Prediction device for predicting predicted trajectory of a vehicle's safe driving assistance system

Abstract

A prediction device (105) for predicting a predicted trajectory (110) of a safe driving assistance system (115) of a vehicle (100), the prediction device (105) comprising a receiving unit (125) and a determining unit (130). The receiving unit (125) is configured to receive at least one sensor information (135) from at least one vehicle sensor (120) of the vehicle (100) and at least one trajectory information (140) from at least one other driving assistance system (145) of the vehicle (100). The determining unit (130) is configured to determine a predicted trajectory (110) for the vehicle (100) using the trajectory information (140) or the sensor information (135).

Description

Technical Field

[0001] The present invention relates to a prediction device for predicting a predicted trajectory of a safe driving assistance system of a vehicle, a vehicle having the prediction device, and a method of controlling the prediction device of a vehicle. Background Art

[0002] For driver assistance systems, the driver partially or primarily defines the future state of the autonomous vehicle. To make decisions, these systems consider one or more hypotheses of the vehicle's predicted state within a certain prediction period.

[0003] EP 3291202 B1 shows a trajectory planning method for maneuvering of an autonomous vehicle, and also shows an advanced driver assistance system arranged to carry out the method and a vehicle comprising such an advanced driver assistance system. Summary of the Invention

[0004] Against this background, the object of the present invention is to provide an improved prediction device for predicting a predicted trajectory of a safe driving assistance system of a vehicle, an improved vehicle having said prediction device, and an improved method of controlling the prediction device of a vehicle.

[0005] This object is achieved by a prediction device for predicting a predicted trajectory of a safe driving assistance system of a vehicle, a vehicle having the prediction device, and a method of controlling the prediction device of a vehicle according to the present invention.

[0006] Advantageously, the prediction of a safe driving assistance system that predicts a predicted trajectory for the vehicle can be improved by using information from the vehicle's various driving assistance systems. The predicted trajectory can then be used by the vehicle's safe driving assistance system, for example, to predict a possible collision with an object or another vehicle.

[0007] A prediction device for predicting a predicted trajectory for a safe driving assistance system of a vehicle includes a receiving unit and a determining unit. The receiving unit is configured to receive at least one piece of sensor information from at least one vehicle sensor of the vehicle and at least one piece of trajectory information from at least one additional driving assistance system of the vehicle. The additional driving assistance system may be external to the safe driving assistance system or may be implemented within the driving assistance system. The determining unit is configured to determine a predicted trajectory for the vehicle using the trajectory information or the sensor information.

[0008] The vehicle can be a utility vehicle or a commercial vehicle, such as a truck or bus. The safety driving assistance system can be an active safety driving assistance system, which can be used to prevent hazardous situations and / or reduce injuries resulting from unavoidable vehicle collisions. To achieve this, the safety driving assistance system can be configured to observe the vehicle environment, vehicle state, and / or driver intent. Furthermore, the safety driving assistance system can be configured to analyze the situation and select potential collision targets to determine and / or execute a desired collision prevention strategy. To appropriately select the target targets, the active safety driving assistance system can be configured to consider future vehicle states. Thus, the system can be configured to distinguish between potential collision targets and other irrelevant environmental objects, such as oncoming vehicles, parked vehicles, or pedestrians on the sidewalk. Vehicle sensors can be part of the safety driving assistance system. Sensor information can represent vehicle dynamics, driver monitoring information, and / or observed environmental information. However, trajectory information can represent the observed environment and / or current vehicle state detected or analyzed by another driver assistance system. According to one embodiment, trajectory information can represent a trajectory planned by the other driver assistance system using the observed environment and / or current vehicle state. To provide the trajectory information, the further driving assistance system may include further vehicle sensors or use the above-mentioned vehicle sensors if the vehicle sensors are not part of the safe driving assistance system. The determination unit may be configured to use the trajectory information or the sensor information to determine the predicted trajectory.

