Methods for at least partially unblocking a motor vehicle's field of vision, especially during lane changes

Abstract

Method (M) for at least partially unblocking a field of vision (13) of a motor vehicle (10), wherein the method (M) comprises: Locating (M1) other vehicles (11) with a sensor system (1) of the motor vehicle (10) on a current lane (8) of the motor vehicle (10) in at least one of a front area of ​​the motor vehicle (10) and a rear area of ​​the motor vehicle (10); Determine (M2) with a determining unit (2) of the motor vehicle (10) whether at least one of the other vehicles (11) blocks the field of vision (13) of the motor vehicle (10) at least partially on the current lane (8); Decide (M3) with a decision unit (3) of the motor vehicle (10) whether a driving situation requires reducing a blockage of the field of vision (13); and Communicate (M4) in the event that the blocking of the field of vision (13) is to be reduced, a request with a communication device (4) of the motor vehicle (10) to the other vehicles (11) which at least partially block the field of vision (13) of the motor vehicle (10), to maneuver in the current lane (8) in such a way that the blocking of the field of vision (13) of the motor vehicle (10) is reduced.

Description

Technical field

[0001] The present invention relates to a method for at least partially unblocking a field of vision of a motor vehicle, an assistant for a motor vehicle for at least partially unblocking a field of vision of the motor vehicle and a motor vehicle with such an assistant. background

[0002] Modern vehicles are increasingly connected to sensors and telematics to enable advanced driver assistance systems (ADAS) and / or autonomous driving functionalities. For example, cars can be equipped with multiple sensors and various techniques for capturing data from their surroundings, such as for accurately detecting other vehicles, the road ahead and / or behind, and so on. Typical technologies used for this purpose include radar, lasers, lidar, ultrasound, cameras, stereo vision, computer vision, odometry, accelerometers, gyroscopes, GPS, and so forth. To obtain a more consistent, accurate, and usable view of the environment, a variety of such sensors can be incorporated into a vehicle, and the information from these sensors can be combined within a sensor system.

[0003] In certain situations, vehicle sensors, such as front and / or rear sensors, can be blocked and / or obscured by vehicles in front or behind. In the case of autonomous driving, it can be advantageous for cars to drive close together in a convoy to save fuel. In this case, the cars are more likely to restrict the sensor range of neighboring vehicles. This is particularly relevant for certain maneuvers such as overtaking, turning, and / or other lane changes, as the driver's and / or the ADAS / autonomous driving system's view can be at least partially impaired by the vehicles in front and behind.

[0004] Document US 8,392,064 B2 describes a variety of methods, systems, devices, and arrangements for automated driver assistance that facilitate keeping the vehicle in its lane. The vehicle is automatically steered to a lateral offset within the lane. A steering input from the driver results in a change to this lateral offset. This modification of the lateral offset can be used to allow the driver to follow any trajectory parallel to the road, including trajectories where the vehicle is not centered within the lane.

[0005] Document US 8,040,253 B2 discloses a lane-change assist system for motor vehicles, which includes a sensor system for locating vehicles in adjacent lanes of a roadway in the rear area of ​​the vehicle. The system prevents the driver from changing lanes to an adjacent lane if a passing vehicle is approaching from behind in that adjacent lane, thus preventing a collision risk or at least an obstruction for the overtaking vehicle.

[0006] Document WO 2018 / 044656A1 discloses systems and procedures by which an approaching vehicle can detect that a roadway is blocked by one or more blocking vehicles and sends a series of negotiation messages to determine whether the blocking vehicles can move aside.

[0007] Document US 2013 / 0245877A1 discloses methods and devices for actively modifying the field of view of an autonomous vehicle, taking into account constraints. The method comprises: causing a sensor in an autonomous vehicle to acquire information about an environment in a first field of view, in which part of the environment is obscured; determining a desired field of view in which the part of the environment is not obscured; and, based on the desired field of view and a set of constraints on the vehicle, determining a second field of view in which the part of the environment is less obscured than in the first field of view. Summary of the invention

[0008] Therefore, there is a need to find solutions to improve the field of vision of ADAS sensors and / or the driver while driving.

[0009] For this purpose, the present invention provides a method according to claim 1, an assistant according to claim 9 and a motor vehicle according to claim 17.

