Method for improving safety of driving assistance system of vehicle

Abstract

The invention relates to a method (100) for improving the safety of a driving assistance system (60) of a vehicle (70), comprising the following steps: detecting (102) a dangerous situation (20) of the vehicle (70) on the basis of at least one situation-dependent driving parameter (22); providing (104) a defined basic operating path (30) having at least one first operating section (32), in which at least one first vehicle-side action (40) is triggered in accordance with the detected dangerous situation (20), said first vehicle-side action being suitable for bringing the vehicle (70) into a safe state; evaluating (108) the detected dangerous situation (20) for the vehicle (70); -adapting (110) the basic operating path (30) as a function of an evaluation of the detected dangerous situation (20) for the vehicle (70).

Description

Technical Field

[0001] The invention relates to a method for improving the safety of a driver assistance system of a vehicle. Background Art

[0002] Automated driving functions up to SAE Level 3 require solutions for handing over to the driver in the event of a fault or for warning the driver if he does not assume control of the automated driving function that is still available. The higher the degree of automation, the more relaxed the driver becomes and the higher the risk that the driver will not be able to immediately take over control of the vehicle again at any time. This can be caused by the driver not having his hands on the steering wheel.

[0003] Alternatively, the driver may be overly fatigued or so distracted that it takes several seconds until he takes over the control of the vehicle again. It is therefore absolutely necessary that the driver assistance system monitors not only its own functional capabilities and the dangers to the vehicle in the near future, but also the driving ability and attention of the driver and, if necessary, promptly asks the driver to take over the control of the vehicle.

[0004] Methods for handing over to the driver are known in the prior art. In simple driver assistance systems, such as ACC, in the event of a fault, the assistance function is immediately switched off and the driver is informed of this in the HMI. For lane keeping systems, if the driver takes his hands off the steering wheel, the driver receives a visual and / or acoustic warning. If the driver does not take over the steering wheel within a certain time, the assistance function is deactivated.

[0005] For assistance functions in which the driver's hands are no longer on the steering wheel, the driver's attention is monitored (e.g. GM Super Cruise). If attention is no longer present, an escalation path for measures is triggered, which can be stopped at any time by the driver through the required interaction. Here, the driver is first warned visually. If the driver's attention is not regained in this way, the driver is additionally warned by acoustic and haptic signals. If this is still unsuccessful, an acoustic voice announcement appears, asking the driver to take over the steering wheel immediately. If this also fails, the vehicle is braked to a standstill and secured in a manner managed by the assistance function.

[0006] A disadvantage of the prior art is that the traversal of such an escalation path is fixedly predetermined during the development phase. DE 10 2016 225 181 A1 discloses a general example for an escalation path. In this way, valuable time may be lost, which may not exist depending on the situation. In particular, the problem is aggravated when the associated vehicle architecture, for example, does not have redundancy in the steering device and / or actuators, so that in the event of a fault there is no time to replace the backup steering system or backup braking system. If the escalation path is completely traversed for all types of faults, valuable time is wasted and safety risks may arise.

[0007] It is therefore an object of the present invention to provide a solution by means of which the safety of (automated) driving functions can be increased in an efficient and reliable manner. Summary of the invention

[0008] This object is achieved by the method according to the invention for improving the safety of a driver assistance system of a vehicle.

[0009] According to a first aspect, the present disclosure relates to a method for improving the safety of a driver assistance system of a vehicle. In this case, the driving function may be automated.

[0010] In a first step, a critical situation of the vehicle is detected based on at least one situation-dependent driving parameter.

[0011] In a second step, a defined basic operating path is provided, which has at least one first operating section, wherein within the first operating section, at least one first vehicle-side action is triggered according to the detected dangerous situation, and the first vehicle-side action is suitable for bringing the vehicle to a safe state.

[0012] In a third step, the detected dangerous situation for the vehicle is evaluated.

[0013] In a fourth step, the basic operating path is adjusted based on an evaluation of the detected dangerous situation for the vehicle.

[0014] The basic idea of ​​the invention is that in the event of an imminent danger or safety-critical situation, starting from the basic definition of the state escalation path or the basic operating path, the basic operating path is modified depending on the situation with an operational requirement that is detected. For example, the first step of the basic operating path can be skipped at the beginning. Alternatively, individual actions of the basic operating path can be skipped during the traversal. Also alternatively, the duration of the basic operating path and / or parameters that are relevant to the individual steps can be adjusted.

