Method for navigating a narrow section, computer-implemented method, computer program product and electronic vehicle guidance system

Abstract

The invention relates to methods for driving through a narrow section (3) of a route with an ego vehicle (4), a computer program product, and an electronic vehicle guidance system (12).

Description

[0001] One aspect of the invention relates to a method for driving a narrow section of a route with an ego vehicle. Another aspect of the invention relates to a computer-implemented method. Still further aspects relate to a computer program product and an electronic vehicle guidance system. Another aspect of the invention also relates to a vehicle.

[0002] Driving through narrow sections of road requires highly individualized driving maneuvers. Narrow sections are those where there is only one lane, but driving in both directions is possible and permitted. Therefore, such narrow sections can lead to traffic situations in which two vehicles are moving toward each other along the narrow section but cannot pass each other. Since the lane designated for driving in narrow sections is not wide enough for these two vehicles to pass each other in opposite directions, specific driving maneuvers are required to allow one vehicle to evade the other.

[0003] Driving on single-lane roadways is known, for example, from US 2019 / 375 410 A1. This document explains scenarios for enabling one vehicle to overtake another in such a roadway.

[0004] The object of the present invention is to provide a method, a computer program product, and an electronic vehicle guidance system that improves the driving through a narrow section. In particular, the passing of one another and thus the evasive maneuvering of a vehicle are to be improved.

[0005] This object is achieved by methods, a computer program product and an electronic vehicle guidance system according to the independent claims.

[0006] One aspect of the invention relates to a method for driving a narrow section of a route with an ego vehicle, comprising the following steps: - Driving through the narrow section with the ego vehicle; - Providing information that an oncoming vehicle is approaching the ego vehicle in the narrow section, in particular forwards or backwards; - Providing environmental information; - Evaluating the environmental information to determine whether, in particular along the narrow section, there is at least one free space to the side of the narrow section, which the ego vehicle can reach by reversing, in particular in the narrow section, in particular starting from the current position, and into which the ego vehicle can enter in such a way that the oncoming vehicle can drive past the ego vehicle in the narrow section; - Providing the result of the evaluation to determine a potential evasive maneuver of the ego vehicle into a free space.

[0007] This method improves driving through a narrow section with only one lane of traffic, ensuring that the oncoming vehicle can easily and safely overtake the vehicle in the narrow section. In particular, it is provided that a check is carried out to determine whether a clear space or passing bay can be reached by reversing the ego vehicle in the narrow section. In particular, reversing to the clear space is currently possible, i.e. when the information is evaluated. This section is therefore freely passable and not obstructed by another vehicle. A targeted search is therefore carried out and checked to determine whether the vehicle can move back in the direction from which it entered the narrow section, in order to be able to move sideways to the narrow section and free up the lane of the narrow section for the oncoming vehicle.This creates a relatively simple procedure for avoiding the oncoming vehicle in a narrow section if necessary and for allowing it to pass. The method is therefore intended to make it possible not to drive forwards or backwards completely out of the narrow section and to search for an avoiding option outside the narrow section, in particular even far away from it, but rather to search for such a lateral free space or an avoiding bay in the narrow section itself. In one exemplary embodiment, environmental information is provided to the side of the narrow section, viewed in the width direction of the narrow section, at least for the areas that lie along a trajectory. This trajectory is one that was and / or is being driven by a vehicle in the narrow section. This makes it possible to use an already known trajectory.It is therefore possible that this environmental information is already available before an evasive maneuver is required due to an oncoming vehicle. In addition to or instead of this, it is also possible that the environmental information is only recorded when an evasive maneuver is required due to an oncoming vehicle in the narrow section and the ego vehicle has already begun a search for a clear space in the narrow section. During this search, the environment is then recorded and corresponding environmental information is provided. This enables the detection of a clear space in a diverse and variable manner. A wide variety of environmental information can be used as a basis in this context. This also means that multiple clear spaces can be detected if necessary.In particular, it is then also possible for these clearances to be assessed individually, so that, if necessary, options can also be provided in an embodiment to carry out an evasive maneuver.

[0008] An evasive maneuver is a driving maneuver in which the ego vehicle reaches an evasive position, i.e., a temporary stopping position. The stopping position is intended only to remain stationary for a period of time during which an oncoming vehicle can pass. During the evasive maneuver and at the stopping position, a vehicle occupant does not leave the ego vehicle.

[0009] An evasive maneuver is not a turning of the ego vehicle. Therefore, the ego vehicle is not moved in such a way that it rotates 180° along the narrow section during the evasive maneuver.