[0010] According to one aspect of the invention, a method for at least partially unblocking a motor vehicle's field of vision comprises: locating other vehicles with a sensor system of the motor vehicle on a current lane of travel of the motor vehicle in at least one of a front area and a rear area of ​​the motor vehicle; determining with a determination unit of the motor vehicle whether at least one of the other vehicles is at least partially blocking the motor vehicle's field of vision on the current lane; deciding with a decision unit of the motor vehicle whether a driving situation requires reducing a blockage of the field of vision;and, in the event that the obstruction of the field of vision needs to be reduced, to communicate with a communication device of the motor vehicle to the other vehicles that at least partially obstruct the field of vision of the motor vehicle, to maneuver in the current lane in such a way as to reduce the obstruction of the field of vision of the motor vehicle.

[0011] According to a further aspect of the invention, an assistant for a motor vehicle for at least partially unblocking a motor vehicle's field of vision comprises a sensor system configured to locate other vehicles on a current lane of travel of the motor vehicle in at least one of a front area and a rear area of ​​the motor vehicle; a communication device configured to exchange information between the motor vehicle and other vehicles; and a determination unit configured to determine whether at least one of the other vehicles is at least partially blocking the motor vehicle's field of vision on the current lane.and a decision unit trained to decide whether a driving situation requires reducing a blockage of the field of vision, and, if the blockage of the field of vision needs to be reduced, to communicate a request via the communication device to the other vehicles that are at least partially blocking the vehicle's field of vision, to maneuver in the current lane in such a way as to reduce the blockage of the vehicle's field of vision.

[0012] According to another aspect of the invention, a motor vehicle includes an assistant according to the invention.

[0013] One aspect of the present invention is to inform other vehicles that are ahead of and / or following the present vehicle and potentially obstruct its field of vision—that is, the field of vision of a driver and / or a sensor system of the vehicle—for example, when a lane change is initiated, i.e., is in progress and / or imminent, and to request them to move accordingly within their lanes to optimize the field of vision of the present vehicle. The "receiving vehicle" can verify the request from the "requesting vehicle" and then either execute the movement as requested, ignore the request, or execute the request with a delay. Furthermore, the receiving vehicle can transmit information to the requesting vehicle regarding the decision / status of the execution of the request. The request can contain specific instructions for the movement to be executed.Alternatively or additionally, the request can simply be a general invitation or request to perform a maneuver to increase the requesting vehicle's field of vision. In a concrete example, a preceding and / or following vehicle can be asked to move laterally to the far right side of a lane, while the requesting vehicle can simultaneously or subsequently maneuver to the left side of the lane, for example, before overtaking or changing lanes to an adjacent lane on the left for other reasons. In the case of manual or assisted driving, the driver of the requesting vehicle can be prompted to make the request, for example, via an input in a human-machine interface. This message can then be transmitted (wirelessly) to the receiving vehicle.The receiving vehicle can execute the action automatically if it has automated / assisted lateral and / or longitudinal control systems. For non-assisted receiving vehicles, at least a message can be generated for the driver with the request, for example, to move further left / right within the lane. For automated or autonomous driving systems in the requesting vehicle, the request can be generated automatically by the requesting vehicle. The request can be triggered, for example, by an input from the driver (e.g., a maneuver command). The receiving vehicle can execute the action automatically if it has automated / assisted lateral and / or longitudinal control systems. For non-assisted receiving vehicles, at least a message with the request can be generated.Communication can take place via a direct and / or indirect, especially wireless, communication channel, e.g. a wireless car-to-car connection between the requesting vehicle and the receiving vehicle.

[0014] As a result, the driver's and / or autonomous driving system's field of vision is improved, enabling them to better assess obstacles, such as reversing or forward traffic, and to make improved maneuvering decisions. Oncoming traffic can be detected earlier during planned overtaking maneuvers, right / left turns (e.g., at an intersection), and / or lane changes on highways at higher relative speeds (reversing traffic can be detected early). In autonomous driving applications, a reduced field of vision due to shorter safety distances can be compensated for, and traffic flow can be optimized. Overall, the visibility of the vehicle's surroundings is increased for the driver (e.g., during assisted driving) and / or passengers in the driver's seat in the case of fully automated or self-driving vehicles.Ultimately, increasing the field of vision for both the sensor and the driver leads to greater safety.

