Method for the automated maneuvering of a vehicle on a road with a drivable shoulder, driver assistance system and vehicle

Abstract

Method for automated maneuvering of a vehicle (1) on a road (12) with a drivable shoulder (14) comprising the steps: - Receiving a driving command to maneuver the vehicle (1), which is located in a lane (13) of the road (12), towards an exit (16) of the road (12), and - Preparing a lane change maneuver from the driving lane (13) to a deceleration lane (15) which is assigned to the exit (16), whereby the speed of the vehicle (1) is adjusted for the preparation of the lane change maneuver, - Check whether the shoulder (14) of the road (12), to which the deceleration lane (15) connects, is currently open to traffic, - if the hard shoulder (14) is open for use: search for a free gap (21) between other road users (7) on the drivable hard shoulder (14) before the vehicle (1) reaches the deceleration lane (15) and - if the free gap (21) has been found: preparing the lane change maneuver in such a way that maneuvering the vehicle (1) into the found gap (21) is possible from the moment the vehicle (1) reaches the deceleration lane (15), characterized in that - when searching for the gap (21), only gaps between other road users (7) with a predetermined minimum length (I) are considered, where the minimum length (I) is greater than the length for gaps during lane-changing maneuvers between lanes (13) of the road (12).

Description

[0001] The present invention relates to a method for the automated maneuvering of a vehicle on a road. Furthermore, the present invention relates to a driver assistance system. Finally, the present invention relates to a vehicle with such a driver assistance system.

[0002] Driver assistance systems for performing (semi-)automatic lane changes, or lane change assistance systems, are known from the prior art. With these driver assistance systems featuring automated or automatic lane change functionality, the driver typically signals a lane change through a specific control action. When such an action is detected, the driver assistance system maneuvers the vehicle along a planned trajectory into the adjacent lane or the adjacent lane with automatic lateral guidance and generally also with automatic longitudinal guidance. In such driver assistance systems, the driver's lane change request is usually signaled by activating a corresponding control element, such as a turn signal lever, to activate turn signals visible from outside the vehicle.

[0003] Furthermore, driver assistance systems are known from the prior art that support a driver or user of a vehicle on a multi-lane road when approaching an exit. For example, following the input of a navigation destination, the driver assistance system can prepare all necessary lane changes until the exit is reached. To do this, the driver assistance system can first detect a free gap for the vehicle in the destination lane and then adjust the vehicle's speed for the subsequent lane change into the detected gap. The lane change itself can then be carried out using a lane change assist system, which is triggered automatically or after an input from the user.

[0004] Common driver assistance systems, or lane change assist systems, generally monitor the vehicle's surroundings, particularly the surrounding traffic, using appropriate sensors before a lane change maneuver. Upon the driver's input, the lane can then be changed if a free gap is detected in the adjacent or target lane. On highways and similar roads, so-called hard shoulders are provided, which can also be referred to as shoulders or emergency lanes. In Germany, at least, these hard shoulders are separated from the regular lanes by a continuous lane marking. Such a hard shoulder allows, among other things, a broken-down vehicle to be parked on the shoulder without obstructing the flow of traffic.In Germany, at least, in addition to permanent hard shoulders, which are closed to traffic, there are also so-called temporarily drivable hard shoulders. A temporarily drivable hard shoulder can be opened to traffic as needed, for example during heavy traffic, using appropriate traffic lights or road signs.

[0005] In this context, DE 10 2016 221 574 A1 describes a vehicle system for the automated execution of a lane change maneuver for a motor vehicle. The vehicle system is configured to detect whether a temporary hard shoulder adjacent to the carriageway is currently open to traffic. Furthermore, the vehicle system is configured to perform an automated lane change maneuver with at least automated lateral guidance on the hard shoulder once the hard shoulder has been detected as open. In the case of a lane change assistance system, the lane change maneuver is preferably only initiated if the driver has indicated their intention to change lanes through a corresponding control action.

[0006] Furthermore, EP 3 670 280 A1 discloses a driver assistance system which adjusts the following distance and / or following speed of the ego vehicle to the vehicle ahead in such a way that a lane change and a merging into a gap on an adjacent lane is possible by lateral guidance of the ego vehicle.