[0009] According to one embodiment, the receiving unit may be configured to receive trajectory information from another driving assistance system, such as a longitudinal and / or lateral guidance system, such as an adaptive cruise control, lane keeping assist system, or highway assist system. When activated, such another driving assistance system may be configured to continuously plan the vehicle's trajectory, wherein the trajectory planned by the other driving assistance system may be more reliable than the future vehicle state determined by the safety driving assistance system, which may only be activated in dangerous situations. Therefore, according to one embodiment, the determination unit may be configured to use the trajectory information to determine a predicted trajectory for the vehicle if the other driving assistance system is activated, and to use sensor information to determine a predicted trajectory for the vehicle if the other driving assistance system is deactivated. According to one embodiment, if the other driving assistance system is activated, the determination unit may be configured to use only the trajectory information and / or ignore the sensor information to determine the predicted trajectory for the vehicle. If the other driving assistance system is deactivated and no trajectory information is available, the determination unit may use only the sensor information to determine the predicted trajectory for the vehicle. If the further driving assistance system is activated, the vehicle can be guided at least partially automatically, and if the further driving assistance system is deactivated, the vehicle can be guided by the driver. According to one embodiment, the receiving unit can be configured to receive trajectory information from the activated further driving assistance system when the vehicle is guided automatically.

[0010] According to one embodiment, the receiving unit can be configured to receive trajectory information as the lateral planned trajectory from another driver assistance system configured as a lateral guidance system, such as a lane keeping assist system of the vehicle, or from another driver assistance system configured as a longitudinal guidance system, such as an adaptive cruise control system of the vehicle. Using information from another driver assistance system offers the advantage of further modularizing the information of such systems, much of which is already implemented in the vehicle and functionally mature. Therefore, it is desirable to use trajectory information that is easily computable and reliable in the present method.

[0011] According to one embodiment, the receiving unit may be configured to receive at least second trajectory information from at least a second additional driver assistance system of the vehicle, and the determining unit may be configured to use the second trajectory information to determine a predicted trajectory for the vehicle. In this way, the combination of the trajectory information and the second trajectory information may be used to determine the predicted trajectory. According to another embodiment, if the additional driver assistance system is deactivated, only the second trajectory information may be used. Alternatively, if the second additional driver assistance system is deactivated, only the trajectory information may be used.

[0012] According to one embodiment, the receiving unit may be configured to receive the second trajectory information from a second further driving assistance system configured as an adaptive cruise control, a lane keeping assist, or a highway assist of the vehicle.

[0013] According to one embodiment, the receiving unit may be configured to receive the second trajectory information as a planned lateral trajectory from a second additional driver assistance system, such as a lateral guidance system, for example, a lane keeping assist system of the vehicle, or the receiving unit may be configured to receive the second trajectory information as a planned longitudinal trajectory from a second additional driver assistance system, such as a longitudinal guidance system, for example, an adaptive cruise control system of the vehicle. According to one embodiment, the determination unit may use the planned lateral trajectory from the lateral guidance system and the planned longitudinal trajectory from the longitudinal guidance system to determine the most reliable predicted trajectory.

[0014] According to one embodiment, the prediction device may include an activation unit, wherein the activation unit is configured to activate a further prediction device of a further driver assistance system, wherein the further prediction device is configured to predict a planned trajectory of the vehicle and provide the planned trajectory as trajectory information. In this way, reliable trajectory information can be provided even if the further driver assistance system is deactivated.

[0015] According to one embodiment, the prediction device may include a collision calculation unit, wherein the collision calculation unit is configured to calculate a collision probability value for a collision between the vehicle and an object or another vehicle using a planned trajectory based on another driving assistance system. According to one embodiment, the collision calculation unit is configured to calculate a collision probability value for a collision between the vehicle and an object or another vehicle on the predicted trajectory. This collision probability value can be used to avoid potential collisions. The collision calculation unit can improve vehicle safety.

[0016] According to one embodiment, the collision calculation unit may be configured to use the collision probability value to calculate a collision avoidance strategy for adjusting the trajectory. By adjusting the planned trajectory, collisions may be advantageously avoided.

[0017] A safe driving assistance system for a vehicle includes an embodiment of the aforementioned prediction device. The safe driving assistance system may further include an observation unit for observing and / or providing sensor information, an analysis unit for analyzing the situation and selecting possible collision targets, a decision unit for determining a preventive strategy, and / or for executing the desired preventive strategy. Advantageously, such a safe driving assistance system can use information from different driving assistance systems to predict the most reliable predicted trajectory for the vehicle.

[0018] A vehicle includes an embodiment of the aforementioned prediction device. The vehicle can be a utility vehicle or a commercial vehicle, such as a truck or bus. The vehicle can be configured as an autonomous vehicle or a semi-autonomous vehicle. According to one embodiment, the vehicle can include a safety driving assistance system, a lateral and / or longitudinal guidance system, such as adaptive cruise control, lane keeping assist, and / or highway assist.