[0015] It is understood that the term "vehicle" as used herein, or any other similar term, includes motor vehicles in general, such as passenger cars including sport utility vehicles (SUVs), buses, trucks, various commercial vehicles, and the like, as well as hybrid vehicles, electric vehicles, plug-in hybrid vehicles, hydrogen-powered vehicles, and other vehicles with alternative fuels (e.g., fuels derived from resources other than petroleum). For the purposes of this document, a hybrid vehicle is understood to be a vehicle that has two or more energy sources, for example, both gasoline-powered and electrically powered vehicles.

[0016] Advantageous designs and further developments result from the sub-requirements.

[0017] According to a further development of the invention, the request can contain information for other vehicles to move laterally and / or longitudinally within the current lane relative to the motor vehicle. In one specific example, the other vehicle can be requested to move laterally to an outer right or left side of the lane. In another example, the other vehicle can be requested to increase its distance from the motor vehicle within the lane and thus move longitudinally within the lane relative to the motor vehicle. It will be clear to those skilled in the art that scenarios are possible in which a combined lateral and longitudinal movement of the other vehicle is advantageous. Furthermore, depending on the specific application, additional maneuvers can be requested, including but not limited to requests for the other vehicle to change lanes.

[0018] According to a further development of the invention, other vehicles may be permitted to maneuver within safety distances on the current lane. For example, a lateral safety distance with respect to the outer lateral boundaries of the current lane may be required, e.g., several centimeters or decimeters. In this case, the other vehicle may, for example, perform a lateral movement to the left or right within the lane until the safety distance is reached. In another example, longitudinal safety distances may be taken into account, e.g., minimum safety distances.

[0019] According to a further development of the invention, the method can be used to assist with lane changes. The request can be communicated when the vehicle initiates a lane change from its current lane to a destination lane. Accordingly, the assistant can be configured as a lane change assistant. The decision unit can be trained to determine whether the vehicle is initiating a lane change from its current lane to a destination lane and to communicate the request if a lane change is initiated.

[0020] Lane changes within the meaning of the invention relate to changing lanes in general. This includes not only lane changes on multi-lane roads and / or overtaking maneuvers on rural roads, highways, etc., but also turning vehicles and thus leaving their current lanes at intersections, cross streets, in parking lots, and / or to enter parking bays. However, the present invention can be used in a more general sense to improve the field of vision of a driver and / or a vehicle's sensor system in driving situations that do not necessarily involve a lane change. For example, when approaching an intersection, a driver could improve their field of vision (or that of the sensors) of the intersection by requesting other vehicles ahead, which are potentially blocking the current vehicle's view of the intersection, to move within their lane to clear the view.

[0021] According to a further development of the invention, the method can include locating approaching vehicles with the sensor system on the target lane in at least one of the front and rear sections of the vehicle. Accordingly, the sensor system can be configured to locate vehicles approaching on the target lane. Thus, the sensor system can be configured not only to detect vehicles on the current lane, but also, more generally, to detect vehicles on several adjacent lanes, e.g., on multi-lane roads.

[0022] The procedure can include issuing a warning via the vehicle's driver interface if at least one of the approaching vehicles in the target lane is approaching in conflict with the initiated lane change. Similarly, the assistant can also include a driver interface designed to issue a warning if at least one of the approaching vehicles in the target lane is approaching in conflict with the initiated lane change. The approaching vehicle may be approaching from the front, for example, during an overtaking maneuver, or from behind, for example, during a lane change on a highway. This allows approaching obstacles to be detected, and the driver and / or the autonomous driving system can then take appropriate action.

[0023] According to a further development of the invention, the method can include issuing a request from another vehicle to the motor vehicle via a driver interface of the motor vehicle, instructing the vehicle to maneuver within the current lane in such a way as to reduce the obstruction of the other vehicle's field of vision. Similarly, the assistant can include a driver interface configured to issue a request from another vehicle to the motor vehicle to maneuver within the current lane in such a way as to reduce the obstruction of the other vehicle's field of vision. Thus, this further development provides a driver assistance function that informs the driver about other vehicles requesting movement from the present motor vehicle, for example, because these other vehicles are about to change lanes.This is relevant, for example, for non-autonomous vehicles, as a message / notification can be generated for the driver, requesting, for example, to move further to the left / right in the lane.