[0007] Furthermore, DE 10 2017 011 765 A1 describes a method for operating a vehicle's driver assistance system to issue a warning when the system detects an imminent lane departure. It is provided that the warning and / or automatic braking and / or steering intervention is suppressed or prevented if it is detected that the vehicle is driving on the hard shoulder of a motorway or expressway, and it is determined that the hard shoulder is legally usable, and if the vehicle crosses a lane marking that has an angle indicating an exit and leads into the hard shoulder.

[0008] The object of the present invention is to provide a solution for more reliably assisting a driver when maneuvering a vehicle on a road with a drivable shoulder. Furthermore, a vehicle equipped with a corresponding driver assistance system is to be provided.

[0009] This problem is solved according to the invention by a method, a driver assistance system, and a vehicle with the features according to the independent claims. Advantageous embodiments of the present invention are specified in the dependent claims.

[0010] A method according to the invention serves for the automated maneuvering of a vehicle on a road with a drivable shoulder. The method comprises receiving a driving command to maneuver the vehicle, which is located in a lane of the road, towards an exit. Furthermore, the method comprises preparing a lane change maneuver from the lane to a deceleration lane associated with the exit. The vehicle's speed is adjusted for preparing the lane change maneuver. The method also includes checking whether the shoulder of the road, to which the deceleration lane adjoins, is currently open to traffic. If the shoulder is open to traffic, a search is performed for a free gap between other road users on the drivable shoulder before the vehicle reaches the deceleration lane.If a free gap has been found, the preparation for the lane change maneuver is carried out in such a way that the maneuvering of the vehicle into the found gap is made possible from the moment the vehicle reaches the deceleration lane.

[0011] The procedure is intended to assist a driver or vehicle user in maneuvering the vehicle on the road where the shoulder is currently open to traffic. The road in question can be a main road, a federal highway, an expressway, a motorway-like road, or similar. Preferably, however, it is a motorway. The road must have at least one lane in each direction, on which the vehicle and other road users can travel in a predetermined direction. The shoulder is located on the right-hand side, next to the at least one lane, in the direction of travel. This shoulder can also be referred to as the hard shoulder or emergency lane. In particular, the shoulder can be marked by a solid line or...It must be separated from at least one lane by a continuous road marking.

[0012] The driver assistance system receives the driving command, which instructs the vehicle to maneuver from its current lane onto the exit ramp. The vehicle may currently be in a lane and is to exit the road via the exit ramp. This driving command can be initiated by the vehicle's route guidance or navigation system. Alternatively or additionally, the driving command can be initiated by the driver. For example, the driver might activate a control, such as a turn signal lever. After this action is detected or the driving command is received, the driver assistance system can then prepare or initiate the automated lane change maneuver. This can be done using distance sensors or...The driver assistance system uses its environmental sensors to search for available gaps for the vehicle in the target lane or the adjacent lane. If such a gap is detected, the driver assistance system can prepare the lane change maneuver. This involves adjusting the vehicle's speed or intervening in its longitudinal control. Specifically, the vehicle's speed can be reduced or adjusted to match the speed of other vehicles in the target lane. The vehicle's speed can be adjusted to track a gap in the target lane. Following this, the lane change maneuver can be performed, at least partially, using a lane change assistant.Depending on country-specific regulations, the lane change assistant can be initiated automatically by the driver assistance system or following a user input. In the latter case, for example, the message "Initiate lane change to follow route" can be displayed to the user when a gap appears.

[0013] Following this, the vehicle can be maneuvered, at least partially automatically, into the adjacent lane. In this process, the driver assistance system or a separate lane change assistance system can intervene in the vehicle's steering or take over lateral control. However, it is also preferred that the longitudinal control of the vehicle is also taken over during the automated lane change using the driver assistance system.

[0014] The driver assistance system checks whether the hard shoulder is currently open to traffic. For this purpose, it uses its environmental sensors to detect relevant traffic signs, displays on traffic management systems, overhead sign gantries, and similar devices. These sensors can also check whether other road users are on the hard shoulder and are traveling at a predetermined minimum speed. Furthermore, the system can receive traffic information, navigation data, and similar information to determine whether the hard shoulder is currently open to traffic.

[0015] If it has been determined that the hard shoulder is currently open to traffic, the search for a free gap is initiated significantly earlier than during a typical lane change maneuver. Specifically, the system looks for a gap between two other vehicles currently using the open hard shoulder. The vehicle is located in the lane of the road adjacent to the open hard shoulder. For example, the vehicle could be in the right-hand lane of the road or motorway. Well before the vehicle reaches the deceleration lane or is at the same level as the deceleration lane, the system checks whether a gap exists between the other vehicles on the open hard shoulder.

