Method and device for determining information regarding a stopping position at a traffic intersection

Abstract

A device for acquiring information regarding the vehicle's stopping position at a traffic intersection is described. The device is configured to obtain intervention information regarding a manual intervention by the driver of the vehicle in the automated longitudinal control of the vehicle at the stopping position of the traffic intersection; or regarding an automated intervention by a safety function of the vehicle in the manual and / or automated longitudinal control of the vehicle at the stopping position of the traffic intersection. to determine. The device is further configured to determine information regarding the visibility of the traffic junction from the stopping position based on the intervention information.

Description

[0001] The invention relates to a method and a corresponding device designed to automatically determine information relating to the stopping position at a traffic junction.

[0002] A vehicle can have one or more driving functions, in particular driver assistance functions, which are designed to automatically guide the vehicle longitudinally and / or laterally. The vehicle can in particular have a speed and / or distance controller (e.g. an Adaptive Cruise Control, ACC, assistance system) which is configured to set the driving speed of the vehicle (when driving freely without a vehicle in front) to a target speed, in particular to regulate it, and / or to set the distance of the vehicle to a vehicle in front driving directly behind the vehicle to a target distance, in particular to regulate it. The target speed and / or the target distance can, if necessary, be set by the user, in particular by the driver, of the vehicle via the vehicle's user interface.

[0003] As part of the automated longitudinal and / or lateral guidance of the vehicle, an automated stopping of the vehicle at the stopping position at a traffic junction, e.g. at an intersection, can also be effected.

[0004] This document deals with the technical task of increasing the comfort and / or safety of a driving function for the automated longitudinal and / or lateral guidance of a vehicle with regard to stopping at a traffic junction.

[0005] The problem is solved by each of the independent claims. Advantageous embodiments are described, among other things, in the dependent claims. It should be noted that additional features of a patent claim dependent on an independent patent claim can form a separate invention, independent of the combination of all features of the independent patent claim, without the features of the independent patent claim or only in combination with a subset of the features of the independent patent claim, which invention can be made the subject of an independent claim, a divisional application, or a subsequent application. This applies equally to technical teachings described in the description, which can form an invention independent of the features of the independent patent claims.

[0006] According to one aspect, a device for determining information relating to a stopping position at a traffic junction (e.g., at an intersection or a roundabout) is described. The stopping position, in particular the physical location of the stopping position, can be recorded in map data (e.g., in a digital map) for a route, road, and / or lane network that includes the traffic junction.

[0007] The device is configured to provide intervention information relating to • manual intervention by the driver of the vehicle in the automated longitudinal guidance of the vehicle at the stopping position of the traffic junction; or • to detect an automated intervention by a safety function (e.g., an emergency stop assistant) of the vehicle in the manual longitudinal guidance (initiated by the driver) and / or in the automated longitudinal guidance (initiated by a driving function) of the vehicle at the stop position of the traffic junction. For example, manual intervention can be detected if the accelerator pedal or the brake pedal is operated by the vehicle driver. An automated intervention by a safety function can be detected, for example, if the vehicle brakes in an emergency (to avoid a collision with another road user when entering the traffic junction).

[0008] For example, longitudinal guidance can be initiated manually by the driver and / or (at least partially or fully) automated by a driving function (such as a cruise control and / or distance control system, such as Adaptive Cruise Control, ACC). During manual and / or automated longitudinal guidance of the vehicle at the stopping position of the traffic junction, an automated intervention of a safety function (e.g., in the form of a warning and / or emergency braking) can be detected.

[0009] The device is further configured to determine information relating to the stopping position, in particular relating to the visibility of the traffic junction (for the driver of the vehicle) from the stopping position, based on the intervention information. In particular, an indicator can be determined that indicates how well the traffic junction (in particular the crossing traffic) is visible from the stopping position (for the driver of the vehicle). A high value of the indicator can indicate relatively good visibility, and a relatively low value of the indicator can indicate relatively poor visibility.

[0010] This allows information about the visibility of a traffic junction (possibly in addition to the location of the stopping position) to be determined and provided in the map data for the traffic junction. This can improve the quality of automated longitudinal and / or lateral guidance at the traffic junction.

[0011] The device can be configured to determine intervention information regarding whether the driver's manual intervention occurs before reaching or after passing the stopping position at the traffic junction. As information, the indicator for the visibility of the traffic junction can be reduced and / or a relatively low visibility of the traffic junction (less than a visibility threshold) can be specified if the intervention information indicates that the driver's manual intervention occurs after passing the stopping position at the traffic junction.On the other hand, the indicator for the visibility of the traffic junction can be increased as information and / or a relatively high visibility of the traffic junction (higher than a visibility threshold) can be set if the intervention information indicates that the driver's manual intervention takes place before reaching the stopping position at the traffic junction.