[0024] According to a further development of the invention, the method can include autonomous steering of the motor vehicle with an autonomous steering unit of the motor vehicle within the current lane to expand the vehicle's field of vision. Similarly, the assistant can include an autonomous steering unit configured to steer the motor vehicle within the current lane to expand the vehicle's field of vision. For example, the receiving vehicle can be requested by the requesting vehicle to move to the right side of the current lane because the latter intends to overtake. Simultaneously or subsequently, the requesting vehicle can move to the left side of the current lane to expand the sensors' field of vision.

[0025] According to a further development of the invention, the method can include autonomous steering of the motor vehicle with an autonomous steering unit of the motor vehicle to maneuver the motor vehicle in response to a request from another vehicle to maneuver within the current lane. Similarly, the assistant can include an autonomous steering unit which is trained to maneuver the motor vehicle in response to a request from another vehicle to maneuver within the current lane. Thus, the roles of the receiving vehicle and the requesting vehicle can be exchanged, allowing the motor vehicle to request other vehicles to adjust their movement and to be instructed by other vehicles to maneuver accordingly to increase their field of vision. According to a further development of the invention, the method can include initiating a lane change by the autonomous steering unit.Accordingly, the autonomous steering unit can be trained to initiate a lane change. Thus, an autonomous driving system can automatically initiate a lane change, request other vehicles to move accordingly to increase its field of vision (e.g., to move laterally to the right side of the current lane in the case of an overtaking maneuver), and / or align itself within the current lane to increase its field of vision (e.g., to move laterally to the left side of the current lane), and then start the actual lane change once the maneuvers within the lane are complete and no approaching vehicle poses a collision risk or at least an obstacle. Once the lane change is complete, the other vehicles can return to their original positions, e.g., in the center of the lane. The requesting vehicle can inform the other vehicles accordingly.

[0026] The present invention will be explained in more detail below with reference to the exemplary embodiments shown in the schematic figures. Brief description of the characters

[0027] The accompanying figures are intended to provide a further understanding of the invention and form part of this disclosure. They illustrate embodiments of the invention and, in conjunction with the description, serve to explain the principles and concepts of the invention. Other embodiments of the invention and many of the advantages mentioned above will become apparent with regard to the following detailed description. The elements in the drawings are not necessarily shown to scale. In the figures, identical reference numerals denote identical or functionally equivalent elements, unless otherwise stated. Fig. Figure 1 schematically shows an assistant according to an embodiment of the invention. Fig. Figure 2 schematically shows a motor vehicle with the assistant from Fig. 1. Fig. Figure 3 schematically shows one operating mode of the assistant. Fig. 1 in the case of a vehicle blocking the view in front. Fig. Figure 4 schematically represents an operating mode of the assistant. Fig. 1 in the case of a vehicle blocking the rear view. Fig. Figure 5 is another schematic representation of an operating mode of the assistant from Fig. 1 in the case of a vehicle blocking the view in front. Fig. Figure 6 schematically shows an overtaking maneuver using the assistant. Fig. 1. Fig. Figure 7 schematically shows a lane change maneuver using the assistant. Fig. 1. Fig. Figure 8 shows a flowchart of a procedure for assisting lane changes of the motor vehicle. Fig. 2 with the assistant from Fig. 1.

[0028] Although specific embodiments are illustrated and described herein, it will be clear to those skilled in the art that a multitude of alternative and / or equivalent implementations can replace the specific embodiments shown and described without departing from the scope of the present invention. In general, the application covers all adaptations or variations of the specific embodiments described herein. Detailed description of the exemplary implementations

[0029] Fig. Figure 1 schematically shows an assistant 7 according to an embodiment of the invention, which is designed as a lane change assistant. Fig. Figure 2 schematically shows a motor vehicle 10 comprising the lane change assistant 7. Fig. 1. The lane change assistant 7 assists the vehicle 10 in changing from the current lane 8 to a destination lane 9. Fig. Figures 3 to 7 show examples of different operating modes of the lane change assistant 7. Fig. 1. Fig. Figure 8 finally shows a flowchart of a procedure M for assisting lane changes of the motor vehicle 10. Fig. 2 using the lane change assistant 7 from Fig. 1