[0016] The deceleration lane, which can also be called a deceleration lane, is located at the exit of the road. Vehicles can use this deceleration lane to, for example, merge onto the road and reduce their speed before entering the exit lane. In the direction of travel, this deceleration lane connects to the drivable shoulder. In the direction of travel, the drivable shoulder may then connect to the deceleration lane. The deceleration lane may be separated from the driving lane by a dashed line or a dashed lane marking. The intention here is that drivers should look for a gap between vehicles on the drivable shoulder before reaching the deceleration lane. Once the vehicle has reached the deceleration lane, it then begins to decelerate.Once the vehicle is level with the deceleration lane, the lane change should be performed into the gap found on the deceleration lane. The vehicle's speed can be adjusted so that the lane change maneuver can be carried out as soon as the vehicle reaches the deceleration lane or is level with it.

[0017] The present invention is based on the understanding that, when a hard shoulder or shoulder is open, trucks are typically located on the drivable shoulder. This is due, for example, to the requirement to drive on the right. Furthermore, it takes into account that trucks generally drive close together and that, particularly in heavy traffic, there is little space at the deceleration lane to change lanes from the main lane to the deceleration lane. If, therefore, the search for an available gap begins early on a drivable hard shoulder and the lane change maneuver is prepared sufficiently in advance, the probability can be increased that the lane change can be carried out in the area of ​​the deceleration lane and thus the vehicle can be maneuvered onto the exit ramp.Overall, this means that the driver can be more reliably supported when maneuvering the vehicle on the road with the drivable shoulder.

[0018] Furthermore, when searching for gaps, only gaps between other road users with a predetermined minimum length are considered. This minimum length is larger than the length required for gaps during lane changes between lanes. In other words, when changing lanes from the road lane to the deceleration lane or the drivable shoulder, only gaps larger than usual are considered. For gaps during lane changes, the minimum length can generally be selected based on speed. This minimum length can be determined from the sum of the vehicle length and a front and rear safety distance. The front and rear safety distances can each correspond to the distance the vehicle travels in one second.For example, the minimum length for the gap between road users on the drivable shoulder can be chosen to be one to two times greater than the gaps for lane changes between lanes. This minimum length is defined in the direction of travel of the road or the other road users. If such a gap with the required minimum specifications or the predetermined minimum length is found, it can then be maintained until the exit or deceleration lane, and the lane change can then be carried out.

[0019] Preferably, the lane change maneuver is prepared such that the vehicle is maneuvered over a dashed lane marking between the driving lane and the deceleration lane. As previously explained, the automated lane change should only be performed once the vehicle is in the driving lane adjacent to the deceleration lane. For example, relevant legislation, regulations, standards, or rules, such as UNECE Regulation UN-R 79 / 03, may require that automated lane changes not be performed over solid lines or lane markings. However, if relevant regulations, laws, standards, and / or rules permit an automated lane change over a solid lane marking, the automated lane change can be performed before reaching the deceleration lane.Overall, as long as traffic safety regulations are observed, reaching the exit can be guaranteed.

[0020] In a further embodiment, the search for an available gap is initiated at a predetermined distance of the vehicle from the exit. As already explained, the invention provides that, on the drivable shoulder, the search for an available gap for the lane-changing maneuver is initiated early in order to find a free gap in the dense traffic between the trucks. For example, the search for an available gap can begin at a distance of one kilometer from the exit. This distance can generally be determined depending on the traffic density and / or the speed of the other road users on the drivable shoulder.To locate an available gap, at least one environmental sensor of the driver assistance system, such as a camera, radar sensor, lidar sensor, or similar device, can detect other road users on the hard shoulder. Specifically, the system is designed to search for the available gap from a greater distance from the exit than would be the case with a normal or typically performed lane change maneuver. This ensures that the vehicle can maneuver onto the deceleration lane in a timely manner.