[0019] A method for controlling the above prediction device, comprising:

[0020] receiving at least one sensor information from at least one vehicle sensor of the vehicle and receiving at least one trajectory information from at least one further driver assistance system of the vehicle; and

[0021] A predicted trajectory is determined for the vehicle using the trajectory information or sensor information.

[0022] The method or steps of the method may be performed using the prediction device described above.

[0023] Also advantageous is a computer program product with a program code, which can be stored on a machine-readable medium, such as a semiconductor memory, a hard disk or an optical memory, for executing the method of one of the aforementioned exemplary embodiments when the program product is executed on a computer or device. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In the following description, an embodiment of the solution shown here will be explained in more detail with reference to the accompanying drawings, in which:

[0025] Figure 1 A schematic diagram of a vehicle including a prediction device according to an embodiment of the present invention is shown, the prediction device being used to predict a predicted trajectory of a safe driving assistance system of the vehicle; and

[0026] Figure 2 A flowchart of a method for controlling a prediction device according to an embodiment of the present invention is shown.

[0027] In the following description of advantageous embodiments of the present invention, identical or similar reference numerals will be used for similarly acting elements shown in the various figures, wherein a repeated description of these elements will be omitted. DETAILED DESCRIPTION

[0028] Figure 1 A schematic diagram of a vehicle 100 is shown, which includes a prediction device 105 for predicting a predicted trajectory 110 of a safe driving assistance system 115 of the vehicle 100 according to an embodiment of the present invention. The vehicle 100 is a utility vehicle or a commercial vehicle and / or is configured as an autonomous vehicle 100 or a semi-autonomous vehicle 100. According to this embodiment, the vehicle 100 includes at least one vehicle sensor 120.

[0029] Prediction device 105 for predicting a predicted trajectory 110 for a safe driving assistance system 115 of vehicle 100 includes a receiving unit 125 and a determining unit 130. Receiving unit 125 is configured to receive at least one piece of sensor information 135 from at least one vehicle sensor 120 of vehicle 130 and at least one piece of trajectory information 140 from at least one additional driving assistance system 145 of vehicle 100. According to one embodiment, additional driving assistance system 145 is located outside of safe driving assistance system 115, or according to another embodiment, additional driving assistance system 145 is implemented within safe driving assistance system 115. Determination unit 130 is configured to determine predicted trajectory 110 for vehicle 100 using trajectory information 140 or sensor information 135.

[0030] According to this embodiment, prediction device 105 is integrated or implemented into a safe driving assistance system 115 of vehicle 100. Safe driving assistance system 115 is configured as an active safe driving assistance system, which is configured to prevent dangerous situations and / or reduce damage caused by an unavoidable collision of vehicle 100. To achieve this, according to this embodiment, safe driving assistance system 115 includes an observation unit 146, which is configured to observe the vehicle environment and / or the vehicle state and / or driver intention of vehicle 100 and / or to provide the vehicle environment and / or the vehicle state and / or the driver intention as sensor information 135. Furthermore, according to this embodiment, safe driving assistance system 115 includes an analysis unit 147 for analyzing the situation and selecting a possible collision target, a decision unit 150 for determining a preventive strategy, and / or an execution unit 155 for executing the desired preventive strategy. To correctly select the target object, active safe driving assistance system 115 is configured to take into account future vehicle states. Thus, system 115 can be configured to distinguish between possible collision targets and other irrelevant environmental objects, such as oncoming vehicles, parked vehicles, or pedestrians on the sidewalk. According to this embodiment, vehicle sensor 120 is part of safe driving assistance system 115 or vehicle 100. According to this embodiment, sensor information 135 represents vehicle dynamics, driver monitoring information, and / or observed environmental information. However, according to this embodiment, trajectory information 140 represents the observed environment and / or current vehicle state detected or analyzed by another driving assistance system 145. According to an embodiment, trajectory information 140 represents a predicted trajectory predicted by another driving assistance system 145 using the observed environment and / or current vehicle state. To provide trajectory information 140, another driving assistance system 115 includes another vehicle sensor or is configured to use vehicle sensor 120 if vehicle sensor 120 is not part of safe driving assistance system 115. Determination unit 130 is configured to use trajectory information 140 or sensor information 135 to determine predicted trajectory 110.

