Safe autonomous driving operation in sun glare

Abstract

The invention relates to a method for safe, at least semi-autonomous driving operation of a host vehicle (1) in the presence of a solar glare (2), comprising the following steps: checking by a computing system whether one or more vehicle sensors of the host vehicle (1) are dazzled (10) by the solar glare (2); if yes (T), detecting by a detection system of the host vehicle (1) environmental information (20); checking by the computing system the environmental information for determining whether at least one dynamic object (3) is present which is adapted to intercept the solar glare (2) during driving operation of the host vehicle (1) (30); if yes (T), checking by the computing system whether the host vehicle (1) is able to perform a driving maneuver (40) in such a way that the at least one dynamic object (3) intercepts the solar glare (2) during driving operation of the host vehicle (1); if yes (T), performing the driving maneuver (50). The invention also relates to a driving support system comprising means for performing the steps of the method. Furthermore, the invention relates to a vehicle comprising the driving support system. Moreover, the invention relates to a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the steps of the method. Furthermore, the invention relates to a data carrier signal and a computer readable medium.

Description

TECHNICAL FIELD

[0001] The invention relates to a method for safe, at least semi-autonomous driving operation in case of solar glare.

[0002] The invention also relates to a driving support system comprising means for carrying out the steps of the method.

[0003] Furthermore, the invention relates to a vehicle comprising a driving support system.

[0004] Moreover, the invention relates to a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the steps of the method.

[0005] Furthermore, the invention relates to a computer program product comprising a data carrier signal which, when loaded into a computer, causes the computer to carry out the steps of the method.

[0006] Moreover, the invention relates to a computer-readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the steps of the method. BACKGROUND

[0007] Sensors, in particular cameras, of autonomous vehicles with driving support systems are often affected by glare, for example when the vehicle is directly in front of the sun. This happens in particular during sunrise and sunset, because the sun is very low on the horizon, so if the vehicle is oriented towards the sun, it is directly in front of the front sensors. Therefore, the ability of each sensor and image processing algorithm to detect the environment and the road lane is negatively affected. As a result, the automated driving support system can make wrong decisions and it is difficult to correctly maintain its trajectory.

[0008] The current common solution consists in increasing the dynamic range of the image sensors to handle brightness, increasing the cost of the sensors, and integrating diagnostic logic to warn the automated driving that the sensor perception is affected, reducing the availability of the automated driving support system. If the driving support system estimates that the light conditions are difficult to ensure safe autonomous driving, it requests a fallback ready user to take over the control.

[0009] German publication DE 10 2012 105 659 A1 discloses in its paragraphs

[0007] and

[0009] a detection mechanism for determining the position of the sun. However, this document does not disclose the specific technical details of this structure. However, DE 10 2012 105 659 A1 proposes to cover the vehicle windows with blinds as a remedy for glare, see paragraphs

[0017] and

[0018] .

[0010] While this can be advantageous for the driver, this is not sufficient to allow the curtain detection system to be detected safely and reliably in a way that the vehicle receives sufficiently precise data for autonomous driving. SUMMARY

[0011] It is an object of the present invention to provide a method for safe, at least semi-autonomous, preferably autonomous driving operation in the presence of solar glare, a driving support system, a vehicle, a computer program, a data carrier signal and a computer readable medium which overcome the aforementioned disadvantages.

[0012] This object is achieved by the independent claims. Advantageous embodiments are given in the dependent claims.

[0013] In particular, the present invention provides a method for safe, at least semi-autonomous, preferably autonomous driving operation of an ego vehicle in the presence of solar glare, comprising the following steps:

[0014] checking, by a computing system, whether one or more vehicle sensors of the ego vehicle are blinded by solar glare;

[0015] if so, detecting, by a detection system of the ego vehicle, environmental information;

[0016] checking, by the computing system, the environmental information for determining whether there is at least one dynamic object which is suitable for intercepting the solar glare during driving operation of the ego vehicle;

[0017] if so, checking, by the computing system, whether the ego vehicle is able to perform a driving maneuver in a way that the at least one dynamic object intercepts the solar glare during driving operation of the ego vehicle;

[0018] if so, performing the driving maneuver.

