 km / h. Other limits above or below 30 km / h can also be used. Increased traffic flow can be understood in particular as traffic flow that interferes with smooth traffic flow, such as congested traffic or stationary traffic.

[0020] In a preferred embodiment of the invention, it can be proposed that after the driving trajectory has shifted, the autonomous or partially autonomous driving operation of the motor vehicle continues; and / or after the motor vehicle has stopped, at least temporarily, the autonomous or partially autonomous driving operation of the motor vehicle is suspended. Therefore, after the driving trajectory has shifted, the motor vehicle can continue its autonomous or partially autonomous driving operation along the driving trajectory that has moved to the edge of the lane, or, if necessary, along a driving trajectory that crosses / crosses the edge of the lane, for example, along a driving trajectory extending into another lane, emergency lane, or emergency stopping area. After the motor vehicle has stopped, suspending autonomous or partially autonomous driving operation can prevent the motor vehicle from moving again to a narrow location or intersection where passage should be maintained by stopping.

[0021] According to the present invention, lane information and / or route information can be determined based on a set of data stored in a database of a storage device, particularly a navigation device for a motor vehicle. Here, for example, lane information and / or route information can be determined from a set of data stored as map information, such as map information for navigation devices. Various storage media suitable for storing databases or map information, particularly high-resolution map information, can be used as the storage device.

[0022] According to the present invention, traffic information and / or emergency vehicle information and / or accident information can be transmitted to a communication device in a motor vehicle via a communication connection. Here, the communication connection can be, for example, Car-2-X (vehicle-to-multi-application) communication, through which data exchange can be realized between motor vehicles and / or between a motor vehicle and infrastructure and / or remotely located computing units. In addition to or instead of transmission via the communication connection, traffic information and / or emergency vehicle information and / or accident information can also be determined by at least one sensor device in the motor vehicle.

[0023] By transmitting emergency vehicle and / or accident information via a communication link, it is advantageous to enable the vehicle to react to accidents or emergency vehicles outside the detection range of environmental sensors located on the vehicle side. This is particularly beneficial when the approach of an accident and / or emergency vehicle in the vehicle's environment is not yet identifiable by the vehicle itself, thus preventing passage through narrow spaces. Speed ​​information used for moving the driving trajectory can be determined by the vehicle itself. In particular, speed information already present in control devices that implement autonomous or partially autonomous driving operations can be used.

[0024] According to the present invention, it is possible to realize the movement of driving trajectories and / or the parking of motor vehicles based on environmental information describing objects in the environment of a motor vehicle. The environmental information can describe, for example, stationary objects such as road construction elements and / or moving objects such as other motor vehicles. For example, traffic signs, construction site boundaries, curbs, guardrails, or the like present near a motor vehicle can be described as road construction elements. Other traffic participants stationary or stationary in the environment of a motor vehicle can also be detected as stationary objects. For example, other motor vehicles and / or other traffic participants—especially those located near a motor vehicle—can be described as moving objects.

[0025] Here, consideration of environmental information can be advantageously achieved: by moving the driving trajectory according to the objects in the environment of the motor vehicle, it is possible to prevent the motor vehicle from unintentionally colliding with one or more objects in the environment of the motor vehicle while driving through the moving driving trajectory.

[0026] To determine environmental information, according to the present invention, it can be proposed to determine environmental information by means of a sensor device of a motor vehicle, wherein the sensor device particularly includes at least one laser sensor and / or at least one lidar sensor and / or at least one radar sensor and / or at least one camera. It is also possible that the sensor device is additionally or alternatively designed for determining emergency vehicle information and / or accident information and / or lane information and / or traffic information; and / or environmental information—in particular—in addition to data sets stored in a storage device—is used to determine lane information and / or route information.

[0027] Furthermore, according to the invention, environmental information can be displayed, at least partially, on at least one display device in the motor vehicle, particularly from a bird's-eye view and / or by means of projection onto the windshield of the motor vehicle. This allows the driver to advantageously perform simple manual movements of the motor vehicle when necessary, either by adjusting the driving trajectory or, in addition to parking the vehicle. Specifically, route information and / or lane information can also be displayed on the display device. The location of emergency vehicles can also be shown on the display device based on emergency vehicle information, and / or the location of an accident can be shown based on accident information. Here, a screen within the vehicle's interior space can be used, in particular, as the display device, on which schematic map illustrations and / or camera images can be displayed in an enhanced manner. Head-up displays, particularly contactless analog head-up displays (kHUDs), can also be used as display devices.