[0015] In this way, the basic operating path can be adjusted accordingly and flexibly depending on the existing or detected situation for the vehicle and does not have to be traversed in its entirety if a detected safety-critical situation does not allow this or there is no time to bring the vehicle into a safe state.

[0016] The following advantages can be achieved by means of the method according to the invention:

[0017] One advantage is that the total duration of the escalation path or the basic operating path can be adjusted in a variable manner in the vehicle during runtime. If the escalation path is always started at the lowest escalation level and if the escalation path is always traversed completely, the driver can get the impression that he still has plenty of time and does not have to react immediately. However, depending on the situation, this time may not exist, so that the driver does not understand the criticality of the situation. The method proposed here allows the escalation path to be adjusted. As a result, the safety of the driving function can be increased. Alternatively, the driving function can be operated, for example at higher speeds, with a safety level similar to that of today's systems.

[0018] Another advantage of the method according to the invention is that it is not necessary to define a separate escalation path or basic operating path or operating path for each hazard situation that can only be considered. Even for complex functions, a single basic definition of the operating path can be sufficient. This simplifies the development of modern driver assistance functions. In addition, the driver usually experiences a similar sequence of escalation paths in addition to different driving functions. This increases trust in the driver assistance function and thus increases customer acceptance.

[0019] A possible embodiment of the method provides that the at least one first vehicle-side action comprises at least one of the following actions for warning at least one person in the vehicle: an optical warning, a tactile warning, an acoustic warning, an olfactory warning, an automated intervention in the vehicle behavior of the vehicle. This achieves the advantage that, depending on the safety-critical or safety-related situation detected for the vehicle, a corresponding and respectively suitable vehicle-side action is triggered in order to bring the vehicle into a safe state.

[0020] A possible embodiment of the method is that the adjustment of the basic operating path is provided for adjusting the degree of implementation of at least one first vehicle-side action. This achieves the advantage that, depending on a detected safety-critical or safety-related situation or an identified safety risk for the vehicle, a corresponding and respectively suitable vehicle-side action is triggered in order to bring the vehicle into a safe state.

[0021] One possible embodiment of the method provides that the basic operating path is adjusted if the detected duration required for the onset of a detected dangerous situation is shorter than the duration for traversing the entire basic operating path, thereby ensuring that the vehicle can be placed in a safe state in a timely manner.

[0022] One possible embodiment of the method provides that the basic operating path has at least one second operating section, which follows the first operating section, wherein in at least the second operating section at least one second vehicle-side action is triggered as a function of the detected dangerous situation. This achieves the advantage that the basic operating path has a clearly unique and structured sequence of operating sections.

[0023] A possible embodiment of the method is that the basic operating path is set so that the first and second operating sections and / or vehicle-side actions overlap in time. This achieves the following advantage: depending on the detected safety-critical or safety-related situation for the vehicle, corresponding and respectively suitable vehicle-side actions are triggered in order to bring the vehicle into a safe state.

[0024] A possible embodiment of the method is that the vehicle-side action extends over a respective first and second actuation section, thereby enabling a flexible and driving situation-dependent adjustment of the basic actuation path.

[0025] One possible embodiment of the method provides that when the driver in the vehicle reacts to at least one vehicle-side action, the respective first and second operating sections differ with respect to the reaction of the driver assistance system, thereby enabling a flexible and driving situation-dependent adjustment of the basic operating path.

[0026] One possible embodiment of the method provides that, when adjusting the basic operating path, the execution of individual operating sections is specifically excluded if this is necessary to achieve a defined safe state of the vehicle. This allows a flexible and driving situation-dependent adjustment of the basic operating path in order to always bring the vehicle into a safe state. In this case, the safety of the vehicle occupants is also taken into account when or during the implementation of the adjusted operating path, if a driving maneuver determined for executing the adjusted operating path is excluded in order to bring the vehicle into a safe state.

[0027] A possible configuration of the method provides that the adjustment of the basic operating path is provided for skipping individual vehicle-side actions. Thus, a flexible and driving situation-dependent adjustment of the basic operating path is achieved in order to bring the vehicle into a suitable guaranteed state.

[0028] A possible embodiment of the method provides that at least one situation-dependent driving parameter reflects at least one of the following risk situations for the vehicle which necessitates an adjustment of the basic operating path: a functional failure of a driver assistance system of the vehicle, a detection of a traffic situation for the vehicle which can no longer be safely handled by the driver assistance system of the vehicle. This achieves the advantage that, depending on the detected safety-critical or safety-related situation for the vehicle, corresponding and respectively suitable vehicle-side actions are triggered in order to bring the vehicle into a safe state.

