Method and device for positioning a vehicle at a traffic junction

Abstract

A device for operating a vehicle at a traffic intersection is described. The device is configured to determine that an obstruction situation exists or will occur, in which the vehicle is positioned within the path of an oncoming vehicle at the intersection. The device is further configured, in response to this determination, to initiate at least one action aimed at positioning the vehicle outside the path of the oncoming vehicle at the intersection.

Description

[0001] The invention relates to a method and a corresponding device for positioning a (motor) vehicle at a traffic junction.

[0002] A vehicle may have one or more driver assistance systems designed to automatically guide the vehicle longitudinally and / or laterally and / or to assist the driver of the vehicle in the (possibly manual) longitudinal and / or lateral guidance of the vehicle.

[0003] At a traffic junction, especially an intersection where several lanes running in different directions converge, it can happen that a vehicle positioned in the first lane interferes with the turning maneuver of another vehicle turning into the first lane. This can impair traffic safety and / or the driving comfort of the vehicles involved.

[0004] This document addresses the technical task of increasing the traffic safety and / or comfort of a vehicle at a traffic junction in an efficient and reliable manner.

[0005] The problem is solved by each of the independent claims. Advantageous embodiments are described, inter alia, in the dependent claims. It should be noted that additional features of a claim dependent on an independent claim, without the features of the independent claim itself or only in combination with a subset of the features of the independent claim, can constitute a separate invention independent of the combination of all features of the independent claim, which 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 constitute an invention independent of the features of the independent claims.

[0006] According to one aspect, a device for operating a (motor) vehicle at a traffic junction (e.g., at an intersection, entrance, or exit) is described. The traffic junction can be designed such that a first lane and a second lane converge at the junction from different directions, in particular that a first lane and a second lane intersect at the junction. The angle of intersection between the lanes can be, for example, between 40° and 150°. The vehicle can be positioned on the first lane. The vehicle may not have right-of-way (over an oncoming road user) at the traffic junction.

[0007] The device can be configured to determine that an obstruction situation exists or will occur, in which the vehicle is positioned at the intersection within the path of an oncoming road user (e.g., another motor vehicle). In particular, the device can be configured to determine that an obstruction situation exists or will occur, in which the vehicle is positioned at the intersection within the turning path of an oncoming road user turning from the second lane onto the first lane.

[0008] The lane can describe the area on the first carriageway that the oncoming road user covers when driving on the first carriageway, especially when turning from the second carriageway onto the first carriageway (and which should be kept clear for the oncoming road user to prevent the road user from being obstructed).

[0009] The device can be configured to acquire environmental data relating to the vehicle's surroundings, particularly its environment at the traffic intersection. This environmental data can be acquired, for example, using one or more environmental sensors, including at least one camera, at least one radar sensor, at least one lidar sensor, and / or at least one ultrasonic sensor. Alternatively or additionally, the environmental data can be acquired through vehicle-to-vehicle communication and / or vehicle-to-infrastructure communication.

[0010] Alternatively or additionally, the device can be configured to determine geometric data relating to the geometry (such as the spatial arrangement of the lanes) of the traffic intersection, in particular the width of the first lane on which the vehicle is positioned. The geometric data can be determined based on a digital map of the road network traversed by the vehicle (e.g., a digital map from the vehicle's navigation system). Alternatively or additionally, environmental data can be used to determine geometric data relating to the geometry of the traffic intersection.

[0011] The device can be configured to determine information regarding the driving situation already present or expected at the traffic intersection, based on environmental data and / or geometric data. Example of driving situation information is: • the width of the first and / or second lane; • the width of the individual lanes on the first and / or second carriageway; • the position of the stop line of the first carriageway at the traffic junction; • the intersection angle between the first and second lanes; • Dimensional data relating to the dimensions (especially the length and / or width of the oncoming road user); • a turning radius of the oncoming road user when turning from the second lane onto the first lane; and / or • the curve radius of a possible turning maneuver from the second lane to the first lane.

[0012] The device can be configured to determine, based on environmental data and / or geometry data, in particular on the basis of the aforementioned driving situation information, in a particularly precise and reliable manner, that an obstruction driving situation exists or will exist.

[0013] The device can be configured, in particular, to predict the path of an oncoming vehicle based on environmental data and / or geometric data, especially based on the aforementioned driving situation information. It can then be determined with particular precision and reliability, based on the predicted path of the oncoming vehicle, whether an obstruction situation exists or will occur.