[0031] According to this embodiment, receiving unit 125 is configured to receive trajectory information 140 from another driving assistance system 145 configured as an adaptive cruise control, lane keeping assist, or highway assist system for the vehicle. In an active state, further driving assistance system 145 is configured to continuously predict the trajectory of vehicle 100, wherein the predicted trajectory predicted by adaptive cruise control, lane keeping assist, or highway assist is more reliable than the future vehicle state predicted by safe driving assistance system 115, which is only activated in dangerous situations. Therefore, according to this embodiment, determination unit 130 is configured to use trajectory information 140 to determine a predicted trajectory 110 for vehicle 100 if further driving assistance system 145 is activated, and to use sensor information 135 to determine a predicted trajectory 110 for vehicle 100 if further driving assistance system 145 is deactivated. According to this embodiment, determination unit 130 is configured to use only trajectory information 140 and / or ignore sensor information to determine predicted trajectory 110 for vehicle 100 if additional driving assistance system 145 is activated, and to use only sensor information 135 to predict trajectory 110 for vehicle 100 if additional driving assistance system 145 is deactivated and no trajectory information is available. If additional driving assistance system 145 is activated, vehicle 100 can be automatically guided, and if additional driving assistance system 145 is deactivated, vehicle 100 can be guided by the driver. According to one embodiment, receiving unit 125 is configured to receive trajectory information 140 from an activated additional driving assistance system 145 when vehicle 100 is automatically guided.

[0032] According to this embodiment, the receiving unit 125 is configured to receive the trajectory information 140 as a lateral planned trajectory from a further driving assistance system 145 configured as a lane keeping assistance system for the vehicle 100, or the receiving unit 125 is configured to receive the trajectory information 140 as a longitudinal planned trajectory from a further driving assistance system 145 configured as an adaptive cruise control for the vehicle 100.

[0033] According to this embodiment, the receiving unit 125 is configured to receive at least second trajectory information 160 from at least a second additional driving assistance system 165 of the vehicle 100, and the determining unit 130 is configured to use the second trajectory information 160 to determine the predicted trajectory 110 for the vehicle 100. According to this embodiment, the receiving unit 125 is configured to receive at least third trajectory information 170 from at least a third additional driving assistance system 175 of the vehicle 100, and the determining unit 130 is configured to use the third trajectory information 170 to determine the predicted trajectory 110 for the vehicle 100.

[0034] According to this embodiment, receiving unit 125 is configured to receive second trajectory information 160 from a second further driving assistance system 165 configured as an adaptive cruise control, lane keeping assist, or highway assist for vehicle 100. According to this embodiment, receiving unit 125 is configured to receive third trajectory information 170 from a third further driving assistance system 175 configured as an adaptive cruise control, lane keeping assist, or highway assist for vehicle 100.

[0035] According to this embodiment, receiving unit 125 is configured to receive second trajectory information 160 as a lateral planned trajectory from a second further driving assistance system 165 configured as a lane keeping assistance system for vehicle 100, or the receiving unit is configured to receive second trajectory information 160 as a longitudinal planned trajectory from a second further driving assistance system 165 configured as an adaptive cruise control for vehicle 100. According to this embodiment, determination unit 130 uses the lateral planned trajectory from further driving assistance system 145 configured as lane keeping assistance and the longitudinal planned trajectory from second further driving assistance system 165 configured as adaptive cruise control to determine the most reliable predicted trajectory 110.

[0036] According to an embodiment, prediction device 105 includes an activation unit, wherein the activation unit is configured to activate a further prediction device of external driver assistance system 145 , wherein the further prediction device is configured to predict a predicted trajectory of vehicle 100 and provide the predicted trajectory as trajectory information 140 .

[0037] According to this embodiment, prediction device 105 further includes a collision calculation unit 180, wherein collision calculation unit 180 is configured to calculate a collision probability value of a collision between vehicle 100 and an object or another vehicle using the planned trajectory based on additional driving assistance system 145. According to one embodiment, collision calculation unit 180 is configured to calculate a collision probability value of a collision between vehicle 100 and an object or another vehicle on predicted trajectory 110. According to one embodiment, collision calculation unit 180 may be configured to use the collision probability value to calculate a collision avoidance strategy for adjusting predicted trajectory 110.

[0038] In other words, Figure 1 The architecture of the prediction device 105 is shown, which improves the autonomous path prediction of the active safety driving assistance system 115 .