[0029] A possible embodiment of the method provides that the vehicle is an at least partially autonomously driven vehicle. This achieves the advantage that the safety of the vehicle occupants is increased when the method is performed, by increasing the safety of the driving functions, which may be automated.

[0030] According to a second aspect, the present disclosure relates to a computer program product comprising machine-readable instructions which, when implemented on one or more computers and / or computer instances, cause the one or more computers or computer instances to implement a method according to the present invention.

[0031] According to a third aspect, the present disclosure relates to a machine-readable data carrier and / or a download product having the computer program product.

[0032] According to a fourth aspect, the disclosure relates to one or more computers and / or computer instances with the computer program product and / or with the machine-readable data carrier and / or download product.

[0033] Further measures for improving the invention are shown in more detail below together with the description of preferred exemplary embodiments of the invention with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings show:

[0035] Figure 1 A schematic flow chart showing a method 100 for improving the safety of a driver assistance system 60 of a vehicle 70 according to one specific embodiment of the present invention; and

[0036] Figure 2 A schematic definition of a basic operation path according to one embodiment of the present invention is shown. DETAILED DESCRIPTION

[0037] Figure 1 A schematic flow chart of a method 100 for improving the safety of a driver assistance system 60 of a vehicle 70 according to one specific embodiment of the present invention is shown.

[0038] In this case, vehicle 70 may preferably be designed as an at least partially autonomously driven vehicle which provides automated driving functions.

[0039] In step 102 , a critical situation 20 of vehicle 70 is detected based on at least one situation-dependent driving parameter 22 .

[0040] Here, at least one situation-related driving parameter 22 can reflect at least one of the following dangerous situations for the vehicle 70 that necessitate an adjustment of the basic operating path 30: a functional failure of the driving assistance system 60 of the vehicle 70, the recognition of a traffic situation for the vehicle 70 that can no longer be safely handled by the driving assistance system 60 of the vehicle 70.

[0041] In step 104 , a defined basic operating path 30 is provided, which has at least one first operating section 32 , wherein within the first operating section 32 , at least one first vehicle-side action 40 is triggered based on the detected dangerous situation 20 , which is suitable for bringing the vehicle 70 to a safe state.

[0042] Optionally, the at least one first vehicle-side action 40 may include at least one of the following actions for warning at least one person in the vehicle 70 : an optical warning, a tactile warning, an acoustic warning, an olfactory warning, an automated intervention in the vehicle behavior of the vehicle 70 .

[0043] In step 108 , the detected dangerous situation 20 for the vehicle 70 is evaluated 108 .

[0044] In step 110 , the base operating path 30 is adjusted based on an evaluation of the detected hazardous condition 20 for the vehicle 70 .

[0045] In this case, the adjustment 110 of the basic operating path 30 can optionally be provided for adjusting the degree of implementation of at least one vehicle-side action 40. Thus, for example, depending on the severity of the identified danger, the volume of the output acoustic warning sound can be gradually increased along the operating path. According to similar principles, this can be done with the aid of optical warnings, tactile warnings and olfactory warnings. The jerk or triggering of the movement action in the transverse direction or longitudinal direction of the vehicle can also be varied in terms of its intensity.

[0046] Furthermore, basic operating path 30 may also be adjusted 110 if the detected duration required for the onset of a detected hazardous situation 20 is shorter than the duration for traversing entire basic operating path 30 .

[0047] Figure 2A schematic and exemplary definition of a basic operating path 30 according to one embodiment of the present invention is shown.

[0048] In principle, the basic operating path 30 can have at least one second operating section 34 which follows the first operating section 32 , wherein within at least the second operating section 34 at least one second vehicle-side action 43 is triggered as a function of the detected dangerous situation 20 .

[0049] exist Figure 2 In the example of FIG. 3 , the operating path 30 has a first operating section 32 , a second operating section 34 and a third operating section 36 . In this case, the horizontally extending axis shown symbolizes the time course.

[0050] The individual operating sections 32 , 34 , 36 of the operating path 30 may each consist of vehicle-side actions 41 , 42 , 43 , 44 , 45 , 46 , 47 .

[0051] Examples for vehicle side actions 41, 42, 43, 44, 45, 46, 47 may be:

[0052] - Optical warnings to the driver, for example, lighting of warning signs in the instrument area and / or on the steering wheel. This lighting can be permanent or with a brightness that is variable over time. Different colors can also be used.