[0019] It is preferred that the order of the aforementioned method steps can be changed, unless the aforementioned order is technically necessary. However, the aforementioned order of the method steps is particularly preferred.

[0020] Preferably, the last step or any step or all steps of the inventive method are performed in or at the vehicle.

[0021] In the following, the basic idea of the present invention and the individual elements of the claimed subject matter of the invention are explained according to their designation in the claim groups and further in the following, particularly preferred embodiments of the claimed subject matter of the invention are described. Any explanation is descriptive and preferred, but not a limiting example.

[0022] The basic idea of the invention is that an automated system in a vehicle adjusts its driving trajectory and uses the surroundings to minimize the influence of the sun on one or more sensors, in particular front or rear sensors. To this end, it is proposed that the vehicle uses another vehicle to shield the sun and remains able to see the environment in front of the vehicle.

[0023] The invention increases the availability of a driving support system by avoiding sensor glare situations that would normally cause the driver to have to take over driving of the vehicle. It also ensures a more smooth and comfortable control by avoiding a perception degradation of the sensors, in particular of the front camera. Finally, it will also avoid increasing the cost of the sensors by using imagers with a very high dynamic range. This means that at least one sensor, preferably several sensors, in particular sensors located in the front region of the vehicle, are not blinded by the sun. The invention proposes that in this case the vehicle looks for another car as a shield to shield the sun.

[0024] The sun glare is thus eliminated, in particular for the driver and / or the detection systems of the vehicle. The interception of the sun glare at the vehicle means that the sun glare is shining on the detection systems.

[0025] The intended purpose of the invention is to add a logic, i.e. a computing system, to the maneuvering and trajectory planner for the vehicle to look for a lane that avoids the sun on the horizon.

[0026] The following modules are thus preferably integrated: a sun glare detector for detecting whether the detection systems are blinded by the sun; a computing system for detecting a shielding position in which the vehicle is less affected by the sun; a computing system that decides to maneuver towards the shielding driving position.

[0027] According to a modified embodiment of the invention, it is assumed that:

[0028] It is checked whether one or more vehicle sensors of the vehicle are blinded by the sun glare;

[0029] It is checked that the environmental information is used to determine whether there is at least one dynamic object that is suitable for intercepting the sun glare during the driving maneuver of the vehicle; or

[0030] It is checked whether the vehicle is able to perform a driving maneuver in such a way that at least one dynamic object intercepts the sun glare during the driving maneuver of the vehicle;

[0031] If this is determined to be "no", a new check is performed: whether one or more vehicle sensors of the vehicle are blinded by the sun glare. The purpose of this measure is to ensure that the sun glare is detected as early as possible if the driving maneuver of the vehicle cannot eliminate the sun glare. The vehicle thus performs the driving maneuver as quickly as possible as long as the sun glare is still present. This is a safety-enhancing measure.

[0032] According to a modified embodiment of the present application, there is provided

[0033] detecting environmental information for determining whether at least one dynamic object is present which is adapted to intercept the sun glare during the driving operation of the own vehicle; and

[0034] checking whether the own vehicle is able to perform a driving maneuver in such a way that the at least one dynamic object intercepts the sun glare during the driving operation of the own vehicle;

[0035] comprising at least the following common steps performed by the computing system:

[0036] determining all dynamic objects;

[0037] determining a protection zone for each dynamic object, whereby the respective dynamic object intercepts the sun glare during a driving of the own vehicle within the protection zone;

[0038] classifying one or more protection zones into a priority protection zone and a risk protection zone;

[0039] selecting the priority protection zone for performing the maneuver. Thus, the protection zone is subdivided into a priority protection zone and a risk protection zone. Basically, the protection zone is that area of the one or more sensors of the vehicle detection system, preferably all sensors of the detection system, which is not exposed to the sun radiation. This is achieved in particular by the dynamic objects forming the protection zone acting as a shield or similarly as a shadow provider. The priority protection zone is the protection zone in which the own vehicle is able to follow the dynamic object without directly impairing the driving safety and comfort. Correspondingly, the risk protection zone is that protection zone in which the own vehicle is not able to follow the dynamic object without directly impairing the driving safety and comfort. The determination of all dynamic objects defines the dynamic objects which are detectable by the detection system and / or the dynamic objects which are detectable by an external detection system. Thus, the priority protection zone is selected in which the own vehicle can preferably follow the dynamic object over a presumed long distance, whereby the dynamic object acts as a shadow shield.