[0012] Alternatively or additionally, the device can be configured to determine intervention information regarding whether the driver's manual intervention occurs before the vehicle has been automatically brought to a standstill at the stop position of the traffic junction, or after the vehicle has been automatically accelerated from a standstill starting from the stop position of the traffic junction. As information, the indicator for the visibility of the traffic junction can be reduced and / or a relatively low visibility of the traffic junction (less than a visibility threshold) can be specified if the intervention information indicates that the driver's manual intervention occurs after the vehicle has been automatically accelerated from a standstill starting from the stop position of the traffic junction.On the other hand, the indicator for the visibility of the traffic junction can be increased as information and / or a relatively high visibility of the traffic junction (higher than a visibility threshold) can be set if the intervention information indicates that the driver's manual intervention takes place before the vehicle has been automatically brought to a standstill at the stopping position of the traffic junction.

[0013] Alternatively or additionally, the device can be configured to reduce the indicator for the visibility of the traffic junction as information, and / or a relatively low visibility of the traffic junction (less than a visibility threshold) can be specified if the intervention information indicates that an automated intervention of the vehicle's safety function occurs before reaching, when driving over or after driving over the stopping position of the traffic junction.

[0014] The device can be configured to determine intervention information related to the frequency with which automated interventions of the vehicle's safety function occur at the stopping position of the traffic intersection. As the frequency increases, the indicator for the visibility of the traffic intersection can be further reduced.

[0015] The above-mentioned measures enable the information regarding visibility to be determined in a particularly robust and precise manner.

[0016] The device can be configured to provide the determined information relating to the stopping position of a vehicle-external unit, in particular to determine, based on the determined information • to update the stopping position of the traffic junction in the map data for the route, road and / or lane network travelled by the vehicle; and / or • to update the indicator for the visibility of the traffic junction starting from the stop position.

[0017] Accordingly, information regarding the stopping position can be determined and provided at the traffic junction point for a variety of different vehicles and / or for a variety of journeys. This allows the map data relating to the traffic junction to be improved in a particularly efficient and reliable manner.

[0018] According to a further aspect, a device for operating a vehicle at a stopping position of a traffic junction is described. The device is configured to determine information relating to the visibility of the traffic junction from the stopping position. The device can be configured to determine the stopping position, in particular the location of the stopping position, the traffic junction, and / or the information relating to the visibility of the traffic junction from map data for the route, road, and / or lane network traveled by the vehicle.

[0019] The device is further configured to operate the vehicle at the stopping position depending on the determined information regarding the visibility of the traffic junction. In particular, depending on the determined information regarding the visibility of the traffic junction, it can be ensured that (selectively in the case of relatively low and / or poor visibility) a visual representation of the traffic junction is determined on the basis of sensor data from one or more environmental sensors (in particular one or more cameras) of the vehicle and is displayed on a screen of the vehicle. Alternatively or additionally, the actual stopping position at which the vehicle is automatically stopped at the traffic junction can be adjusted (e.g., moved forward or backward) depending on the determined information regarding the visibility of the traffic junction.

[0020] By taking into account information regarding the visibility of the traffic junction, the quality of the automated longitudinal and / or lateral guidance at the traffic junction can be increased in an efficient and reliable manner.

[0021] According to a further aspect, a (road) motor vehicle (in particular a passenger car or a truck or a bus or a motorcycle) is described which comprises one or more of the devices described in this document.

[0022] According to a further aspect, a method for determining information relating to a stopping position at a traffic junction is described. The method comprises determining intervention information relating to • manual intervention by the driver of the vehicle in the automated longitudinal guidance of the vehicle at the stopping position of the traffic junction; or • an automated intervention of a safety function of the vehicle in the manual and / or automated longitudinal guidance of the vehicle at the stopping position of the traffic junction.

[0023] Furthermore, the method comprises determining information relating to the stopping position, in particular relating to the visibility of the traffic junction starting from the stopping position, on the basis of the intervention information.

[0024] According to a further aspect, a method for operating a vehicle at a stopping position at a traffic junction is described. The method comprises determining information regarding the visibility of the traffic junction from the stopping position, and operating the vehicle at the stopping position depending on the determined information regarding the visibility of the traffic junction.