[0030] The lane change assistant 7 comprises a sensor system 1 which is designed to locate other vehicles 11 on the current lane 8 and the target lane 9 of the motor vehicle 10 in a front area of ​​the motor vehicle 10 and a rear area of ​​the motor vehicle 10 (see Fig. 3 to 7). The sensor system 1 can comprise a mixture of different sensors 1a, 1b, such as those used in modern motor vehicles, especially in assisted and / or autonomous driving systems. The specific example of the in Fig. 1 and Fig. The sensor system 1 shown in Figure 2 comprises an optical camera 1a, which provides a specific field of view 13 (dashed line in Figure 2). Fig. 2) The camera 1a, for example, may have a range of approximately 100 m, and its field of view 13 may, for example, be 40°. The sensor system 1 may further comprise several radars 1b, two at the rear of the vehicle 10 and two at the front (see Figure 1). Fig. 2) In a specific example, the rear radars 1b can provide a range of 200 m and a field of view 13 of 150°, while the front radars 1b can provide ranges of 60 m and 120 m respectively, and fields of view 13 of 20° and 150° respectively. This means that one of the front radars 1b (like the rear radars) is a short-range radar and the other is a long-range radar. The camera 1a, on the other hand, provides a range between these front radars 1b. However, the person skilled in the art can equip the vehicle 10 with other sensors 1a, 1b depending on the application. For example, sensors with a greater range of 300 m or 400 m or more can be used. Furthermore, different sensor technologies and arrangements can be used, e.g., ultrasonic sensors, lidars, etc.

[0031] The lane change assistant 7 further comprises a communication device 4, which is designed to exchange information between the motor vehicle 10 and the other vehicles 11. The communication device 4 can, in particular, be configured as a wireless communication device 4, which provides a direct communication channel between the motor vehicle 10 and each of the other vehicles 11.

[0032] The lane change assistant 7 further comprises a determination unit 2, which is designed to determine whether at least one of the other vehicles 11 is at least partially blocking the field of vision 13 of the vehicle 10 in the current lane 8. For this purpose, the determination unit 2 is coupled to the sensor system 1 and is designed to analyze information recorded by the sensor system 1. As shown, for example, above in Fig. 3 is recognizable, the motor vehicle 10 can be from Fig. 2. The vehicle 10 is currently driving in lane 8. The vehicle 10 may be about to overtake another vehicle 11 ahead and change lanes from its current lane 8 to a destination lane 9. To check the road ahead for oncoming traffic, the driver and / or an assisted / autonomous driving system of the vehicle 10 must be able to see as much of the road ahead as possible. However, the other vehicle 11 blocks and / or impairs the field of vision 13 of the following vehicle 10, as shown in Fig. 3 is visible, so that the sensor system 1 and / or the driver of the motor vehicle 10 cannot perceive a blocked area 16 in front of the other vehicle 11. Thus, in this case, the determining unit 2 would determine that the other vehicle 11 at least partially blocks the field of vision 13 of the motor vehicle 10.

[0033] The lane change assistant 7 further comprises a decision unit 3, which is coupled to the determination unit 2 and the communication device 4 and is configured to decide whether the vehicle 10 initiates a lane change from the current lane 8 to the target lane 9. Such a lane change can be initiated by a driver of the vehicle 10 and / or an assisted and / or autonomous driving system of the vehicle 10. The determination unit 3 is further configured to communicate a request via the communication device 4 to the other vehicles 11 that are at least partially blocking the field of vision 13 of the vehicle 10, and to maneuver within the current lane 8 in such a way as to reduce the blockage of the field of vision 13 of the vehicle 10. In the examples in Fig. 3 and Fig. 4. Vehicle 10 communicates to the other vehicle 11 to move laterally to the right side of the current lane 8 (large arrow). For safety reasons, a lateral safety distance 15 can be maintained between vehicle 11 and the edge of the current lane 8, e.g., several decimeters. Simultaneously, vehicle 10 can move laterally to the left within the current lane 8 to increase the available field of vision 13 and minimize the blocked area 16. This can be done either by the driver and / or an assisted / autonomous driving system of vehicle 10. In other examples, vehicle 10 and the other vehicle 11 can move not only laterally but also longitudinally within the lane 8. To meet safety requirements, both lateral and longitudinal safety distances can be maintained.