[0028] A bird's-eye view (so-called top-down view or bird's-eye view) shows the vehicle's environment, especially its immediate vicinity, enabling the driver to move the vehicle when they recognize obstacles such as curbs or guardrails that they may no longer be able to see visually, and, if deemed necessary, to manually control the vehicle further towards the lane edge, based on the vehicle's surroundings. The display of environmental information also allows for better estimation of distances to other road users, thus simplifying the driver's targeted maneuvering of the vehicle.

[0029] In a preferred embodiment of the invention, an optical and / or acoustic alarm signal may be emitted to the driver of the vehicle when the driving trajectory is shifting and / or when the vehicle stops and / or based on accident information and / or emergency vehicle information. The optical alarm signal—e.g., as an alarm message or an informational message—may be displayed, for example, by a vehicle display device also used to display environmental information. Alternatively or additionally, another display device may be used to display the optical alarm signal. By displaying the optical alarm message or by generating an alarm sound as an acoustic alarm signal, the driver can become aware of the shift in the driving trajectory or the stopping of the vehicle during autonomous or partially autonomous driving, thereby enabling the driver to proactively keep the rescue path clear.

[0030] According to the invention, a motor vehicle includes a control device designed to perform autonomous and / or partially autonomous driving operations in which the motor vehicle moves along a predetermined driving trajectory, wherein the control device is configured to implement the method according to the invention.

[0031] All the advantages and details described regarding the method according to the invention also apply accordingly to the motor vehicle according to the invention. Attached Figure Description

[0032] Other advantages and details of the invention will become apparent from the embodiments described below and from the accompanying drawings. These drawings are schematic illustrations and show:

[0033] Figure 1 A side view of an embodiment of a motor vehicle according to the present invention is shown.

[0034] Figure 2 This illustration shows a first traffic situation used to illustrate an embodiment of the method according to the invention.

[0035] Figure 3 A second traffic situation is shown to illustrate an embodiment of the method according to the present invention, and

[0036] Figure 4A third traffic situation is shown to illustrate an embodiment of the method according to the present invention. Detailed Implementation

[0037] exist Figure 1 An embodiment of a motor vehicle 1 according to the present invention is shown. The motor vehicle 1 includes a control device 2 designed to enable the motor vehicle 1 to move in autonomous and / or partially autonomous driving operations. The autonomous and / or partially autonomous driving operations of the motor vehicle 1 are assisted driving modes and may be designed, for example, as lane keeping assist and / or traffic jam assist. Furthermore, the motor vehicle 1 includes a communication device 3 through which various types of information can be transmitted to the motor vehicle 1 via a communication connection, wherein data received by the communication device 3 is provided to the control device 2.

[0038] Furthermore, the control device 2 is connected to the sensor device 4 of the vehicle 1. Here, the sensor device 4 includes multiple sensors 5. These sensors 5 may include at least one laser sensor, at least one lidar sensor, at least one radar sensor, and / or at least one camera, wherein the environment of the vehicle 1 can be detected by the sensors 5 of the sensor device 4. Environmental information describing the environment of the vehicle 1 is generated by the sensor device 4 and transmitted to the control device 2. Here, the environmental information describes stationary and moving objects present in the environment of the vehicle and detected by the sensors 5.

[0039] Furthermore, the communication device 3 receives traffic information describing the current traffic flow in the motor vehicle environment, emergency vehicle information describing the presence of emergency vehicles in the motor vehicle environment, and accident information describing accidents that have occurred on the intended road path. This information is transmitted to the communication device 3 of the motor vehicle 1, for example, from other traffic participants and / or from fixed computing devices via a Car-2-X communication connection.

[0040] Furthermore, the control device 2 is designed to determine speed information describing the current speed of the vehicle 1. The control device 2 is connected to a storage device 6, which is designed, for example, as a database for the navigation device of the vehicle 1. The storage device 6 contains a set of data stored as high-resolution map information, based on which the control device 2 determines lane information describing the current lane traveled by the vehicle and route information describing narrow locations or intersections in the road direction to which the vehicle 1 will travel. Additionally, to determine the lane information and / or route information, the control device 2 may further consider information provided by the sensor device 4.