[0025] According to another aspect, a software (SW) program is described. The SW program can be configured to be executed on a processor (e.g., on a vehicle control unit) and thereby to perform one or more of the methods described in this document.

[0026] According to a further aspect, a storage medium is described. The storage medium may comprise a software program configured to be executed on a processor and thereby to perform one or more of the methods described in this document.

[0027] It should be noted that the methods, devices, and systems described in this document can be used both alone and in combination with other methods, devices, and systems described in this document. Furthermore, any aspects of the methods, devices, and systems described in this document can be combined in a variety of ways. In particular, the features of the claims can be combined in a variety of ways. Furthermore, features listed in parentheses are to be understood as optional features.

[0028] The invention will be described in more detail below using exemplary embodiments. Fig. 1 exemplary components of a vehicle; Fig. 2 an exemplary driving situation of the vehicle; Fig. 3a is a flowchart of an exemplary method for determining information relating to a stopping position at a traffic junction; and Fig. 3b is a flowchart of an exemplary method for operating a vehicle at a stopping position of a traffic junction.

[0029] As stated at the beginning, this document deals with increasing the comfort and / or safety of automated driving of a vehicle at a traffic junction. In this context, Fig. 1 shows an exemplary vehicle 100 with one or more environmental sensors 102, each configured to collect sensor data (also referred to as environmental data) relating to the surroundings of the vehicle 100. Exemplary environmental sensors 102 include a camera, a radar sensor, a lidar sensor, an ultrasonic sensor, etc.

[0030] A (control) device 101 of the vehicle 100 can be configured to evaluate the environmental data, e.g., to detect one or more objects (e.g., other vehicles) in the environment of the vehicle 100. The device 101 can further be configured to effect automated longitudinal and / or lateral guidance of the vehicle 100 based on the environmental data, in particular based on the one or more detected objects. For this purpose, one or more longitudinal and / or lateral guidance actuators 103 (e.g., a drive motor, a braking device, and / or a steering device) of the vehicle can be controlled.

[0031] The automatic longitudinal guidance of the vehicle 100 can be effected, for example, by a driving function with a speed and / or distance controller. Based on the surroundings data, the actual distance between the vehicle 100 and a vehicle in front traveling directly behind the vehicle 100 can be determined. Furthermore, the actual distance can be set, in particular regulated, to a predefined target distance by the distance controller. The target distance can be set by the user, for example, via a user interface 104 of the vehicle 100. Alternatively or additionally, the driving speed of the vehicle 100 can be set, in particular regulated, depending on a target speed.

[0032] The driving function can be configured to detect an upcoming traffic junction and to automatically guide the vehicle 100 to a stopping position at the traffic junction and to stop at the stopping position. The stopping position, in particular the geocoordinates of the stopping position, of the traffic junction can be recorded, for example, in a digital map (i.e., in map data) for the route, road, and / or lane network traveled by the vehicle 100.

[0033] Fig. 2 shows an exemplary driving situation in which the vehicle 100 is traveling on a first lane 211 toward a traffic junction 210 between the first lane 211 and a second lane 212. A stopping position 214, in particular a stopping line, may be arranged on the first lane 211, at which the vehicle 100 should or must stop before entering the traffic junction 210. For example, vehicles 200 on the second lane 212 may have right of way over vehicles on the first lane 211.

[0034] The location of the stopping position 214 can be recorded as an attribute for the traffic junction 210 in the digital map for the route, road, and / or lane network. Based on the information from the digital map, the driving function of the vehicle 100 can cause the vehicle 100 to automatically stop at the stopping position 214. The (possibly automated) restart of the vehicle 100 can possibly only be initiated after the restart has been requested and / or authorized by the driver of the vehicle 100 (e.g., via the user interface 104 of the vehicle 100).

[0035] The location of the stopping position 214 may be incorrectly and / or poorly recorded on the digital map. In particular, the stopping position 214 may be recorded in such a way that the traffic junction 210, in particular the second lane 212, cannot be sufficiently clearly viewed by the driver of the vehicle 100 when the vehicle 100 is at the stopping position 214. For example, the view of the second lane 212 may be blocked by an obstacle 213 (e.g., a tree) when the vehicle 100 is at the stopping position 214. As a result, it is not possible, or at least not convenient, for the driver of the vehicle 100 to check the traffic at the traffic junction 210 before requesting the vehicle 100 to depart again.