[0034] This approach is particularly relevant in the case of autonomous driving applications, in which the vehicle 10 is at least partially controlled by an autonomous driving system and can drive in convoy with other vehicles 11 at a reduced longitudinal safety distance (platooning). This is achieved in the middle of Fig. Figure 4 demonstrates where several vehicles 10, 11 are traveling in a convoy with a reduced longitudinal safety distance 14. As can be seen there, the field of vision 13 of the following vehicle 10 is more or less obscured by the other vehicle 11 in front. However, the field of vision 13 is significantly increased as soon as the vehicles 10, 11 have moved laterally as described above, and the road ahead is visible again, even though the longitudinal distance between the vehicles 10, 11 has not changed.

[0035] Both the determination unit 2 and the decision unit 3 can be part of a telematics and / or computer system of the motor vehicle 10 for assisted and / or autonomous driving. In this specific example, the lane change assistant 7 of the motor vehicle 10 also includes an autonomous steering unit 6, which is coupled to the decision unit 3 of the motor vehicle 10 and which is designed, among other things, to initiate a lane change. For this purpose, the autonomous steering unit 6 is designed to steer the motor vehicle 10 within the current lane 8 in order to increase the vehicle's field of vision 13, i.e., the field of vision 13 of the sensor system 1, before the actual lane change, e.g., by lateral movement within the current lane 8. In other embodiments, however, a driver can perform this task, as already mentioned above.In this case, the field of view 13 can correspond to sensor system 1 and / or the driver.

[0036] The lane change assistant 7 also includes a driver interface 5, which is designed to display relevant information to the driver and to accept input from the driver, for example, if the driver wishes to take control of the vehicle 10. For instance, the driver interface 5 can be designed to issue a warning if a vehicle 12 approaches in the target lane 9 in conflict with the initiated lane change. The driver can be warned of any obstruction or (potential) hazard posed by the vehicle 10 during the lane change. To demonstrate this, [reference to relevant section] Fig. Figure 6 shows an example of an overtaking maneuver where the vehicle 10 attempts to overtake one or more vehicles 11 that are driving in front of it. Initially, an oncoming vehicle 12 is not visible to the driver and / or the sensor system 1 of the vehicle 10 because it is moving within the blocked area 16 behind the other vehicles 11. Next, the vehicle 10 requests the other vehicles 11 to move laterally to the right side of lane 8 and then moves to the left side of lane 8. The field of view 13 is thus increased, and the oncoming vehicle 12 is now visible and can be taken into account by the autonomous steering unit 6 during the overtaking maneuver.

[0037] Additionally, the driver interface 5 can issue a warning signal and / or an indicator signal that one or more vehicles are approaching in the destination lane 9. Once the overtaking maneuver is completed (see arrow in Fig. 6), the motor vehicle 10 can send a further message to the other vehicles 11 that they can return to a middle position in lane 8.

[0038] Fig. Figure 7 shows a similar example in which vehicle 10 is driving on a multi-lane road and vehicle 12 is approaching from behind in the destination lane 9 (e.g., at high speed). In this case as well, the approaching vehicle 12 is only visible to vehicle 10 after the lateral movement of the other vehicle 11, which is blocking vehicle 10's field of vision, has ceased.

[0039] Accordingly, this includes in Fig.The eight methods M shown for assisting lane changes of the motor vehicle 10 include, under M0, initiating a lane change by the autonomous steering unit 6. Method M further comprises, under M1, locating other vehicles 11 with a sensor system 1 of the motor vehicle 10 in the current lane 8 of the motor vehicle 10 in at least one of its front and rear sections. Method M further comprises, under M2, determining with the determination unit 2 of the motor vehicle 10 whether at least one of the other vehicles 11 is at least partially blocking the field of vision 13 of the motor vehicle 10 in the current lane 8. Method M further comprises, under M3, deciding with the decision unit 3 of the motor vehicle 10 whether a driving situation requires reducing the blockage of the field of vision 13.Procedure M further comprises, under M4, communicating with the communication device 4 of the motor vehicle 10 to the other vehicles 11 that are at least partially blocking the motor vehicle 10's field of vision 13, in such a way as to maneuver in the current lane 8 in such a way as to reduce the blockage of the motor vehicle 10's field of vision 13. Procedure M further comprises, under M5, autonomous steering of the motor vehicle 10 with the autonomous steering unit 6 of the motor vehicle 10 within the current lane 8 in order to increase the field of vision 13 of the motor vehicle 10 and / or to maneuver the motor vehicle 10 in accordance with a request from another vehicle to the motor vehicle 10 to maneuver within the current lane 8.Method M further comprises, under M6, locating approaching vehicles 12 with the sensor system 10 on the target lane 9 in at least one of a front area of ​​the motor vehicle 10 and a rear area of ​​the motor vehicle 10. Method M further comprises, under M7, issuing a warning with the driver interface 5 of the motor vehicle 10 if at least one of the approaching vehicles 12 in the target lane 9 approaches in conflict with the initiated lane change.