[0040] According to a modified embodiment of the present application, there is provided:

[0041] a protection zone is classified as a risk protection zone if at least one of the following criteria is fulfilled:

[0042] the behavior of following the protection zone violates legal provisions;

[0043] the dynamic object providing the protection zone moves faster compared to the situation in which the dynamic object obeys the traffic rules and / or enables the own vehicle to drive safely;

[0044] The dynamic object providing the protection zone moves slower than in the case where the dynamic object complies with traffic rules and / or enables the host vehicle to drive safely;

[0045] The dynamic object providing the protection zone moves on a lane having an exit, whereby the exit is so close to the dynamic object that in the case where the host vehicle performs a driving maneuver and the dynamic object can drive off from the exit, the sun glare will not be intercepted. It turns out that these criteria allow, among others, a reliable distinction between a priority protection zone and a risk protection zone, thus ensuring a high level of safety. Thus, a distinction is made between a zone where the host vehicle drives too fast, a zone where the vehicle drives too slow and a zone where the host vehicle is less likely to follow the dynamic object over a long distance.

[0046] According to a modified embodiment of the invention, it is provided that:

[0047] The driving maneuver performed by the host vehicle comprises adjusting its trajectory and / or speed. It has proven that the adaptation of the trajectory and / or speed is a suitable measure to reach the protection zone with the host vehicle as safely and energy-efficiently as possible.

[0048] According to a modified embodiment of the invention, it is provided that:

[0049] In the case where the driving destination is prioritized, the host vehicle tracks the dynamic object after it has performed a driving maneuver in such a way that it drives in the protection zone of the dynamic object. This can mean that the host vehicle can change lanes to continue driving in the shadow of the dynamic object. The host vehicle can also keep the lane or change lanes as the dynamic object does. For this, but also for the other features, the turning signal function of the dynamic object can be considered to predict its driving behavior. However, in principle, a tracking function of the host vehicle can be provided whereby the dynamic object is continuously controlled to remain between the host vehicle and the sun, in compliance with the traffic rules and the driving destination.

[0050] According to a modified embodiment of the invention, it is provided that:

[0051] The detection system comprises a laser scanner and / or a camera, in particular with a CCD sensor. The laser scanner performs a laser scanning, also called laser sensing. In this process, a surface or a vehicle body is illuminated with a laser beam in a line or raster pattern in order to measure or process them or to generate an image. The sensor that deflects the laser beam accordingly is called a laser scanner. Laser scanners that measure the reflected signal intensity in addition to the object geometry are called imaging laser scanners and are preferred. The recording of the intensity values of the laser light reflected by the recorded surface is exemplary for a reliable detection result with a laser measuring system using 16-bit grayscale. The result is an image of the surface similar to a black-and-white photograph. As a digital camera, the camera captures recordings in a digital memory. A digital camera includes an optical system, preferably using a lens with a variable aperture to focus light onto an image sensor. The aperture and shutter allow the right amount of light to enter the image, just like film, but the image sensor is electronic, not chemical. However, unlike a film camera, a digital camera can display images on a screen immediately after recording and store and delete images from internal memory. Thus, fast processing of the captured data is possible, as is the laser scanner. Preferably, the camera has a CCD sensor. A CCD sensor is a light-sensitive electronic element based on the internal photoeffect. CCD is an abbreviation for charge-coupled device, which is used in CCD sensors. A CCD image sensor consists of a matrix (array) of light-sensitive photodiodes. These can be rectangular, square or polygonal, with side lengths from 1.4 micrometers to over 20 micrometers. The larger the pixel area, the higher the sensitivity and dynamic range of the CCD sensor, but for the same sensor size, the image resolution is smaller. Most CCDs are of MIS construction: an insulating layer to which optically transparent electrical conductors (electrodes) are attached is attached on a doped semiconductor. Charge carriers (mainly electrons, sometimes also "holes") accumulate underneath. Other thin wires usually run between the pixels for readout and to shield overexposed pixels.