[0014] The device can, for example, be configured to detect that the vehicle is already stationary (in the first lane) at the intersection. It can detect that the vehicle's stationary position lies within the predicted path of the oncoming vehicle. Based on this, it can be determined that an obstruction situation exists.

[0015] Alternatively or additionally, the device can be configured to predict the vehicle's trajectory as it approaches the intersection, particularly as it approaches the intersection's stop line. It can be detected that the predicted trajectory of the vehicle lies at least partially within the predicted path of the oncoming vehicle. Based on this, it can be determined that an obstruction situation will occur (if the vehicle's actual trajectory as it approaches the intersection does not change from the predicted trajectory).

[0016] The device is further configured, in response to the determination that an obstruction driving situation exists or will occur, to initiate at least one action aimed at positioning the vehicle at the intersection outside the path of the oncoming road user. In particular, this can result in the vehicle being moved out of the path (especially from the predicted course of the path). Alternatively, it can result in the vehicle not being moved into the path (especially the predicted course of the path) at all when approaching the intersection.

[0017] The device can be configured to effect an action that depends on • the environmental data; • the geometry data; • the driving situation information; and / or • the predicted path of the oncoming road user's lane.

[0018] The described device can increase traffic safety and / or vehicle comfort at a traffic junction in an efficient and reliable manner.

[0019] The device can be configured, as part of the measure, to effect automated longitudinal and / or lateral guidance of the vehicle (e.g., to automatically position the vehicle outside the path of an oncoming vehicle). Alternatively or additionally, the device can be configured, as part of the measure, to issue one or more instructions to the driver regarding the longitudinal and / or lateral guidance of the vehicle (to prompt and / or assist the driver in positioning the vehicle (possibly manually) outside the path of an oncoming vehicle). This can significantly enhance road safety and / or vehicle comfort.

[0020] As explained above, the likely occurrence of an obstruction driving situation can be predicted. The device can be configured to ensure that, as the vehicle approaches the intersection (automatically or manually), it moves to a stationary position at the intersection that is outside the path of the oncoming road user. In this context, the following can be determined (based on environmental data and / or geometry data and / or driving situation information and / or the predicted path of the road user): • the longitudinal distance of the standing position from the stop line of the traffic junction is determined; and / or • the lateral offset of the stationary position within the first lane on which the vehicle is positioned at the traffic junction is determined.

[0021] The longitudinal distance (along the longitudinal direction of the first lane) and / or the lateral offset (perpendicular to the first lane) of the stationary position can be determined such that the stationary position is positioned outside the path of oncoming traffic. This reliably prevents obstructions at the intersection, thereby significantly increasing traffic safety and / or vehicle comfort.

[0022] As explained above, it can be seen that an obstruction situation already exists. The device may be set up to ensure that the vehicle (which may already be in an unsuitable position at the intersection) is moved out of the path of the oncoming road user.

[0023] In this context, a movement of the vehicle can be initiated (taking into account environmental data, geometry data, driving situation information and / or the predicted path of the driving tube), thereby moving the vehicle (starting from its stationary position) out of the driving tube. This can result in... • a reverse movement of the vehicle is caused to increase the longitudinal distance of the vehicle to the stop line of the traffic junction (if the area behind the vehicle is clear); • a forward movement of the vehicle is caused, in particular to move the vehicle beyond the stop line of the traffic intersection (especially if the area behind the vehicle is not clear); and / or • a lateral movement of the vehicle, in particular a lateral movement away from the lane of the oncoming road user, is effected (typically in connection with a reversing movement or a forward movement) in order to change the lateral offset of the vehicle within the first lane on which the vehicle is positioned at the traffic junction.

[0024] This allows for an efficient and reliable increase in traffic safety and / or vehicle comfort, even in situations where driving difficulties already exist.

[0025] According to another aspect, a (road) motor vehicle (in particular a passenger car or a truck or a bus or a motorcycle) is described that includes the device described in this document.

[0026] According to another aspect, a procedure for operating a (motor) vehicle at a traffic junction (e.g., at an intersection or an entrance / exit) is described. The procedure includes determining (e.g., based on environmental and / or geometric data) that an obstruction situation exists or will occur, in which the vehicle is positioned within the (turning) lane of an oncoming road user at the junction. Furthermore, in response to this determination, the procedure includes initiating at least one measure (possibly with automated longitudinal and / or lateral control of the vehicle) aimed at positioning the vehicle outside the lane of the oncoming road user at the junction.