[0053] - A haptic warning to the driver, for example by vibration of the steering wheel and / or the seat and / or the seat belt (for example by one or more tightening and loosening of an existing seat belt tensioner).

[0054] - an acoustic warning to the driver, for example by means of a warning tone or a voice announcement. The driver's name can also be mentioned here to enhance the effect.

[0055] - Automatically executed brief braking which results in a perceptible longitudinal jerk.

[0056] - Brief steering movements that are automatically carried out successively in both directions, which result in perceptible lateral jerkiness, but in which the vehicle is kept within the lane.

[0057] - Visual, haptic or acoustic warning to one or more fellow passengers. To this end, it is first possible to check whether there are fellow passengers. If there are no fellow passengers, unnecessary time delays until the next escalation level can be avoided.

[0058] - Olfactory warning, if the vehicle is equipped with such a system. In this case, fragrances that stimulate the driver's attention, such as peppermint, can be released through the ventilation system, but also odors that briefly trigger negative associations, such as substances based on hydrogen sulfide (rotten eggs).

[0059] - Controlling the interior climate, for example the volume flow of the fan can be briefly increased as a warning or the temperature can be adjusted.

[0060] - Braking the vehicle until it comes to a standstill. In addition, the vehicle can be protected, for example by activating the parking brake. In addition, the warning flashers can be activated in order to warn other road users. Braking can be performed in the current lane, or an automated lane change can be performed first, in order to park the vehicle, for example, in an emergency lane.

[0061] - Placing an emergency call, for example, via a corresponding service provider, such as the "eCall" service, and / or to a stored contact. In the case of this emergency call, additional information, such as the location of the accident, the type of accident and the events of the accident as well as the number of passengers, can be transmitted. In particular, the duration of the escalation path up to the time of the accident can be transmitted. This is advantageous because it is thus clear before the emergency services arrive that the driver has not reacted within a certain period of time before the accident.

[0062] - A warning can also be output by the driver assistance system on a connected smartphone. This has the advantage that such a warning for the driver is carried out in a conventional manner also outside the vehicle, for example a vibration in a trouser pocket. Furthermore, the driver's distraction can in many cases be attributed to the smartphone, i.e. the driver's attention has been focused on the smartphone. Therefore, it is particularly advantageous to warn the driver in this way. As a result, the probability of regaining the driver's attention to his driving task increases.

[0063] Depending on the detected safety-critical situation for vehicle 70 , operating path 30 thus divided into individual operating sections 32 , 34 , 36 can then be adjusted in the manner described below in an exemplary manner:

[0064] The adjustment 110 of the basic operating path 30 can be provided so that the corresponding operating sections 32, 34, 36 and / or vehicle-side actions 40 to 47 coincide or overlap in time. It is therefore not necessary to complete the vehicle-side action before starting the next action. This can increase the overall intensity of the warning.

[0065] The vehicle-side actions 40 , 43 can extend over the respective individual operating sections 32 , 34 , 36 .

[0066] When the driver in vehicle 70 reacts to at least one vehicle-side action 40, 43, the corresponding operating sections 32, 34, 36 may differ with respect to the reaction of driver assistance system 60. This will be explained below by way of example based on Figure 2 The operation path 30 is described as follows:

[0067] If the driver reacts, for example, within the first operating section 32, the driver assistance function remains active. This is useful, for example, if it is detected that the driver is not looking at the road for a certain period of time and thus an escalation path is initiated. If the driver reacts within the first operating section 32, the function is continued.

[0068] If, however, the second operating section 34 of the operating path 30 is initiated, the driver is required to take over manually. If the driver reacts within the second operating section 34, the function is nevertheless deactivated. Since the driver did not react within the first operating section 32, there are reasonable doubts about the driver's attention at this point in time, so that safe operation of the driver assistance function is no longer ensured. Alternatively, the function can be continued with a lower degree of support until the situation has been resolved and driving can continue within the normal functional range.

[0069] If the driver does not react either in first operating section 32 or in second operating section 34 , the actions of third operating section 36 are also executed without a driver reaction, for example, vehicle 70 is automatically braked to a standstill.

[0070] Returning to further possibilities for adjusting the basic operating path 30, further examples should be mentioned:

[0071] Furthermore, when adjusting 110 basic operating path 30 , the execution of individual operating segments 32 , 34 , 36 may be specifically excluded if this is necessary and expedient for achieving a defined safety state of vehicle 70 .