[0036] Thus, an assisted longitudinal and / or transverse intersection crossing at a non-right-of-way intersection 210 can be realized based on the stopping position 214 from map data (i.e., from a digital map). The localization of the vehicle 100 can be achieved based on a GNSS (global navigation satellite system) for (highly) accurate positioning. Alternatively or additionally, vehicle-to-infrastructure and / or vehicle-to-vehicle messages can be used for localization. Furthermore, the sensor data from one or more environmental sensors 102 of the vehicle 100 can be used.

[0037] The stopping position 214 from map data may be inconsistent in the driver's subjective perception (e.g., too far into the intersection 210 or too far away from the intersection 210) depending on the situation (possibly for manual driving and / or assisted driving). This document describes a method for estimating the visibility of an intersection 210 and / or for adjusting the stopping position 214 at an intersection 210 in the map data.

[0038] For assisted longitudinal and / or transverse intersection passage, a target stopping position 214 can be determined when entering an intersection and / or a roundabout with "give way." The stopping position 214 can be defined as the position of the beginning of the front end of vehicle 100. The perceived quality of the stopping position 214 by the driver of vehicle 100 typically depends on the visibility of the intersection. Visibility of the intersection can depend on one or more boundary conditions at the time of entering the intersection: • Crossing geometry (e.g. relatively acute crossing angle); • structural conditions (e.g. house, plants, wall, fence); • stationary vehicles (vehicle parked in a parking bay or in a second row); and / or • other vehicles moving (e.g. trucks in the adjacent lane).

[0039] The visibility of the intersection 210 at the time of entry can typically only be assessed to a limited extent by the environment sensor system 102 of the vehicle 100. Alternatively or additionally, a plausibility check of the visibility assessment can be performed using the environment sensor system 102.

[0040] An assessment of the visibility of an intersection 210 can be determined from the data of a plurality of vehicles 100 that have driven through the intersection 210. This can involve analyzing the intervention frequency of the safety assistance system of vehicles 100 during manual driving. In particular, the intervention frequency of the safety assistance system in intersection situations (e.g., priority warning, AEB (autonomous emergency braking), etc.) can be identified. Thus, the frequency of automated interventions of a safety function of the vehicle 100 can be analyzed to assess the visibility of an intersection 210.

[0041] Alternatively or additionally, an analysis of assistance drops in longitudinal and / or lateral guidance during intersections due to driver interventions can be performed. Two cases can be distinguished: • Disconnection of the automated longitudinal and / or lateral guidance by driver action when approaching the intersection (before the stop position 214 from the map data). Such disconnection can occur through driver intervention when approaching the intersection, e.g., by operating the accelerator pedal and / or the brake pedal, and / or via a deactivation option on another control element such as a steering column stalk or a button on a multifunction steering wheel. It can be concluded from this that the stop position 214 in the map data is, in the driver's subjective perception, too far into the intersection 210; and / or • Disconnection of automated longitudinal and / or lateral guidance due to driver action when approaching from a standstill (after the stop position 214 from the map data). Such disconnection can be triggered by driver intervention in the intersection area, e.g., by operating the accelerator pedal and / or the brake pedal, and / or by a deactivation option on another control element, such as a steering column stalk or a button on a multifunction steering wheel. It can be concluded from this that the driver subjectively perceives the stop position 214 in the map data as being too far from the intersection entrance.

[0042] The assessment of the visibility of the intersection situation can be stored in the map data (possibly as an additional attribute) (e.g., good, neutral, or poorly visible intersection approach). This can be done in the map data of the (ego) vehicle 100, in map data from one or more other vehicles 200 via vehicle-to-vehicle communication, and / or in map data on a backend via vehicle-to-X communication.

[0043] The information regarding the visibility of an intersection 210 can be used to operate a driving function at the intersection 210. For example, if the entrance to an intersection is poorly visible, the imaging front sensor system 102 of the vehicle 100 can be automatically activated to display the interior of the front camera system for improved visibility of the intersection through an image display for the driver, e.g., a visual representation of the image data from one or more side-mounted cameras 102 in the front area of ​​the vehicle 100.

[0044] Alternatively or additionally, the target stopping position can be adjusted when passing through an intersection according to the assessed visibility of the intersection situation.

[0045] In one example, vehicle 100 is driving longitudinally and / or transversely with assisted guidance toward an intersection entrance where vehicle 100 does not have the right of way. The driver assistance system uses map data to determine the stopping position 214 upon entering intersection 210. The stopping position 214 may, for example, have been stochastically determined from fleet data of a vehicle fleet during manual driving. In assisted driving, the customer may subjectively perceive this targeted stopping position 214 to be too far into intersection 210.