[0010] In one embodiment, an end position of the immersion trajectory is determined. This is a stopping position of the ego vehicle, in which the ego vehicle remains as intended only until the oncoming vehicle has passed. After passing, the ego vehicle immediately continues in the intended direction if the narrow section there is clear. With regard to the accuracy of the end position, the immersion trajectory is not necessarily a parking trajectory. The primary and intended goal of the immersion trajectory is to reach a stopping position of the ego vehicle at which the oncoming vehicle can pass. In this case, the ego vehicle can only protrude slightly or partially into the clear space, with the rest of the ego vehicle still present in the narrow section. The orientation can also be varied, and a vehicle's longitudinal axis does not have to be parallel to the longitudinal axis of the clear space.The stopping position can therefore vary in the position and / or orientation of the vehicle and can be a rough position.

[0011] In one embodiment, the immersion trajectory and / or the final position of the ego vehicle at the end of the immersion trajectory is determined depending on the type of oncoming vehicle and / or a distance of the ego vehicle from a boundary of the narrow section opposite the free space. A type of oncoming vehicle can be a vehicle type, such as a two-track or single-track vehicle. This can be a motorcycle, a scooter, a bicycle, a passenger car, or a truck. In particular, the width of the oncoming vehicle can be taken into account. This can be detected, for example, with a detection unit of the ego vehicle.In particular, the entry trajectory and / or the final position of the ego vehicle at the end of the entry trajectory is determined such that the distance of the ego vehicle to a boundary of the bottleneck section opposite the free space is greater, in particular by a tolerance of at least 0.5 m, in particular at least 1 m, than the width of the oncoming vehicle. In particular, this can also be determined variably depending on the type of the opposing boundary.

[0012] It is possible that the final position is only determined once the ego vehicle has already entered the immersion trajectory. In this case, the final position can also be determined or changed dynamically while the ego vehicle is entering the immersion trajectory. In particular, this can also be determined at least by the current orientation of the ego vehicle to the nearest point on the boundary opposite the free space.

[0013] In one embodiment, the trajectory is driven by the ego vehicle itself and / or was driven by the ego vehicle itself. This is another very advantageous embodiment. This is because it allows very current information about the environment to be taken into account. Any free spaces that may have changed over time and / or no longer exist can be better detected. Thus, for example, the trajectory can have a trajectory section that corresponds to the section that the ego vehicle has traveled since entering the narrow section, in particular, for example, in the forward direction of travel. In addition to or instead of this, the trajectory can have a trajectory section that the ego vehicle travels during the search drive mentioned above.The search drive is, in particular, one that is initiated when it is known that an evasive maneuver is necessary due to an oncoming vehicle in the narrow section. In particular, it is provided that this trajectory section, which is traversed at the start of the search drive, is traversed in one embodiment in the opposite direction to the direction in which the ego vehicle traveled on the first trajectory section.

[0014] It is also possible that only the environmental information recorded or captured when the ego vehicle travels along the first trajectory section identically or essentially identically in the reverse direction as an inverse trajectory section is provided as environmental information.

[0015] In one embodiment, an entry trajectory is determined along which the ego vehicle can enter the free space at least semi-autonomously, in particular fully autonomously, using a parking assistance system of the vehicle. This is a very advantageous embodiment, as it enables a highly automated evasive maneuver. This is particularly advantageous in narrow sections. In such an embodiment, a vehicle occupant therefore does not have to worry about which free space might be the most advantageous and how they can then enter it using a manually performed parking maneuver. This embodiment is particularly advantageous in narrow sections, in which the entry trajectory is carried out at least semi-autonomously by the parking assistance system.Since, especially in narrow sections, there may be barriers both to the left and right of the lane defining the narrow section, this aforementioned embodiment is particularly advantageous. Barriers can be, for example, other vehicles, planking, vegetation, or the like.

[0016] In one embodiment, the immersion trajectory is defined as a branch from the trajectory. This is another very advantageous embodiment, as this trajectory can be used and, in particular, traveled in reverse, and no further maneuvering maneuver is required to travel the immersion trajectory. Rather, it is then no longer necessary to perform a separate maneuvering process to reach the starting point of the immersion trajectory. By branching off from the trajectory, for example, at a fork or at a specific trajectory point, this immersion trajectory also enables a very continuous and simple execution of the evasive maneuver. A seamless transition from the trajectory to the immersion trajectory is possible.