[0027] Another aspect described is a software (SW) program. The SW program can be configured to run on a processor (e.g., on a vehicle's control unit) and thereby execute the procedure described in this document.

[0028] Another aspect describes a storage medium. This storage medium can include a software program configured to run on a processor and thereby execute the procedure described in this document.

[0029] 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 aspect of the methods, devices, and systems described in this document can be combined with one another in a variety of ways. In particular, the features of the claims can be combined with one another in a variety of ways. Features listed in parentheses are to be understood as optional features.

[0030] The invention will now be described in more detail using exemplary embodiments. Fig. 1. Exemplary components of a vehicle; Fig. 2 an exemplary driving situation of the vehicle at a traffic junction; Fig. 3a to 3c are exemplary positionings, in particular exemplary stationary positions, of the vehicle at the traffic junction; Fig. 4 exemplary vehicle trajectories at the traffic junction; and Fig. 5 A flowchart of an exemplary procedure for operating a vehicle at a traffic junction.

[0031] As stated at the outset, this document deals with increasing the comfort and / or safety of a vehicle at a traffic junction. In this context, it shows Fig. 1 An exemplary vehicle 100 with one or more environmental sensors 102, each configured to acquire sensor data (also referred to as environmental data) relating to the environment of the vehicle 100. Exemplary environmental sensors 102 are at least one camera, at least one radar sensor, at least one lidar sensor, at least one ultrasonic sensor, etc.

[0032] Alternatively or additionally, vehicle 100 can be equipped to determine environmental data based on one or more data messages received via a (wireless) communication link. These one or more data messages may have been sent by another vehicle and / or by an infrastructure unit (e.g., an external camera at a traffic intersection). The environmental data can thus be determined, at least partially, through vehicle-to-vehicle and / or vehicle-to-infrastructure communication.

[0033] A (control) device 101 of the vehicle 100 can be configured to evaluate environmental data, e.g., to detect one or more objects (e.g., other vehicles) in the vicinity of the vehicle 100. The device 101 can further be configured to effect automated longitudinal and / or lateral control 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 control actuators 103 (e.g., a drive motor, a braking device, and / or a steering device) of the vehicle can be controlled.

[0034] The vehicle 100 may also include a user interface 104 (e.g. with one or more control elements and / or with one or more output elements) that enables interaction between the vehicle 100 and the driver of the vehicle 100.

[0035] Fig. Figure 2 shows an exemplary traffic situation at a traffic junction 210 between a first lane 201, on which the (ego) vehicle 100 is located, and a second lane 202, on which one or more other road users 200, in particular vehicles, are located. As indicated by the dashed arrow, the vehicle 100 intends to turn left from the first lane 201 onto the second lane 202 at the traffic junction 210. Furthermore, at least one other road user 200 (as indicated by the respective dashed arrow) intends to turn left from the second lane 202 onto the first lane 201.

[0036] The other road user 200 may have priority at the intersection 210, which could lead to the other road user 200 being obstructed by the vehicle 100 positioned on the first carriageway 201 when turning onto the first carriageway 201, particularly if the vehicle 100 has a relatively small longitudinal distance 212 to the stop line 203 at the intersection 210 and / or if the vehicle 100 has a lateral orientation 211 (perpendicular to the course of the first carriageway 201) facing the path of the other road user 200. The latter can be the case, especially in right-hand traffic, if the vehicle 100 intends to turn left onto the second carriageway 202 and is therefore positioned relatively far to the left on the first carriageway 201. Similarly, this can be the case in left-hand traffic if the vehicle wants to turn right at 100 and therefore positions itself relatively far to the right on the first lane 201.

[0037] It can therefore happen that vehicle 201 is positioned at traffic junction 210 within the turning lane of another road user 200 turning onto the first carriageway 201. This can lead to an obstruction at traffic junction 210, which can only be resolved by relatively complex maneuvering by vehicle 100 and / or the other road user 200, thereby impairing traffic safety and comfort.