[0046] The driver assistance system can determine whether manual driver intervention occurs before or after the assistance deceleration to a standstill. This can be detected by comparing the time of the intervention during movement (e.g., via an acceleration sensor) and / or by determining the corresponding position of the vehicle 100 before or after the stopping position 214 from the map data (e.g., via high-precision positioning and / or via a comparison from the environmental sensor system 102).

[0047] In the example, the automated longitudinal guidance is deactivated by pressing the brake pedal, and the driver manually decelerates to a standstill before the assistance system has decelerated to a standstill in the area of ​​the stopping position 214 from the map data. The driver assistance system deduces from this that the stopping position 214 from the map data is, in the subjective perception of the assisted driver, too far into the intersection entrance. Furthermore, the driver assistance system can deduce from this that the intersection 210 is relatively clearly visible from the stopping position 214 shown in the map data. If necessary, the location of the stopping position 214 can be advanced by a certain amount according to the identified intervention (and recorded in the map data with the corresponding correction).

[0048] Fig. 3a shows a flowchart of a (possibly computer-implemented) method 300 for determining information relating to the stopping position 214 at a traffic junction 210 (e.g., at an intersection or a roundabout). The stopping position 214 can be recorded in map data for a route, road, and / or lane network (wherein the route, road, and / or lane network includes the traffic junction 210). The determined information can include an indicator for the visibility of the traffic junction 210 from the stopping position 214. The method 300 can be executed by a vehicle 100 and / or by a vehicle-external unit (e.g., by a backend server).

[0049] The method 300 includes determining 301 intervention information relating to • a manual intervention by the driver of the vehicle 100 in the automated longitudinal guidance of the vehicle 100 (caused by a driving function) at (e.g. before reaching or after passing) the stopping position 214 of the traffic junction 210; or • an automated intervention of a safety function of the vehicle 100 (e.g. an emergency braking assistant) in the manual and / or automated longitudinal guidance of the vehicle 100 (which is effected by the driver or which is effected by a driving function, such as a driver assistance function) at (e.g. before reaching or after passing over) the stopping position 214 of the traffic junction 210.

[0050] The safety function can be configured to monitor crossing traffic (transverse to the direction of travel and / or longitudinal direction of the vehicle 100). The driving function that effects the automated longitudinal guidance (such as a cruise control and / or distance controller) may not be configured to monitor crossing traffic. In particular, in such a scenario, intervention information relating to an automated intervention of a safety function in the automated longitudinal guidance of the vehicle 100 can be determined.

[0051] The method 300 further includes determining 302 information relating to the stopping position 214, in particular relating to the visibility of the traffic junction 210 from the stopping position 214, based on the intervention information. For example, an indicator for the visibility of the traffic junction 210 can be determined (where the visibility increases with an increasing indicator and decreases with a decreasing indicator). The indicator can be recorded as a map attribute in the map data.

[0052] Fig. 3b shows a flowchart of a (possibly computer-implemented) method 310 for operating a (motor) vehicle 100 at a stopping position 214 at a traffic junction 210. The method 310 can be executed by a device 101 of the vehicle 100. The two methods 300, 310 can be combined with one another (and executed, for example, by a vehicle 100).

[0053] The method 310 comprises determining 311 information (e.g., an indicator) relating to the visibility of the traffic junction 210 starting from the stopping position 214. The information can be read, for example, from map data for the route, road and / or lane network traveled by the vehicle 100.

[0054] The method 310 further includes operating 312 the vehicle 100 at the stopping position 214 depending on the determined information (in particular the indicator) regarding the visibility of the traffic intersection 210. For example, the location of the stopping position 214, at which the vehicle 100 is automatically stopped, can be relocated forward if visibility is relatively good or backward if visibility is relatively poor (relative to the direction of travel of the vehicle 100). Alternatively or additionally (if visibility is relatively poor), a visual representation of the traffic intersection 210 can be automatically output on a screen of the vehicle 100.

[0055] The measures described in this document can be used to increase the quality of automated longitudinal and / or lateral guidance at a traffic junction 210 in an efficient and reliable manner.

[0056] The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and figures are intended only to illustrate the principle of the proposed methods, devices, and systems by way of example.