[0040] It will be clear to the person skilled in the art that the motor vehicle 10 can be similarly configured to receive corresponding requests from other vehicles in the event that they wish to change lanes. Thus, the autonomous steering unit 6 of the motor vehicle 10 can be configured to steer the motor vehicle 10 in order to maneuver it in accordance with a request from another vehicle. Similarly, the driver interface 5 of the lane change assistant 7 can be configured to issue a request from another vehicle to the motor vehicle 10 to maneuver within the current lane 8 in order to minimize the obstruction of the other vehicle 13's field of vision 13.

[0041] The invention thus offers several advantages for assisted and autonomous driving: - Increasing the sensor's field of view leads to greater safety. - Earlier obstacle detection, e.g., oncoming or reversing traffic, can be detected earlier when overtaking, turning (e.g., at an intersection), changing lanes, etc. - Shorter safety distances are possible in autonomous driving because a reduced field of vision is compensated for. - improved maneuvering decisions and therefore improved traffic flow - Improved visibility of the relevant vehicle surroundings for the driver (in an assisted vehicle) or for the "passenger in the driver's seat" (in an automated vehicle)

[0042] In the preceding detailed description, various features for improving the clarity of the presentation have been summarized in one or more examples. However, it should be clear that the above description is merely illustrative and not limiting. It serves to cover all alternatives, modifications, and equivalents. Many other examples will be immediately clear to the person skilled in the art based on their technical knowledge, given the above description.

[0043] The exemplary embodiments were selected and described to best illustrate the principles underlying the invention and its practical applications. This allows those skilled in the art to optimally modify and utilize the invention and its various embodiments with regard to the intended purpose. Many other examples will be immediately clear to those skilled in the art based on their technical knowledge, given the description above. Reference symbol list 1 sensor system 1a camera 1b Radar 2 Unit of determination 3 Decision unit 4 Communication device 5 Driver interface 6 autonomous steering units 7 Assistant 8 current lane 9 Finish lane 10 motor vehicle 11 other vehicle 12 approaching vehicle 13 field of vision 14 longitudinal safety distance 15 lateral safety distance 16 blocked area M procedure MO-M7 process step