[0038] The device 101 of vehicle 100 can be configured to detect, based on environmental data, that an obstruction situation exists or will occur, in which vehicle 100 is located at a traffic intersection 210 within the turning lane of another road user 200 (who is turning onto the lane 201 of vehicle 100 at the traffic intersection 210). This can be detected when vehicle 100 is already stationary at the traffic intersection 210. In this case, it can be detected that vehicle 100 is already positioned within the turning lane of the other road user 200. Conversely, it can also be detected as the vehicle 100 approaches the traffic intersection 210 that it will be located within the turning lane of the other road user 200 if vehicle 100 is positioned unfavorably at the traffic intersection 210.

[0039] If, during the approach to the traffic junction 210, it is already recognized that an obstruction driving situation could exist at the traffic junction 210, in which the vehicle 100 is positioned within the turning lane of another road user 200, one or more measures can already be taken during the approach to avoid such an obstruction driving situation.

[0040] Exemplary measures are listed in the Fig. 3a to 3c illustrate. From Fig. 3a shows that vehicle 100 can be positioned outside the turning lane 300 of the other road user 200 by placing vehicle 100 as far to the right as possible (in the case of right-hand traffic) on the first lane 201 at the stop line 203 of the traffic junction 210. Fig. Figure 3b illustrates that the vehicle 100 can be placed outside the turning lane 300 of the other road user 200 by placing the vehicle 100 with the greatest possible longitudinal distance 212 to the stop line 203 of the traffic junction 210. Fig. 3c illustrates a combination of the measures “positioning in the transverse direction” (from Fig. 3a) and “longitudinal positioning” (from Fig. 3b).

[0041] The device 101 can be configured to effect automated longitudinal and / or lateral guidance of the vehicle 100 in order to automatically position the vehicle 100 (when approaching the traffic junction 210) outside the (predicted) turning lane 300 of the other road user 200 at the traffic junction 210.

[0042] Alternatively or additionally, the device 101 can be configured to issue one or more instructions to the driver of the vehicle 100 via the user interface 104, instructing the driver to position the vehicle 100 outside the (predicted) turning lane 300 at the traffic junction 210. In this context, the driver can be given one or more (visual and / or acoustic and / or haptic) driving instructions, such as "Position the vehicle as far to the right as possible at the intersection" or "Position the vehicle at a distance of x meters before the intersection".

[0043] The device 101 can be configured to assist the driver of vehicle 100 even if vehicle 100 has already been positioned within the (predicted) turning lane 300 of the other road user 200. In this case, one or more measures can be taken to move vehicle 100 out of the turning lane 300, as exemplified in Fig. 4 shown.

[0044] As from Fig. As can be seen in Figure 4, the vehicle 100 can be moved diagonally forward out of the driving lane 300 by a movement 403. Furthermore, a movement 401 straight ahead backward or a movement 402 diagonally backward can be effected to move the vehicle 100 out of the driving lane 300. The device 101 can be configured to determine, based on environmental data, which movement 401, 402, 403 is possible in the current driving situation (taking into account one or more obstacles and the surrounding traffic). Furthermore, the device 101 can be configured to automatically effect the possible movement 401, 402, 403 and / or issue one or more instructions to the driver of the vehicle 100 to assist the driver in carrying out the possible movement 401, 402, 403.

[0045] As explained at the beginning, it can happen that a vehicle 100 is positioned at stop line 203 of traffic intersection 210 to make a left turn. Due to the left-hand positioning of vehicle 100, another road user 200, especially a vehicle with a relatively large turning radius, may be obstructed when entering lane 201 for vehicle 100. Similarly, an obstruction may also occur independently of a turning maneuver if lane 201 for vehicle 100 has a relatively narrow clearance.

[0046] Device 101 can be configured to obtain information regarding the driving situation at traffic junction 210. Example of driving situation information is: • the width of the first carriageway (especially road) 201 and / or the individual lanes of the first carriageway 201; • the width of the second (crossing) carriageway 202 and / or the individual lanes of the second carriageway 202; • the position of stop line 203; • the curve radius for a possible turning maneuver by the other road user 200; • Is another road user 200 already detected who is currently turning onto or about to turn onto the first carriageway 201? and / or • Dimensions and / or the turning radius of the (potentially) turning road user 200.