[0039] The active safety driving assistance system 115 is used to prevent dangerous situations or reduce the damage caused by unavoidable collisions. According to one embodiment, to achieve this, the following steps are continuously performed:

[0040] -Observe the environment, vehicle status and driver intentions

[0041] - Analyze the situation and select possible collision targets

[0042] -Decide on prevention strategies

[0043] -Execute the required strategy

[0044] In order to correctly select the target object, the active safety driving assistance system 115 takes the future vehicle state into account. Therefore, the system 115 can distinguish between possible collision targets and other irrelevant environmental objects, such as cars in the opposite lane, parked cars or pedestrians on the sidewalk.

[0045] One problem with estimating future vehicle states is that, even when factoring in environmental data, vehicle dynamics, and driver monitoring, estimates for longer forecast times introduce significant uncertainty. This can lead to incorrect track selections, for example, and thus false alarms.

[0046] Active driver assistance systems intervene only in hazardous situations. Other driver assistance systems 145 , 165 , and 175 , such as adaptive cruise control, lane keeping assist, and highway assist, can be activated and, while active, continuously take over at least a portion of vehicle guidance. To ensure that vehicle 100 is guided according to given requirements, such as collision avoidance, minimal jerkiness, and reduced fuel consumption, these systems 145 , 165 , and 175 plan a trajectory based on the observed environment and current vehicle state, according to one embodiment. To guide vehicle 100 , the system calculates actuator control values ​​to execute a predicted trajectory 110 . While predicted trajectory 110 avoids collisions while vehicle 100 is being guided, active driver assistance systems 115 remain active in the background. This is because the guided vehicle 100 will follow predicted trajectory 110, which has less uncertainty than predictions based on environmental data, vehicle dynamics, and driver monitoring. In this case, predicted trajectory 110 can also be used by active driver assistance systems 115 to select target objects.

[0047] One possible version of this idea is:

[0048] If activated, the lateral trajectory from the lane keeping assist and the longitudinal trajectory from the adaptive cruise control driving function are used as the predicted autonomous vehicle trajectory / predicted trajectory 110 .

[0049] Figure 2 1 is a flow chart showing a method 200 for controlling a prediction device according to an embodiment of the present invention. Figure 1 The prediction device described or a similar prediction device is performed.

[0050] The control method 200 comprises a step 210 of receiving at least one sensor information from at least one vehicle sensor of the vehicle and at least one trajectory information from at least one further driver assistance system of the vehicle. Furthermore, the control method 200 comprises a step 220 of determining a predicted trajectory for the vehicle using the trajectory information or the sensor information.

[0051] According to one embodiment, in step 220 of determining the predicted trajectory of the vehicle, if trajectory information is received in step 210 of receiving trajectory information, only the trajectory information is used and / or the sensor information is ignored to determine the predicted trajectory. According to one embodiment, in step 220 of determining the predicted trajectory of the vehicle, if trajectory information is not received in step 210 of receiving trajectory information, only the sensor information is used to determine the predicted trajectory.

[0052] According to one embodiment, in step 220 of determining a predicted trajectory for the vehicle, if, in step 210 of receiving trajectory information, trajectory information from multiple different additional driving assistance systems is received, the predicted trajectory is determined using multiple trajectory information from the multiple different additional driving assistance systems and / or ignoring sensor information.

[0053] Reference Signs List

[0054] 100 vehicles

[0055] 105 Prediction Equipment

[0056] 110 Predicted Trajectory

[0057] 115 Safety Driving Assistance System

[0058] 120 vehicle sensors

[0059] 125 receiving unit

[0060] 130 Determine Unit

[0061] 135 Sensor Information

[0062] 140 track information

[0063] 145 Additional driver assistance systems

[0064] 146 Observation Unit

[0065] 147 Analysis Units

[0066] 150 Decision Unit

[0067] 155 execution units

[0068] 160 Second track information

[0069] 165 Second additional driving assistance system

[0070] 170 Third track information

[0071] 175 Third Additional Driving Assistance System

[0072] 180 collision calculation units

[0073] 200 Method for controlling a prediction device for a vehicle

[0074] 210 Receiving Steps

[0075] 220 Determine Steps

Claims

1. A prediction device (105) for predicting a predicted trajectory (110) of a safe driving assistance system (115) of a vehicle (100), wherein: The prediction device (105) comprises: a receiving unit (125), wherein the receiving unit (125) is configured to receive at least one sensor information (135) from at least one vehicle sensor (120) of the vehicle (100) and at least one trajectory information (140) from at least one further driving assistance system (145) of the vehicle (100); and a determination unit (130), wherein the determination unit (130) is configured to predict a predicted trajectory (110) for the vehicle (100) using the trajectory information (140), and An activation unit, wherein the activation unit is configured to activate a further prediction device of the further driver assistance system, wherein the further prediction device is configured to predict a predicted trajectory of the vehicle (100) and to provide the predicted trajectory as trajectory information.