[0052] According to a modified embodiment of the application, it is provided that:

[0053] The detection system comprises redundant sensors of different detection principles. Redundant sensors have the advantage that they have different detection capabilities for different solar glare. However, the aim should be to ensure that no sensor is disabled by the glare of the sun in such a way that detection is not possible at all and the vehicle is put in danger. For example, if a camera with a CCD sensor cannot detect due to solar glare, a laser scanner can detect under the same solar glare. The reverse is also possible. Other detection principles are possible in addition to those mentioned above. In order to ensure the highest safety, the use of redundant sensors is recommended.

[0054] According to a modified embodiment of the application, it is provided that:

[0055] The detection system comprises sensors detecting the front region of the vehicle, sensors detecting the rear region of the vehicle and / or sensors detecting one or both side regions of the vehicle. The greatest application of autonomous vehicles in road traffic is probably the detection of the region in front of the vehicle and the side regions of the vehicle. This is because vehicles usually travel directly forwards and change lanes laterally. Therefore, such detection sensors should be designed for this purpose. However, it can also be preferred to carry out rear detection, for example to detect vehicles approaching too quickly. For this purpose, it is also advantageous for the rear detector not to be dazzled. Therefore, in order to achieve all-round detection, all-round detection and the execution of driving maneuvers are particularly preferred.

[0056] The invention also provides a driving support system comprising means for carrying out the steps of the method. The driving support system can comprise a driving support system for supporting autonomous or semi-autonomous driving of a corresponding autonomous or semi-autonomous vehicle, or a driver assistance system for supporting a driver of a vehicle in different driving situations.

[0057] The invention also provides a vehicle comprising a driving support system. Preferably, the vehicle is the ego vehicle of the driver.

[0058] The invention also provides a computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the steps of the method. A computer program is a collection of instructions that are designed to carry out a specific task, which is designed to solve a problem of a specific class. The instructions of the program are designed to be executed by a computer, and require the computer to be able to execute the program to make it run.

[0059] The invention also provides a computer program product for the transmission of data.

[0060] The invention also provides a computer-readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the steps of the method.

[0061] These and other aspects of the invention will become apparent from and will be elucidated with respect to the embodiments described hereinafter. Individual features disclosed in the embodiments can form an aspect of the invention alone or in combination. Features of different embodiments can be used in combination with each other. BRIEF DESCRIPTION OF DRAWINGS

[0062] Figure 1 a flow chart of a preferred method according to the invention is shown;

[0063] Figures 2a-2d is a schematic plan view of the order of the steps according to the method of Figure 1

[0064] Figure 3 is a schematic plan view of the order of the steps according to the method of Figure 1 ​schematic plan view of another case of the method;

[0065] Figure 4 is a side view through a protection area of a dynamic object; and

[0066] Figure 5 is a schematic view under solar glare as observed from inside the vehicle. DETAILED DESCRIPTION

[0067] Figure 1 A method for safe, at least semi-autonomous driving operation of the own vehicle 1 in the case of solar glare 2 is shown, comprising the following steps:

[0068] Checking by the computing system whether one or more vehicle sensors of the own vehicle 1 are dazzled by the solar glare 2 (10);

[0069] If yes (T), detecting environmental information by a detection system of the own vehicle 1 (20);

[0070] Checking by the computing system the environmental information for determining whether at least one dynamic object 3 is present which is suitable for intercepting the solar glare 2 during the driving operation of the own vehicle 1 (30);

[0071] If yes (T), checking by the computing system whether the own vehicle 1 is able to perform a driving maneuver in such a way that the at least one dynamic object 3 intercepts the solar glare 2 during the driving operation of the own vehicle 1 (40);

[0072] If yes (T), performing the driving maneuver (50);

[0073] While maintaining the priority driving goals of the own vehicle 1, the own vehicle 1 follows the dynamic object 3 after performing the driving maneuver 50 so that the own vehicle 1 drives in the protection area 4 of the dynamic object 3 (60).