[0041] exist Figure 2The diagram illustrates a first traffic situation 7, under which an embodiment of the method according to the invention is explained. Traffic situation 7 includes a three-lane road 8, on which a motor vehicle 1 according to the invention and several other traffic participants 9 travel. Here, the motor vehicle 1 moves along a predetermined travel trajectory 10 in autonomous or partially autonomous driving operation.

[0042] The control device 2 of vehicle 1 determines that the current speed of the vehicle is below, for example, the speed limit of 30 km / h, and the traffic information determined by the control device 2 describes the increased traffic flow of other traffic participants 9, which causes traffic congestion on road segment 8. Furthermore, the control device 2 determines lane information describing that vehicle 1 is currently located in the leftmost lane 12 of road segment 8.

[0043] Based on lane information, speed information, and traffic information, the control device 2 moves the predetermined driving trajectory 10 to the moved driving trajectory 13. The moved driving trajectory 13 no longer extends centered along the driving lane 12, but is shifted to the left edge of the driving lane. After the driving trajectory is moved, the vehicle 1 moves along the moved driving trajectory 13. Thus, a rescue passage is formed between the leftmost driving lane 12 and the adjacent driving lane on its right, allowing emergency vehicles to pass through whenever necessary.

[0044] Furthermore, environmental information is generated by the sensor device 4 of the vehicle 1, which allows the detection of stationary and moving objects in the environment of the vehicle 1. For example, guardrail 14 can be detected as a stationary object. Other traffic participants 9 in the environment of the vehicle 1 are also detected as stationary and / or moving objects. The determined environmental information is then presented on the display device of the vehicle 1, making it easier for the driver of the vehicle 1 to perform manual movements of the vehicle 1 when necessary. For example, a display and / or head-up display in the interior space of the vehicle, particularly a contactless analog head-up display, can be used as the display device.

[0045] Similar to the movement of driving trajectory 10 towards the left edge of lane 12, when vehicle 1 is traveling in the middle lane or the right lane of road segment 8, driving trajectory 10 can also move towards the edge of the middle lane or the edge of the rightmost lane. Lane information describes which lane vehicle 1 is currently in on road segment 8 and which rules should be considered to form an emergency lane. Therefore, for the currently traveling lane, the lane edge to which driving trajectory 10 should move is determined. Here, for example, when vehicle 1 is traveling in the middle lane, the driving trajectory can also cross the lane markings on the right edge of the middle lane to move to the rightmost lane. When traveling in the rightmost lane, it is also possible to move the driving trajectory to the emergency lane 15 and / or the emergency stopping area 16.

[0046] exist Figure 3 The diagram illustrates a second traffic situation 24. In this situation, vehicle 1 is located on a two-lane road segment 8. Vehicle 1 is positioned in the right lane 17 of road segment 8. Here, lane 17 is blocked by a construction site 18 in the direction of continued travel, thus creating a narrow section in road segment 8 within the construction site area, where only the left lane 19 is available for travel. The construction site 18 and / or the resulting narrow section are described in the route information.

[0047] Based on the route information and emergency vehicle information transmitted to vehicle 1 describing the approach of emergency vehicle 20 in the environment of vehicle 1, and / or accident information transmitted to vehicle 1 describing the existence of an accident 21 in the construction site area, vehicle 1 stops in the right lane 17 before passing through the narrow location, thus preventing vehicle 1 from passing through the narrow location, i.e., the construction site 18 in the left lane 19 area, along the predetermined driving trajectory 10. This ensures that emergency vehicle 20 is not blocked by vehicle 1 on its path to the accident 21. After vehicle 1 stops, it does not continue autonomous or partially autonomous driving, at least temporarily, so that the left lane 19 remains clear even after emergency vehicle 20 has passed. Emergency vehicle 20 is an emergency vehicle with special right-of-way, such as an ambulance, police car, or fire truck.

[0048] exist Figure 4The diagram illustrates a third traffic situation 22. Here, an intersection 23 exists in the road path that vehicle 1 intends to travel. The existence of intersection 23 is described by route information evaluated by control device 2. Based on this route information and emergency vehicle information describing the approach of emergency vehicle 20 in the environment of vehicle 1, vehicle 1 stops before crossing intersection 23 and ceases to move along the predetermined travel trajectory 10. This allows emergency vehicle 20 to cross intersection 23 without obstruction from vehicle 1. When additional or updated emergency vehicle information and / or environmental information of an emergency vehicle is detected—which vehicle 1 can determine via its sensor device 4—indicate that emergency vehicle 20 has crossed intersection 23 and there are no other emergency vehicles in the environment of vehicle 1, vehicle 1 can continue its autonomous and / or partially autonomous driving operation, for example.