[0021] In a further implementation, the system detects and continuously tracks multiple gaps between other road users to find the available space. When the vehicle is in the lane adjacent to the hard shoulder, the system can detect and continuously track the gaps between road users on the drivable hard shoulder well before reaching the deceleration lane or exit. This also allows the system to continuously identify those gaps suitable for a subsequent lane change or those that meet the required minimum length. The system thus continuously tracks the gaps between road users on the hard shoulder and selects the appropriate gap for the lane change, which is typically performed when approaching the deceleration lane.

[0022] According to a further embodiment, the vehicle's speed or longitudinal guidance is adjusted so that, before reaching the deceleration lane, the vehicle is moving in the lane adjacent to the gap found between other road users on the shoulder. If a suitable gap for changing lanes has been found, the vehicle's speed in the lane adjacent to the drivable shoulder can also be adjusted. For example, the vehicle's speed or longitudinal speed can be adjusted so that its longitudinal speed is only slightly higher than the speed of the other road users on the drivable shoulder.Furthermore, the vehicle's longitudinal guidance can be adjusted so that the vehicle, which is in the lane, moves alongside the detected gap between vehicles on the shoulder. In other words, the longitudinal guidance can be adjusted so that the vehicle travels parallel to the detected gap. The longitudinal speed can be adjusted from a defined distance to the exit. Prior to this, the vehicle's speed can be continuously reduced.

[0023] The system specifically provides for the activation of the vehicle's turn signals before it reaches the deceleration lane. If the vehicle's longitudinal guidance on the lane is adjusted to maintain its position relative to the identified gap, the turn signals can also be activated simultaneously. The turn signals on the side facing the hard shoulder can be activated, specifically those on the right side of the vehicle. Alternatively, the system can be designed to activate the turn signals as soon as the search for a free gap begins. This allows other road users on the hard shoulder to be informed of the vehicle's planned lane change onto the deceleration lane.

[0024] Alternatively or additionally, the vehicle's speed can be adjusted so that it moves with a lateral offset relative to the detected gap. This means, in particular, that the speed of the vehicle in the lane adjacent to the shoulder is adjusted so that it remains level with the gap between the vehicles on the shoulder. This further signals the intention to change lanes and makes it more difficult for the gap to close again.

[0025] Furthermore, it is advantageous to prompt the driver to perform a manual lane change onto the hard shoulder if no gap is found. For example, if no suitable gap for the vehicle is found on the drivable hard shoulder within a predetermined minimum distance of, say, 500 meters from the exit, the driver can be prompted to perform a manual lane change. The driver can also be informed that an automated lane change is not possible in this case. In this instance, the driver can be instructed to perform the lane change onto the hard shoulder manually, particularly across the solid lane marking. This ensures that even if a suitable gap is not detected, the vehicle exits the road as intended.

[0026] In principle, three phases can be provided for the operation of the driver assistance system: In a first phase, the lane change can be prepared in such a way that a (partially) automated lane change is possible. If at least a partially automated lane change is not possible according to the first phase, the lane change can be prepared in a second phase so that the driver or user can perform the lane change maneuver manually. This could be the case, for example, if a gap has been found, but there is a high probability that it cannot be maintained. In a third phase, it may be the case that no gap could be found at all, and the driver is informed of this.

[0027] A driver assistance system according to the invention for a vehicle is configured to carry out a method according to the invention and its advantageous embodiments. The driver assistance system, which can also be referred to as an assistance system or a lane change assistance system, can have at least one environmental sensor with which other road users in the vicinity of the vehicle, and in particular on the drivable shoulder, can be detected. Furthermore, the driver assistance system can have at least one environmental sensor with which traffic signs, overhead sign gantries, displays on traffic guidance systems, or the like can be detected. In addition, the driver assistance system can have a computing unit by means of which, based on the data from the at least one environmental sensor, it can be determined whether the shoulder is currently drivable.Furthermore, the sensor data from at least one environmental sensor can be used to detect gaps between other road users.

[0028] The computing unit can also calculate a trajectory for maneuvering the vehicle or for automated lane changes. Furthermore, the computing unit can be configured to output a control signal to actuate the vehicle's steering system. By controlling the steering, the system can then take over lateral control of the vehicle during the lane change maneuver. It can also be provided that the driver assistance system takes over longitudinal control of the vehicle during the lane change maneuver or during the preparation for the lane change maneuver.

[0029] A vehicle according to the invention comprises a driver assistance system according to the invention. The vehicle is in particular designed as a passenger car.