[0074] Figure 1 It is further shown that in the following cases:

[0075] Checking whether one or more vehicle sensors of the own vehicle 1 are dazzled by the solar glare 2 (10);

[0076] Checking the environmental information for determining whether at least one dynamic object 3 is present which is suitable for intercepting the solar glare 2 during the driving operation of the own vehicle 1 (30); or

[0077] Checking whether the own vehicle 1 is able to perform a driving maneuver in such a way that the at least one dynamic object 3 intercepts the solar glare 2 during the driving operation of the own vehicle 1 (40);

[0078] If determined not to be (F), a new check is performed: whether one or more vehicle sensors of this vehicle 1 are glared by solar glare 2 (10).

[0079] Figures 2a-2d The sequence of methods following the preferred measures of the invention is shown in a plan view of each step. Figure 2a The vehicle 1 traveling in the first lane 5a and the moving object 3 traveling in the second lane 5b are shown. Both vehicle 1 and moving object 3 receive solar glare 2 from the sun 6, which is positioned in the direction of motion. Figure 5 A schematic front view of the vehicle 1 in this configuration is shown. The sun 6 is positioned low, and its glare 2 makes it difficult for the vehicle 1's detection system to perform error-free detection. This is... Figure 2a The diagram illustrates that the solar glare 2 intersects with the detection field 7 in front of the vehicle 1.

[0080] The next step is to identify protected area 4, in which vehicle 1 can drive without being exposed to the solar glare 2 of sun 6. In principle, independent of this embodiment, a malfunction or absence of the sun visor 2 associated with vehicle 1 will affect its detection system.

[0081] In order to be based on Figure 2b Selecting a protected area 4, specifically, examining environmental information to determine the presence of at least one dynamic object 3 suitable for intercepting solar glare 2 (30) during the driving operation of the vehicle 1; and

[0082] Check whether the vehicle 1 is capable of performing driving operations in such a way that at least one dynamic object 3 intercepts solar glare 2 during the driving operation of the vehicle 1 (40);

[0083] This includes at least the following common steps performed by the computing system:

[0084] Identify all dynamic objects 3;

[0085] A protection zone 4 is determined for each dynamic object 3, thereby blocking solar glare 2 when the vehicle 1 is traveling within the protection zone 4.

[0086] One or more protected areas are classified into priority protected areas and risk protected areas;

[0087] Select the priority protection area as protection area 4 for use in performing manipulation (50).

[0088] Preferably, protected area 4 is classified as a risk protected area if at least one of the following criteria is met:

[0089] Following the actions in protected area 4 violates legal regulations;

[0090] The dynamic object 3 providing the protection zone 4 moves faster than in the case where the dynamic object 3 complies with traffic rules and / or enables the own vehicle to drive safely;

[0091] The dynamic object 3 providing the protection zone 4 moves slower than in the case where the dynamic object 3 complies with traffic rules and / or enables the own vehicle to drive safely;

[0092] The dynamic object 3 providing the protection zone 4 moves on a lane 5a, 5b having a departure, whereby the departure is so close to the dynamic object 3 that in the case where the own vehicle 1 performs a driving maneuver 50 and the dynamic object 3 drives off from the departure, the sun glare 2 will not be intercepted.

[0093] Figure 2c It is disclosed that the trajectory TR is adjusted. The own vehicle 1 shall change from the first lane 5a to the second lane 5b. The aim is to let the own vehicle 1 enter the protection zone 4 and drive thereon, respectively. Irrespective of this embodiment, the protection zone 4 is always a protection zone 4 that is driven on, respectively. In principle, it is preferred that the driving maneuver performed by the own vehicle 1 comprises adjusting its trajectory TR and / or speed.