[0047] Based on the driving situation information, it can be determined (in particular predicted) whether an obstruction driving situation will or could occur, in which vehicle 100 is positioned at the traffic junction 210 within the path 300 of another road user 200. If no other road user 200 has yet been detected, one or more default values ​​can be considered (due to local conditions) to predict a possible path 300 of a possible road user 200 and / or to determine an optimized positioning (i.e., a stationary position) of vehicle 100 at the traffic junction.

[0048] The driver can then be offered an optimized approach to and / or an optimized positioning at the traffic junction 210, or a corresponding automated longitudinal and / or lateral guidance of the vehicle 100 can be effected.

[0049] As explained above, a lateral offset 211 of vehicle 100 (to the right) can be effected if there is sufficient space in the lane of vehicle 100. Alternatively or additionally, a longitudinal offset 212 to the stop line 203 can be effected (especially if the lane of vehicle 100 is relatively narrow).

[0050] In an alternative scenario, vehicle 100 is already at intersection 210 (specifically at stop line 203 of intersection 210). It can be detected (based on the surrounding data) that another vehicle 100 intends to enter the first lane (e.g., road or driveway) 201. Furthermore, it can be detected that, due to the size and / or turning radius of the other vehicle 200, entry into the first lane 201 is not possible or only possible with difficulty (taking into account a buffer distance around vehicle 100). This can be detected, for example, based on a distance measurement of the gap between vehicle 100 and the turning vehicle 200. Alternatively or additionally, the aforementioned driving situation information can be considered.

[0051] A corrective maneuver can then be suggested or executed directly and automatically, either longitudinally or laterally. Vehicle 100 can be reversed (if the space behind it is clear). Additionally, vehicle 100 can be moved laterally (away from the lane of vehicle 200). If there is insufficient maneuvering space to the rear, a corrective movement to the front right can be initiated to create space for vehicle 200. In this process, stop line 203 can be taken into account or, if necessary, deliberately crossed.

[0052] Fig.Figure 5 shows a flowchart of a (possibly computer-implemented) procedure 500 for operating a (motor) vehicle 100 at a traffic junction 210 (e.g., at an intersection or at an entrance / exit). The procedure 500 includes determining 501 that an obstruction driving situation exists or will exist, in which the vehicle 100 is positioned at the traffic junction 210 within the lane 300 of an oncoming road user 200 (e.g., an oncoming vehicle). This can be determined based on environmental data relating to the surroundings. Furthermore, geometric data relating to the geometry (in particular, the spatial arrangement of the lanes 201, 202) of the traffic junction 210 can be considered (e.g., using a digital map relating to the road network traveled by the vehicle 100). Dimensional data relating to the dimensions (e.g.,the length and / or width) of the oncoming road user 200 must be taken into account.

[0053] The path of the oncoming vehicle 200's path (300) can be predicted. This path can correspond to the area of ​​the respective lane 201, 202 covered by the vehicle 200 at the intersection 210. Furthermore, the vehicle 100's stationary position and / or its trajectory can be taken into account. If it is determined that the stationary position and / or the trajectory lie within the predicted path of the path (300), it can be determined that an obstruction situation exists or will occur.

[0054] The procedure 500 further comprises, in response to the determination 501, the effecting 502 of at least one measure aimed at positioning the vehicle 100 at the traffic junction 210 outside the lane 300 of the oncoming road user 200. This may involve causing the vehicle 100 to be driven out of the lane 300 from its stationary position, or it may involve changing the trajectory of the vehicle 100 to move it to a stationary position at the traffic junction 210 that lies outside the lane 300.

[0055] The device 101 and / or method 500 described in this document can increase traffic safety and comfort 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 the figures are intended only to illustrate the principle of the proposed methods, devices, and systems by way of example.