[0030] The preferred embodiments and their advantages presented with reference to the method according to the invention apply accordingly to the driver assistance system according to the invention and to the vehicle according to the invention.

[0031] Further features of the invention will become apparent from the claims, the figures, and the description of the figures. The features and combinations of features mentioned above in the description, as well as the features and combinations of features mentioned below in the description of the figures and / or shown in the figures alone, can be used not only in the combinations specified, but also in other combinations or on their own, without departing from the scope of the invention.

[0032] The invention will now be explained in more detail with reference to preferred embodiments and the accompanying drawings. These show: Fig. 1 a schematic representation of a vehicle which has a driver assistance system for performing an automated lane change maneuver; Fig. 2. The vehicle in a traffic situation, wherein the vehicle is on a road with a drivable shoulder and wherein a lane change maneuver from a driving lane of the road to a deceleration lane is planned; and Fig. 3 the vehicle in another traffic situation on the road with the drivable shoulder.

[0033] In the figures, identical or functionally equivalent elements are given the same reference symbols.

[0034] Fig. Figure 1 shows a vehicle 1, which in this case is a passenger car, in a top view. The vehicle 1 includes a driver assistance system 2, by means of which automatic or automated lane-changing maneuvers can be carried out with the vehicle 1. The driver assistance system 2 includes a computing unit 3, which can, for example, be formed by at least one electronic control unit of the vehicle 1.

[0035] Furthermore, the driver assistance system 2 includes at least one distance sensor 4. In the present example, the driver assistance system 2 includes four distance sensors 4, two of which are arranged in a front area 6a and two of which are arranged in a rear area 6b. The distance sensors 4 are arranged in the respective corners of the vehicle 1. The distance sensors 4 can, for example, be designed as radar sensors. The distance sensors 4 can be used to perform measurements in order to detect objects and, in particular, other road users 7 in the vicinity 5 of the vehicle 1.

[0036] The computing unit 3 is further configured to record a predetermined operating action performed by a driver at a control element 8. The control element 8 could, for example, be a turn signal lever. Based on the input at the control element 8, a driving command for the further journey of the vehicle 1 can then be determined. For this purpose, relevant data can be received from a navigation system or route guidance system, and the driving command can be defined accordingly. As soon as the turn signal lever or the control element 8 is actuated by the driver, the corresponding turn signals 11 can be activated.

[0037] Furthermore, the computing unit 3 is configured to control a steering system 9 of the vehicle 1, which is shown only schematically here. Controlling the steering system 9 enables lateral guidance of the vehicle 1 during lane-changing maneuvers. By controlling the steering system 9, the steerable wheels 10 of the vehicle 1 can be steered, thus providing lateral guidance during lane-changing maneuvers. Preferably, the computing unit 3 can also be used to control a drive motor and / or a braking system of the vehicle 1 to provide longitudinal guidance of the vehicle 1.

[0038] Fig. Figure 2 shows a schematic representation of a traffic situation in which vehicle 1 is located on a road 12. In this example, road 12 is a motorway. Road 12 generally includes at least one lane 13. In this example, road 12 has three lanes 13. Only one carriageway of road 12 is shown. Vehicle 1 is located in the right-hand lane 13. Road 12 also includes a shoulder 14. In this example, the shoulder 14 is currently open to traffic, and other road users 7 are present on the open shoulder 14. Road 12 also includes a deceleration lane 15. This deceleration lane 15 is associated with an exit 16. The speed can be reduced on the deceleration lane 15.In a predetermined direction of travel 17 on road 12, the deceleration lane 15 borders the drivable shoulder 14. Further along, or in direction of travel 17 on road 12, the drivable shoulder 14 again borders the deceleration lane 15.

[0039] The plan, or rather the driving command specifies, is for vehicle 1 to perform a lane change maneuver from the right-hand lane 13 onto the deceleration lane 15 and then proceed to exit 16. The planned path or trajectory of vehicle 1 is schematically illustrated by arrow 20. The lane change maneuver between lane 13 and the deceleration lane 15 is to be performed automatically by the driver assistance system 2. Furthermore, the lane change maneuver is to be carried out such that vehicle 1 moves over a dashed lane marking 18 between lane 13 and the deceleration lane 15. A solid lane marking 19 is located between lane 13 and the drivable shoulder 14.