[0049] Based on lane information, the travel trajectory 10 of vehicle 1 can also be moved before the vehicle stops. For example, the travel trajectory 10 can be moved to the right edge of the lane in which vehicle 1 travels before vehicle 1 stops, thus creating a moved travel trajectory 25. This is particularly meaningful when emergency vehicles approaching vehicle 1 from the front or rear are described by emergency vehicle information, because the movement of the travel trajectory 10 before stopping leaves as much space as possible for the vehicle to pass through the intersection 23.

[0050] The described traffic situation may occur both within and outside the city. The method according to the invention ensures that the rescue route of the emergency vehicle 20 remains unobstructed and is not blocked by the autonomous or partially autonomous movement of the motor vehicle 1.

[0051] The movement of the driving trajectory 10 and / or the stopping of the motor vehicle 1 in a narrow position can be identified by the driver of the motor vehicle 1 through optical alarm information and / or through acoustic alarm information.

Claims

1. A method for operating a motor vehicle (1), wherein, The motor vehicle (1) is designed for autonomous and / or partially autonomous driving, in which the motor vehicle (1) moves along a predetermined driving trajectory (10). During autonomous or partially autonomous driving operations, in order to proactively create a rescue channel, a driving trajectory (10) extending centrally or substantially centrally along the driving lane is moved toward the edge of the driving lane based on at least one piece of traffic information, including lane information describing the current driving lane of the motor vehicle (1), speed information describing the current speed of the motor vehicle (1), and current traffic flow in the environment of the motor vehicle (1). This movement of the driving trajectory (10) occurs when the control device (2) of the motor vehicle (1) determines that the speed of the motor vehicle (1) is below a limit and / or the traffic information describes an increased traffic flow. In the case where the edge of the driving lane is adjacent to another driving lane, emergency lane (15) or emergency stop (16), the driving trajectory is further moved across the edge of the driving lane to the other driving lane, emergency lane (15) or emergency stop (16).

2. The method according to claim 1, Its features are, Before the motor vehicle (1) stops, the driving trajectory (10) is moved toward the edge of the driving lane according to the lane information.

3. The method according to claim 1 or 2, Its features are, After the driving trajectory (10) has moved, the autonomous or partially autonomous driving operation of the motor vehicle (1) continues; and / or after the motor vehicle (1) has stopped, the autonomous or partially autonomous driving operation of the motor vehicle (1) is not continued at least temporarily.

4. The method according to claim 1 or 2, Its features are, Lane information and / or route information are determined based on a set of data stored in a storage device (6), which is a database of the navigation device of the motor vehicle (1).

5. The method according to claim 1 or 2, Its features are, A communication device that transmits traffic information and / or emergency vehicle information and / or accident information to a motor vehicle (1) via a communication connection.

6. The method according to claim 1 or 2, Its features are, The movement of the driving trajectory (10) and / or the parking of the motor vehicle are carried out based on environmental information describing the objects in the environment of the motor vehicle (1).

7. The method according to claim 6, Its features are, Environmental information is determined by a sensor device (4) of a motor vehicle (1), wherein the sensor device includes at least one laser sensor and / or at least one lidar sensor and / or at least one radar sensor and / or at least one camera.

8. The method according to claim 6, Its features are, Environmental information is displayed at least partially on at least one display device of the motor vehicle (1), the environmental information is displayed at least partially on the at least one display device from a bird's-eye view, and / or the environmental information is displayed by means of projection onto the windshield of the motor vehicle (1).

9. The method according to claim 1 or 2, Its features are, Optical and / or acoustic alarm signals are issued to the driver of the vehicle (1) when the vehicle (1) moves and / or when the vehicle (1) stops and / or based on accident information and / or emergency vehicle information.

10. A motor vehicle, said motor vehicle including a control device (2), wherein, The control device (2) is designed to perform autonomous and / or partially autonomous driving operations, in which the motor vehicle (1) moves along a predetermined driving trajectory (10). Its features are, The control device (2) is configured to implement the method according to any one of claims 1 to 9.

Images