Claims

[1] Device (101) for operating a vehicle (100) at a traffic junction (210); wherein the device (101) is arranged - to determine that an obstructive driving situation exists or will exist in which the vehicle (100) is located at the traffic junction (210) within a travel path (300) of an oncoming road user (200); and - in response to the determination, to effect at least one measure aimed at positioning the vehicle (100) at the traffic junction (210) outside the travel path (300) of the oncoming road user (200). [2] Device (101) according to claim 1, wherein the device (101) is arranged - to determine environmental data relating to an environment of the vehicle (100), in particular relating to an environment of the vehicle (100) at the traffic junction (210); and - to determine, based on the environmental data, that a driving situation causing obstruction exists or will exist; and / or to initiate a measure dependent on the environmental data. [3] Device (101) according to claim 2, wherein the device (101) is arranged - to determine the environmental data using one or more environmental sensors (102), in particular at least one camera, at least one radar sensor, at least one lidar sensor and / or at least one ultrasonic sensor, of the vehicle (100); and / or - to determine the environmental data using vehicle-to-vehicle communication and / or vehicle-to-infrastructure communication. [4] Device (101) according to one of the preceding claims, wherein the device (101) is arranged - to determine geometric data relating to a geometry of the traffic junction (210), in particular relating to a width of a first roadway (210) on which the vehicle (100) is arranged; and - to determine, on the basis of the geometric data, that a driving situation causing obstruction exists or will exist; and / or to initiate a measure dependent on the geometric data. [5] Device (101) according to one of the preceding claims, wherein - at the traffic junction (210) a first carriageway (201) and a second carriageway (202) converge from different directions, in particular intersect; - the vehicle (100) is arranged on the first lane (201); and - the device (101) is configured to determine that an obstructed driving situation exists or will exist in which the vehicle (100) is arranged at the traffic junction (210) within a turning lane (300) of an oncoming road user (200) turning from the second lane (202) onto the first lane (201). [6] Device (101) according to one of the preceding claims, wherein the device (101) is arranged - based on environmental data relating to the environment of the vehicle (100) and / or on the basis of geometric data relating to a geometry of the traffic junction (210) and / or on the basis of dimension data relating to a dimension of the oncoming road user (200), to predict a course of the driving path (300) of the oncoming road user (200); and - to determine, on the basis of the predicted course of the driving path (300), that an obstructed driving situation exists or will exist; and / or to effect a measure dependent on the predicted course of the driving path (300). [7] Device (101) according to one of the preceding claims, wherein the device (101) is configured to cause the vehicle (100) to be driven, as part of an approach to the traffic junction (210), to a standing position at the traffic junction (210) which is arranged outside the travel path (300) of the oncoming road user (200). [8] Device (101) according to claim 7, wherein the device (101) is configured, in particular, on the basis of environmental data relating to an environment of the vehicle (100) and / or on the basis of geometric data relating to a geometry of the traffic junction (210) and / or on the basis of a predicted course of the travel path (300) of the oncoming road user (200), - to determine a longitudinal distance (212) of the standing position from a stop line (203) of the traffic junction (210); and / or - to determine a transverse offset (211) of the standing position within a first roadway (201) on which the vehicle (100) is arranged at the traffic junction (210); in particular such that the standing position is arranged outside the travel path (300) of the oncoming road user (200). [9] Device (101) according to one of the preceding claims, wherein the device (101) is configured to cause the vehicle (100), which in particular is already at the traffic junction (210), to be driven out of the travel path (300) of the oncoming road user (200). [10] Device (101) according to claim 9, wherein the device (101) is configured, in particular, on the basis of environmental data relating to an environment of the vehicle (100) and / or on the basis of geometric data relating to a geometry of the traffic junction (210) and / or on the basis of a predicted course of the travel path (300) of the oncoming road user (200), - to cause a backward movement of the vehicle (100) in order to increase a longitudinal distance (212) of the vehicle (100) from a stop line (203) of the traffic junction (210); - to cause the vehicle (100) to move forward, in particular to move the vehicle (100) beyond the stop line (203) of the traffic junction (210); and / or - to effect a transverse movement of the vehicle (100), in particular a transverse movement away from the travel path (300) of the oncoming road user (200), in order to change a transverse offset (211) of the vehicle (100) within the first roadway (201) on which the vehicle (100) is arranged at the traffic junction (210). [11] Device (101) according to one of the preceding claims, wherein the device (101) is arranged, as part of the measure, - to effect automated longitudinal and / or transverse guidance of the vehicle (100); and / or - to issue one or more instructions regarding the longitudinal and / or lateral guidance of the vehicle (100) to a driver of the vehicle (100). [12] Method (500) for operating a vehicle (100) at a traffic junction (210); the method (500) comprising - determining (501) that an obstructed driving situation exists or will exist in which the vehicle (100) is located at the traffic junction (210) within a travel path (300) of an oncoming road user (200); and - in response to the determining (501), effecting (502) at least one measure aimed at positioning the vehicle (100) at the traffic junction (210) outside the travel path (300) of the oncoming road user (200).

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