[0040] As illustrated by the example of Fig. As can be seen in diagram 2, there are usually 7 trucks on the drivable hard shoulder (14). In heavy traffic, where driving on hard shoulder 14 is generally permitted, the gaps between the other road users, or trucks, are small. This can lead to the automated lane change maneuver not being able to be carried out in time.

[0041] In a traffic situation where road 12 and side roads 14 are currently open to traffic or can be used by other road users 7, it is planned that a search for a free gap 21 between the other road users 7 will be carried out early. This is done in the present case based on Fig.Figure 3 illustrates this. Here too, vehicle 1 is located in the right-hand lane 13 of road 12. The search for a free gap 21 can begin as soon as a predetermined distance d is reached before exit 16. This distance d could, for example, be one kilometer. Furthermore, it is planned that – for example, starting at this distance d – the respective gaps 21 between the other road users 7 will be detected and continuously tracked.

[0042] In this process, those gaps 21 between the vehicles are selected as suitable that have a predetermined minimum length I. This minimum length I can, for example, correspond to 1.5 to 2 times the required length for lane-change maneuvers between lanes. This required length can, for example, result from the sum of the vehicle length plus a front safety distance and a rear safety distance. The front and rear safety distances can be speed-dependent and each correspond to the distance the vehicle travels in one second.

[0043] Once a suitable gap 21 has been found, the longitudinal speed of vehicle 1 can be adjusted so that vehicle 1 moves laterally alongside the found gap 21, as shown in the present example. Furthermore, the turn signals 11 on the side facing the drivable shoulder 14 can be activated. Once vehicle 1, which is in the right lane 13, has reached the deceleration lane 15, the automated lane change maneuver from lane 13 to the deceleration lane 15 can then be carried out. Overall, this ensures that an automatic lane change maneuver is performed safely and reliably, even in the situation of the drivable shoulder 14.

Claims

[1] Method for automated maneuvering of a vehicle (1) on a road (12) with a drivable shoulder (14) comprising the steps: - Receiving a driving command to maneuver the vehicle (1), which is located in a lane (13) of the road (12), towards an exit (16) of the road (12), and - Preparing a lane change maneuver from lane (13) to a deceleration lane (15) which is assigned to the exit (16), whereby the speed of the vehicle (1) is adjusted for the preparation of the lane change maneuver, - Check whether the shoulder (14) of the road (12), to which the deceleration lane (15) connects, is currently open to traffic, - if the hard shoulder (14) is open for use: search for a free gap (21) between other road users (7) on the drivable hard shoulder (14) before the vehicle (1) reaches the deceleration lane (15) and - if the free gap (21) has been found: Prepare the lane change maneuver in such a way that it is possible to maneuver the vehicle (1) into the found gap (21) from the moment the vehicle (1) reaches the deceleration lane (15), characterized by , that - when searching for the gap (21), only gaps between other road users (7) with a predetermined minimum length (I) are considered, where the minimum length (I) is greater than the length for gaps during lane-changing maneuvers between lanes (13) of the road (12). [2] Method according to claim 1, characterized by, that the lane change maneuver is prepared in such a way that the vehicle (1) is maneuvered over a dashed lane marking (18) between the driving lane (13) and the deceleration lane (15) during the lane change maneuver. [3] Method according to claim 1 or 2, characterized by , that the search for the free gap (21) is started from a predetermined distance (d) of the vehicle (1) to the exit (16). [4] Method according to any one of the preceding claims, characterized by , that to search for the free gap (21) a plurality of gaps between the other traffic participants (7) are detected and continuously tracked. [5] Method according to any one of the preceding claims, characterized by, that the speed of the vehicle (1) is adjusted so that the vehicle (1) moves on the lane (13) next to the gap (21) found between the other road users (7) on the hard shoulder (14) before reaching the deceleration lane (15). [6] Method according to any one of the preceding claims, characterized by , that the direction indicators (11) of the vehicle (1) are activated before the vehicle (1) has reached the deceleration lane (15). [7] Method according to any one of the preceding claims, characterized by , that if no gap (21) is found, a request is issued to a driver to perform a manual lane change maneuver onto the hard shoulder (14). [8] Driver assistance system (2) for a vehicle (1), wherein the driver assistance system (2) is configured to perform a method according to one of the preceding claims. [9] Vehicle (1), in particular passenger car, comprising a driver assistance system (2) according to claim 8.

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