Claims

[1] Method (M) for at least partially unblocking a field of vision (13) of a motor vehicle (10), wherein the method (M) comprises: Locating (M1) other vehicles (11) with a sensor system (1) of the motor vehicle (10) on a current lane (8) of the motor vehicle (10) in at least one of a front area of ​​the motor vehicle (10) and a rear area of ​​the motor vehicle (10); Determine (M2) with a determining unit (2) of the motor vehicle (10) whether at least one of the other vehicles (11) blocks the field of vision (13) of the motor vehicle (10) at least partially on the current lane (8); Decide (M3) with a decision unit (3) of the motor vehicle (10) whether a driving situation requires reducing a blockage of the field of vision (13); and Communicate (M4) in the event that the blocking of the field of vision (13) is to be reduced, a request with a communication device (4) of the motor vehicle (10) to the other vehicles (11) which at least partially block the field of vision (13) of the motor vehicle (10), to maneuver in the current lane (8) in such a way that the blocking of the field of vision (13) of the motor vehicle (10) is reduced. [2] Method (M) according to claim 1, wherein the request contains information for the other vehicles (11) to move at least one of laterally and longitudinally within the current lane (8) relative to the motor vehicle (10). [3] Method (M) according to claim 1 or 2, wherein the other vehicles (11) are permitted to maneuver within safety distances (14, 15) on the current lane (8). [4] Method (M) according to any one of claims 1 to 3, wherein the method (M) is used to assist lane changes, wherein the request is communicated when a lane change of the motor vehicle (10) from the current lane (8) to a destination lane (9) is initiated. [5] Method (M) according to claim 4, further comprising: Localizing (M6) approaching vehicles (12) with the sensor system (10) on the target lane (9) in at least one of a front area of ​​the motor vehicle (10) and a rear area of ​​the motor vehicle (10), and Issuing (M7) a warning to a driver interface (5) of the motor vehicle (10) if at least one of the approaching vehicles (12) in the target lane (9) is approaching in conflict with the initiated lane change. [6] Method (M) according to any one of claims 1 to 5, further comprising: Issuing a request from another vehicle (11) to the motor vehicle (10) via a driver interface (5) of the motor vehicle (10), to maneuver within the current such that the blocking of the field of vision (13) of the other vehicle is reduced. [7] Method (M) according to any one of claims 1 to 6, further comprising: autonomous steering (M5) of the motor vehicle (10) with an autonomous steering unit (6) of the motor vehicle (10) within the current lane (8) to increase the field of vision (13) of the motor vehicle (10) and / or to maneuver the motor vehicle (10) in accordance with a request from another vehicle to the motor vehicle (10) to maneuver within the current lane (8). [8] Method (M) according to claim 7, further comprising: Initiating (M0) a lane change by the autonomous steering unit (6). [9] Assistant (7) for a motor vehicle (10) for at least partially unblocking a field of vision (13) of the motor vehicle (10), comprising: a sensor system (1) which is designed to locate other vehicles (11) on a current lane (8) of the motor vehicle (10) in at least one of a front area of ​​the motor vehicle (10) and a rear area of ​​the motor vehicle (10); a communication device (4) which is designed to exchange information between the motor vehicle (10) and other vehicles (11); a determination unit (2) which is designed to determine whether at least one of the other vehicles (11) is at least partially blocking the field of vision (13) of the motor vehicle (10) on the current lane (8); and a decision unit (3) which is trained to decide whether a driving situation requires reducing a blockage of the field of vision (13), and in the event that the blockage of the field of vision (13) is to be reduced, to communicate a request via the communication device (4) to the other vehicles (11) which are at least partially blocking the field of vision (13) of the motor vehicle (10), to maneuver in the current lane (8) in such a way that the blockage of the field of vision (13) of the motor vehicle (10) is reduced. [10] Assistant (7) according to claim 9, wherein the request contains information for the other vehicles (11) to move at least one of laterally and longitudinally within the current lane (8) relative to the motor vehicle (10). [11] Assistant (7) according to claim 9 or 10, wherein the other vehicles (11) are permitted to maneuver within safety distances (14, 15) on the current lane (8). [12] Assistant (7) according to one of claims 9 to 11, wherein the assistant (7) is configured as a lane change assistant, wherein the decision unit (3) is configured to decide whether the motor vehicle (10) initiates a lane change from the current lane (8) to a target lane (9), and to communicate the request in the event that a lane change is initiated. [13] Assistant (7) according to claim 12, wherein the sensor system (10) is further configured to locate vehicles (12) approaching on the target lane (9) of the motor vehicle (10), and wherein the assistant (7) further comprises a driver interface (5) which is configured to issue a warning when at least one of the approaching vehicles (12) in the target lane (9) approaches in conflict with the initiated lane change. [14] Assistant (7) according to one of claims 9 to 13, wherein the assistant (7) further comprises a driver interface (5) which is configured to issue a request from another vehicle (11) to the motor vehicle (10) to maneuver within the current lane (8) in such a way as to reduce the blocking of the other vehicle's field of vision (13). [15] Assistant (7) according to any one of claims 9 to 14, further comprising: an autonomous steering unit (6) which is designed to steer the motor vehicle (10) within the current lane (8) in order to increase the field of vision (13) of the motor vehicle (10) and / or to maneuver the motor vehicle (10) in accordance with a request from another vehicle to the motor vehicle (10) to maneuver within the current lane (8). [16] Assistant (7) according to claim 15, wherein the autonomous steering unit (6) is configured to initiate a lane change. [17] Motor vehicle (10) with an assistant (7) according to any one of claims 9 to 16.

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