[0094] According to Figure 2d , it is preferred that the own vehicle 1 follows the dynamic object 3 (60) after having performed a driving maneuver (50) in such a way that the own vehicle 1 drives in the protection zone 4 of the dynamic object 3. As can be clearly seen in Figure 2d , this means that the detection range 7 can be freely detected. In this case, free detection means that no sun glare 2 shines onto the own vehicle 1 or its detection field 7. In contrast, the dynamic object 3, i.e. the truck, serves as a protective, respective shadow screen.

[0095] It is particularly preferred that the detection system comprises a laser scanner and / or a camera, in particular with a CCD sensor. It is also preferred that the detection system comprises redundant sensors of different detection principles.

[0096] It is also preferred that the detection system comprises a sensor detecting a vehicle front region, a sensor detecting a vehicle rear region and / or a sensor detecting one or both vehicle side regions. For example, Figures 2a-2d the detection system of the own vehicle 1 in is equipped with a sensor detecting a vehicle front region as the detection field 7. Figure 3 An alternative to this approach is shown. Thus, Figure 3 the detection system of the own vehicle 1 in is equipped with a sensor detecting a vehicle side region as the detection field 7. The sun 6 does not shine from the direction of movement of the own vehicle 1 but from the side onto it. Although Figures 2a-2dThe individual steps in the method are shown separately, but this is summarized in Figure 3 The vehicle 1 is shown in its original state, and after it has performed a driving maneuver along the trajectory TR to avoid the sun glare 2. If now the dynamic object 3 reduces its speed, then the own vehicle can do so as well in order to continue driving in the protection zone 4.

[0097] Figure 4 An example is shown of how the protection zone 4 is basically built. The sun 6 shines from the front onto the dynamic object 3. Behind this dynamic object 3, a shadow is created, which forms the protection zone 4. The protection zone 4 is shown to span an angle a, the origin of which lies on the ground. If the own vehicle 1 keeps a legal minimum distance to the vehicle in front, then it will drive in this protection zone 4.

[0098] It should be noted that the above explanation of the invention is based on a laser scanner and a camera. However, the principles of the invention also apply to a combination of a camera and a radar sensor, and even to a standalone camera.

[0099] Furthermore, the above explanation relies on a dynamic object to block the sun, but the same principles apply to a static object. For example, if a road has a big wall on one side, a vehicle can choose to drive and stay on the rightmost lane because it is blocked by the wall, while the left lane is illuminated by the sun.

[0100] List of reference signs

[0101] 1 own vehicle

[0102] 2 sun glare

[0103] 3 dynamic object

[0104] 4 protection zone

[0105] 5a first lane

[0106] 5b second lane

[0107] 6 sun

[0108] 7 detection field

[0109] 10: checking by the computing system whether one or more vehicle sensors of the own vehicle are blinded by a sun glare

[0110] 20: detecting by the detection system of the own vehicle environmental information

[0111] 30: checking by the computing system the environmental information for determining whether there is at least one dynamic object which is suitable for intercepting a sun glare during a driving maneuver of the own vehicle

[0112] 40: checking, by the computing system, whether the host vehicle can perform a driving maneuver during the driving operation of the host vehicle in a manner that intercepts the sun glare with the at least one dynamic object

[0113] 50: performing the driving maneuver

[0114] 60: following, by the host vehicle, the dynamic object after performing the driving maneuver in a manner that causes the host vehicle to travel within the protective zone of the dynamic object while maintaining the priority travel goal of the host vehicle,

[0115] T is

[0116] F no

[0117] TR trajectory

[0118] a alpha, angle

Claims

1. A safe, at least semi-autonomous driving operation method for a host vehicle (1) in the presence of a sun glare (2), comprising the following steps: - checking by a computing system whether one or more vehicle sensors of the host vehicle (1) are dazzled (10) by the sun glare (2); - if yes (T), detecting by a detection system of the host vehicle (1) environmental information (20); - checking by the computing system the environmental information for determining whether there is at least one dynamic object (3) suitable for intercepting the sun glare (2) during a driving operation of the host vehicle (1) (30); - if yes (T), checking by the computing system whether the host vehicle (1) is able to perform a driving maneuver (40) in such a way that the at least one dynamic object (3) intercepts the sun glare (2) during the driving operation of the host vehicle (1); - if yes (T), performing the driving operation (50).