[0072] Furthermore, the adjustment 110 of the basic operating path 30 may be provided for skipping individual vehicle-side actions 40 , 43 .

[0073] Below, further aspects of the present invention are described in more detail.

[0074] The aforementioned actuation segments 32, 34, 36 of the actuation path 30 can overlap in time, as can the vehicle-side actions themselves. An action can also be carried out so long that it extends in time over a plurality of segments.

[0075] Now, depending on the identified situation, starting from the basic definition of the operation path, the operation path is completely traversed and modifications are made on the escalation path.

[0076] Identified conditions may include the following:

[0077] 1. The driver assistance system detects that the driver is no longer monitoring the traffic situation attentively, although the driver needs to do so. Such a detection can be achieved, for example, by means of an interior camera or by determining that the driver no longer has his hands on the steering wheel.

[0078] 2. A problem in the driver assistance system is detected, such as a failure of a steering actuator or a brake actuator or contamination of a sensor for detecting the surroundings, such that continued operation of the driver assistance function is no longer possible safely.

[0079] 3. Identify traffic conditions or routes that cannot be safely controlled by the driver assistance system.

[0080] In the first mentioned situation 1), there is, for example, no need to deviate from the basic definition of the operating path and to completely traverse the operating path.

[0081] However, in particular the second and third situations 2) or 3) mentioned may require faster operation / action (Handlung). If such a situation is recognized, the basic defined adjusted form of the operation path can be traversed. For example, the first action or section of the operation path can be skipped at the beginning. Alternatively, when traversing, individual actions of the operation path can be skipped. In addition, the intensity of one or more actions can be adjusted.

[0082] It is particularly advantageous to determine the time span until a safety-critical situation is reached. For example, a dangerous traffic situation (e.g. a construction site) can already be assumed to be in the future. This time span can then be compared with the duration of the operating path in the basic definition. If the duration of the operating path is too long, the mentioned modification can be performed until the duration of the modified operating path is less than the calculated time span.

[0083] A further advantage of the method according to the invention is that components of the maneuvering path can be excluded in a targeted manner depending on the situation, for example, in the case of bends, lateral jerk can be explicitly disallowed in order not to endanger driving stability and driver control.

[0084] In the following, the Figure 2 Additional exemplary scenarios of operation path 30:

[0085] If the driver responds within the actions of the first operating section 32, the driver assistance function is continued. If the driver responds within the actions of the second operating section 34, the vehicle control is handed over from the driver assistance function to the driver. If the driver does not respond, the actions are also carried out in the third operating section 36 without the driver responding.

[0086] Exemplarily, the vehicle-side action 40 is an optical warning in the form of a light-emitting element of the steering wheel. The warning is maintained for a duration of 5 seconds. Before the end of this time span, an action 41 is also started, in which case a warning sound is played via a loudspeaker in the vehicle for 2 seconds. Action 42 includes a vibration of the driver's seat for 2 seconds.

[0087] Now, in the second operating section 34, an acoustic speech request for taking over the vehicle guidance is made in action 43, followed by action 44, which includes a warning tone with an increased volume compared to action 41. Also before the end of action 44, action 45 begins, which includes a warning jerk in the longitudinal direction.

[0088] In third operating section 36 , automatic braking to a standstill is now carried out and an emergency call is also placed by action 47 before action 46 is completed.

[0089] If it is now determined that the driver of vehicle 70 is inattentive, the entire operating path 30 is traversed. Alternatively, however, if a safety-critical situation is determined for vehicle 70 in which the duration for traversing the operating path is too great, individual actions or entire sections are removed from the operating path, or the operating path begins with an action that begins after action 40 in terms of time, or the operating path ends with an action that ends before action 47 in terms of time.

[0090] If the operating path has already started, adjustments to the operating path 30 may also occur. For example, if the operating path 30 was initially started due to driver inattention in such a way that the operating path would have been completely traversed, and now an additional event is added, such as another vehicle approaching, the modifications mentioned can be adjusted on the ongoing operating path, such as skipping actions 43 and 44.