Claims

[1] Device (101) for determining information relating to a stopping position (214) at a traffic junction (210); the device (101) being arranged - Intervention information regarding - a manual intervention by a driver of the vehicle (100) in an automated longitudinal guidance of the vehicle (100) at the stopping position (214) of the traffic junction (210); or - to determine an automated intervention of a safety function of the vehicle (100) in a manual and / or automated longitudinal guidance of the vehicle (100) at the stopping position (214) of the traffic junction (210); and - to determine information relating to the stopping position (214), in particular relating to visibility of the traffic junction (210) from the stopping position (214), on the basis of the intervention information. [2] Device (101) according to claim 1, wherein the device (101) is arranged - to determine intervention information as to whether the driver's manual intervention occurs before reaching or after passing the stopping position (214) of the traffic junction (214); - to reduce as information an indicator for the visibility of the traffic junction (210) if the intervention information indicates that the driver's manual intervention takes place after passing the stopping position (214) of the traffic junction (214); and / or - to increase the indicator for the visibility of the traffic junction (210) as information if the intervention information indicates that the driver's manual intervention takes place before the stopping position (214) of the traffic junction (214) is reached. [3] Device (101) according to one of the preceding claims, wherein the device (101) is arranged - to determine intervention information as to whether the manual intervention of the driver occurs before the vehicle (100) has been automatically brought to a standstill at the stop position (214) of the traffic junction (210), or after the vehicle (100) has been automatically accelerated from a standstill starting from the stop position (214) of the traffic junction (210); - to reduce, as information, an indicator for the visibility of the traffic junction (210), if the intervention information indicates that the manual intervention of the driver takes place after the vehicle (100) has been automatically accelerated from a standstill starting from the stopping position (214) of the traffic junction (210); and / or - to increase the indicator for the visibility of the traffic junction (210) as information if the intervention information indicates that the driver's manual intervention takes place before the vehicle (100) has been automatically brought to a standstill at the stopping position (214) of the traffic junction (210). [4] Device (101) according to one of the preceding claims, wherein the device (101) is configured to reduce, as information, an indicator for the visibility of the traffic junction (210), if the intervention information indicates that an automated intervention of the safety function of the vehicle (100) occurs before reaching, when driving over or after driving over the stopping position (214) of the traffic junction (214). [5] Device (101) according to one of the preceding claims, wherein the device (101) is configured to determine intervention information relating to a frequency with which automated interventions of the safety function of the vehicle (100) at the stopping position (214) of the traffic junction (214) take place. [6] Device (101) according to one of the preceding claims, wherein the device (101) is configured to determine the stopping position (214), in particular a local position of the stopping position (214), of the traffic junction point (210) from map data for a route, road and / or roadway network traveled by the vehicle (100). [7] Device (101) according to one of the preceding claims, wherein the device (101) is configured to provide the determined information relating to the stopping position (214) to a vehicle-external unit, in particular to provide, based on the determined information - to update the stopping position (214) of the traffic junction (210) in map data for a route, road and / or lane network travelled by the vehicle (100); and / or - to update an indicator for the visibility of the traffic junction (210) starting from the stopping position (214). [8] Device (101) for operating a vehicle (100) at a stopping position (214) at a traffic junction (210); wherein the device (101) is arranged - to determine information relating to the visibility of the traffic junction (210) from the stopping position (214), and - to operate the vehicle (100) at the stopping position (214) depending on the determined information regarding the visibility of the traffic junction (210). [9] Device (101) according to claim 8, wherein the device (101) is arranged, depending on the determined information relating to the visibility of the traffic junction point (210), - to cause a visual representation of the traffic junction (210) to be determined on the basis of sensor data from one or more environmental sensors (102) of the vehicle (100) and to be displayed on a screen of the vehicle (100); and / or - to adapt the actual stopping position at which the vehicle (100) is automatically stopped at the traffic junction (210). [10] A method (300) for determining information relating to a stopping position (214) at a traffic junction (210); the method (300) comprising - Determining (301) intervention information relating to - a manual intervention by a driver of the vehicle (100) in an automated longitudinal guidance of the vehicle (100) at the stopping position (214) of the traffic junction (210); or - an automated intervention of a safety function of the vehicle (100) in a manual and / or automated longitudinal guidance of the vehicle (100) at the stopping position (214) of the traffic junction (210); and - Determining (302) information relating to the stopping position (214), in particular relating to visibility of the traffic junction point (210) starting from the stopping position (214), on the basis of the intervention information. [11] A method (310) for operating a vehicle (100) at a stopping position (214) at a traffic junction (210); the method (310) comprising - determining (311) information relating to the visibility of the traffic junction (210) from the stopping position (214); and - Operating (312) the vehicle (100) at the stopping position (214) depending on the determined information regarding the visibility of the traffic junction (210).

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