2. The method of claim 1, wherein, In the case where: - the checking whether one or more vehicle sensors of the host vehicle (1) are dazzled (10) by the sun glare (2); - the checking of the environmental information for determining whether there is at least one dynamic object (3) suitable for intercepting the sun glare (2) during a driving operation of the host vehicle (1) (30); or - the checking whether the host vehicle (1) is able to perform a driving maneuver (40) in such a way that the at least one dynamic object (3) intercepts the sun glare (2) during the driving operation of the host vehicle (1) is determined as "no" (F), a new check is performed: whether one or more vehicle sensors of the host vehicle (1) are dazzled (10) by the sun glare (2).

3. The method according to claim 1 or 2, characterized in that the checking of the environmental information for determining whether there is at least one dynamic object (3) suitable for intercepting the sun glare (2) during a driving operation of the host vehicle (1) (30); and the checking whether the host vehicle (1) is able to perform a driving maneuver (40) in such a way that the at least one dynamic object (3) intercepts the sun glare (2) during the driving operation of the host vehicle (1); comprise at least the following common steps performed by the computing system: - determining all dynamic objects (3); - determining a protection zone (4) for each dynamic object (3), whereby the respective dynamic object (3) intercepts the sun glare (2) during a driving of the host vehicle (1) within the protection zone (4); - classifying one or more protection zones (4) as a priority protection zone and a risk protection zone; - selecting the priority protection zone for performing the maneuver (50).

4. The method according to claim 3, characterized in that a protection zone (4) is classified as a risk protection zone if the behavior following the protection zone (4) violates legal provisions.

5. The method according to claim 3, characterized in that a protection zone (4) is classified as a risk protection zone if the dynamic object (3) providing the protection zone (4) moves faster or slower compared to the case where the dynamic object (3) complies with traffic rules.

6. The method according to claim 3, characterized in that ​ If the dynamic object (3) providing the protection zone (4) moves faster or slower compared to the case that the vehicle (1) is able to drive safely, the protection zone (4) is classified as a risk protection zone.

7. The method according to claim 3, characterized in that If the dynamic object (3) providing the protection zone (4) moves on a lane (5a, 5b) having an exit, whereby the exit is so close to the dynamic object (3) that in case the vehicle (1) performs a driving maneuver (50) and the dynamic object (3) can drive off from the exit, the glare (2) will not be intercepted, the protection zone (4) is classified as a risk protection zone.

8. The method according to claim 1 or 2, characterized in that The driving maneuver performed by the vehicle (1) comprises adjusting its trajectory (TR) and / or speed.

9. The method according to claim 1 or 2, characterized in that, The vehicle (1) follows the dynamic object (3) (60) after having performed a driving maneuver (50) in such a way that the vehicle drives in the protection zone (4) of the dynamic object (3), while keeping the priority of the driving destination.

10. The method according to claim 1 or 2, characterized in that The detection system comprises a laser scanner and / or a camera.

11. The method according to claim 1 or 2, characterized in that The detection system comprises redundant sensors of different detection principles.

12. The method according to claim 1 or 2, characterized in that The detection system comprises sensors detecting the front region of the vehicle, sensors detecting the rear region of the vehicle and / or sensors detecting one or both side regions of the vehicle.

13. The method according to claim 10, characterized in that The detection system has a CCD sensor.

14. A driving support system having means for safe autonomous driving of a vehicle (1) in case of glare (2) for performing the steps of the method according to claim 1 or 2.

15. A vehicle (1) comprising a driving support system according to claim 14.

16. A computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the steps of the method according to claim 1 or 2.

17. A computer readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the steps of the method according to claim 1 or 2.

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