[0091] Adjustments to the operation path can be performed due to the following events:

[0092] - Driver inattention / fatigue,

[0093] - health issues of the driver,

[0094] - changes in the surface characteristics of the road (e.g. asphalt, gravel, potholes, pollution, changes in the coefficient of friction),

[0095] - changes in weather conditions and / or visibility conditions (e.g. rain, fog, frost, sun position, visibility distance),

[0096] - changes in the route and / or type of road (construction sites, road curvature, road width, changes in road markings or lane boundaries, gradients; motorways, town roads, urban roads),

[0097] - changes in legal provisions (e.g. maximum speed, prohibition of the use of certain automated driving functions),

[0098] - objects on the road (e.g. lost cargo, people, bicycles, animals),

[0099] - actions of other traffic participants (e.g. braking, merging, erratic behaviour),

[0100] - traffic conditions (e.g. congestion, traffic density),

[0101] - technical limitations of the vehicle (e.g. failure / limitation of (backup) actuators (e.g. brakes, steering, drive); failure / limitation / contamination of environmental sensors (e.g. radar, camera, ultrasonic sensor, lidar); failure / limitation of reference sensor devices (e.g. accelerometer, speed sensor, wheel speed sensor); change in tire pressure; failure / limitation of wipers),

[0102] - The vehicle leaves the area of ​​the space provided for the operation of the automated function.

Claims

1. A method (100) for improving the safety of a driver assistance system (60) of a vehicle (70), the method comprising the following steps: - detecting (102) a dangerous situation (20) of the vehicle (70) based on at least one situation-related driving parameter (22); - providing (104) a defined basic operating path (30) having at least one first operating section (32), wherein: In the first operating section (32), at least one first vehicle-side action (40) is triggered based on the detected dangerous situation (20), wherein the first vehicle-side action is suitable for bringing the vehicle (70) into a safe state; - evaluating (108) a detected dangerous situation (20) for the vehicle (70); - adjusting (110) the basic operating path (30) based on an evaluation of a detected hazardous situation (20) for the vehicle (70).

2. The method (100) according to claim 1, wherein: The at least one first vehicle-side action (40) comprises at least one of the following actions for warning at least one person in the vehicle (70): an optical warning, a tactile warning, an acoustic warning, an olfactory warning, an automated intervention in the vehicle behavior of the vehicle (70).

3. The method (100) according to any one of the preceding claims, wherein: The adjustment (110) of the basic operating path (30) is configured to adjust the degree of implementation of the at least one first vehicle-side action (40).

4. The method (100) according to any one of the preceding claims, wherein: If the detected duration required for the onset of the detected hazardous condition (20) is less than the duration for traversing the entire basic operating path (30), the basic operating path (30) is adjusted (110).

5. The method (100) according to any one of the preceding claims, wherein: The basic operating path (30) has at least one second operating section (34) which follows the first operating section (32), wherein within the at least second operating section (34), at least one second vehicle-side action (43) is triggered as a function of a detected dangerous situation (20).

6. The method (100) according to claim 5, wherein: The adjustment (110) of the basic operating path (30) provides that the operating sections (32, 34) and / or the vehicle-side actions (40, 43) overlap in time.

7. The method (100) according to any one of the preceding claims 5 to 6, wherein: The vehicle-side actions (40, 43) extend over the corresponding operating sections (32, 34).

8. The method (100) according to claim 5, wherein: When a driver in the vehicle (70) reacts to at least one vehicle-side action (40, 43), the corresponding operating sections (32, 34) differ with respect to the reaction of the driver assistance system (60).

9. The method (100) according to any one of claims 5 to 8, wherein: When adjusting (110) the basic operating path (30), the execution of individual operating sections (32, 34) is specifically excluded if this is necessary to achieve a defined safety state of the vehicle (70).

10. The method (100) according to any one of the preceding claims 5 to 9, wherein: The adjustment (110) of the basic operating path (30) is configured to skip a single vehicle-side action (40, 43).

11. The method (100) according to any one of the preceding claims, wherein: At least one situation-dependent driving parameter (22) reflects at least one of the following risk situations for the vehicle (70) that necessitate an adjustment of the basic operating path (30): a functional failure of a driver assistance system (60) of the vehicle (70), the recognition of a traffic situation for the vehicle (70) that can no longer be safely handled by the driver assistance system (60) of the vehicle (70).

12. The method (100) according to any one of the preceding claims, wherein: The vehicle (70) is an at least partially autonomously driven vehicle.

13. A computer program product, comprising machine-readable instructions, which, when executed on one or more computers and / or computer instances, cause the one or more computers and / or computer instances to implement the method according to any one of claims 1 to 12.

14. A machine-readable data carrier and / or a download product having a computer program product according to claim 13.

15. One or more computers and / or computer instances having a computer program product according to claim 13 and / or having a machine-readable data carrier and / or a download product according to claim 14.

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