2. The prediction device (105) according to claim 1, wherein The receiving unit (125) is configured to be able to receive the trajectory information (140) from the further driver assistance system (145) configured as a lateral and / or longitudinal guidance system of the vehicle (100).

3. The prediction device (105) according to claim 2, wherein The receiving unit (125) is configured to be able to receive the trajectory information (140) as a lateral planned trajectory from the further driving assistance system (145) configured as a lane keeping assistance for the vehicle (100), or the receiving unit (125) is configured to be able to receive the trajectory information (140) as a longitudinal planned trajectory from the further driving assistance system (145) configured as an adaptive cruise control for the vehicle (100).

4. The prediction device (105) according to any one of the preceding claims, wherein The receiving unit (125) is configured to be able to receive at least second trajectory information (160) from at least a second further driving assistance system (165) of the vehicle (100), and the determining unit (130) is configured to be able to determine a predicted trajectory (110) of the vehicle (100) using the second trajectory information (160).

5. The prediction device (105) according to claim 4, wherein The receiving unit (125) is configured to be able to receive the second trajectory information (160) from the second further driver assistance system (165), which is configured as a lateral and / or longitudinal guidance system of the vehicle (100).

6. The prediction device (105) according to claim 5, wherein The receiving unit (125) is configured to be able to receive the second trajectory information (160) as a lateral planned trajectory from the second further driving assistance system (165) configured as a lane keeping assistance for the vehicle (100), or the receiving unit (125) is configured to be able to receive the second trajectory information (160) as a longitudinal planned trajectory from the second further driving assistance system (165) configured as an adaptive cruise control for the vehicle (100).

7. The prediction device (105) according to any one of claims 1-3 and 5-6, wherein: The receiving unit (125) is configured to be able to receive the trajectory information (140) from the activated further driving assistance system (145) when the vehicle (100) is automatically guided.

8. The prediction device (105) according to any one of claims 1-3 and 5-6, wherein: The determination unit (130) is configured to determine a predicted trajectory (110) for the vehicle (100) using the trajectory information (140) if the further driving assistance system is activated, and to determine a predicted trajectory (110) for the vehicle (100) using the sensor information (135) if the further driving assistance system (145) is deactivated.

9. The prediction device (105) according to any one of claims 1-3 and 5-6, comprising a collision calculation unit (180), wherein: The collision calculation unit (180) is configured to be able to calculate a collision probability value of a collision of the vehicle (100) with an object or another vehicle using a planned trajectory based on the further driving assistance system (145).

10. The prediction device (105) according to claim 9, wherein The collision calculation unit (180) is configured to calculate a collision avoidance strategy using the collision probability value for adjusting the predicted trajectory (110).

11. A safe driving assistance system (115) for a vehicle (100), wherein: The safe driving assistance system (115) comprises a prediction device (105) according to any one of claims 1-10.

12. A vehicle (100), wherein: The vehicle (100) comprises a prediction device (105) according to any one of claims 1-10.

13. A method (200) of controlling a prediction device (105) according to any one of claims 1 to 10, wherein: The method (200) comprises: receiving (210) at least one sensor information (135) from at least one vehicle sensor (120) of the vehicle (100), receiving at least one trajectory information (140) from at least one additional driver assistance system (145) of the vehicle (100); and determining (220) a predicted trajectory (110) for the vehicle (100) using the trajectory information (140), and An activation unit is used to activate a further prediction device of the further driver assistance system, wherein the further prediction device is configured to predict a predicted trajectory of the vehicle and to provide the predicted trajectory as trajectory information.

14. A computer program product configured to implement, control or execute the steps (210, 220) of the method (200) according to claim 13 when the method (200) is executed on a correspondingly configured device (105).

15. A machine-readable data carrier comprising a computer program product according to claim 14.

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