[0017] In one embodiment, the environmental information is acquired at least when the ego vehicle is traveling forward through the narrow section. In such an embodiment, the environmental information can also be generated as a precaution, even without it being known that an evasive maneuver might be necessary. This allows such environmental information to be generated and provided as a precaution, so that it is already available in the event of an evasive maneuver being required. Thus, in such an embodiment, it may be possible to draw on environmental information that cannot be, or can no longer be, acquired at the location of the narrow section where it is recognized that an evasive maneuver will be necessary.For example, environmental information can be used in this context, specifying environmental areas that are not visible at the point in the narrow section where it is recognized that an evasive maneuver is necessary and thus cannot be detected. This is particularly possible if the environmental information is or is to be detected by one or more detection units of the ego vehicle.

[0018] However, it is also possible that this environmental information is not recorded, or not only recorded, by at least one detection unit of the ego vehicle itself, but can also be provided by other means. For example, environmental information can also be recorded or have been recorded by other vehicles and can be made available for searching for a clear space in the narrow section. Other information sources, such as databases or the like, can also additionally provide such environmental information.

[0019] In one exemplary embodiment, the environmental information is acquired at least when driving through the narrow section with the ego vehicle in the reverse direction, when the ego vehicle moves away from the oncoming vehicle to avoid the oncoming vehicle. This is an exemplary embodiment in which the environmental information is acquired when or only when it is already known that an evasive maneuver is necessary due to an oncoming vehicle. Thus, the environment is only acquired by the at least one detection unit, in particular at least one detection unit of the ego vehicle for this specific information, when it is known that an evasive maneuver is necessary. In particular, according to the exemplary embodiment, the environmental information is acquired during the search drive.In this context, it is particularly advantageous if a specific direction is already specified in the narrow section along which the search drive takes place. In this case, this is in particular the reverse direction. During the search drive, the ego vehicle is moved in the opposite direction to the direction from which it entered the narrow section. This is particularly advantageous if a trajectory has been recorded along which the vehicle moved upon entering the narrow section up to the point at which it stopped and recognized that an evasive maneuver was necessary. In a very advantageous embodiment, this known trajectory can then be driven at least partially in the inverse direction, namely in reverse. The search drive is then also very simple and safe.This known trajectory has resulted in collision-free travel through the narrow section, so the same can be expected and is possible if the ego vehicle follows this previously known trajectory identically or essentially identically in the reverse direction during the search. This is particularly advantageous if this reversing travel is carried out at least semi-autonomously, especially fully autonomously, with a reversing assistance system of the ego vehicle. This enables a very simple yet highly safe, fully autonomous search drive in the narrow section.

[0020] In one exemplary embodiment, a search drive, as already mentioned, is carried out to search for at least one free space. In particular, the ego vehicle moves back in the direction along which it came from the narrow section. The advantages in this regard have already been explained above. In particular, a reversing assistance system of the vehicle is activated to carry out the search drive, so that the search drive is carried out at least partially fully autonomously. In particular, the search drive is driven in the inverse direction along the recorded trajectory. In this context, the trajectory can be the area or path length that was referred to as the first trajectory section in the exemplary embodiments mentioned above. In one exemplary embodiment, the search drive can then be the trajectory section that characterizes travel in the inverse direction in the exemplary embodiments explained above.In one embodiment, the immersion trajectory is determined when a suitable clearance is identified during the search drive. In particular, this immersion trajectory is determined starting from a branching point of the trajectory. In an advantageous embodiment, a starting point of the immersion trajectory therefore lies on this trajectory. As already explained above, a very continuous driving maneuver for the evasive action can thus be carried out. Additional maneuvering processes that would necessitate the transition between traveling along the trajectory and starting the immersion trajectory are therefore eliminated. In particular, this also makes it possible, in a particularly advantageous manner, for the immersion trajectory to branch off from the trajectory before a starting point of the trajectory, which in particular lies at the beginning of the narrow section.This also makes it possible to avoid having to completely retrace the trajectory back to its starting point during both the search and the evasive maneuver. Rather, if suitable clearance is detected, it is possible to determine a junction or fork at virtually any point along the trajectory, from which the immersion trajectory then branches off. This is another very advantageous embodiment because it makes it possible, on the one hand, to at least partially utilize the trajectory already traversed in the forward direction for the reverse direction and to traverse it identically or essentially identically in reverse.The ego vehicle therefore does not have to find its own path or generate its own trajectory when reversing, especially when performing the search drive, but can advantageously use the already known trajectory and travel in the reverse direction. Furthermore, in such an embodiment, it is particularly advantageous that a reversing assistance system can be used to carry out this reversing along the predetermined trajectory fully autonomously. This, in turn, has the advantage of allowing a seamless transition from the reverse travel of the known trajectory to the immersion trajectory, and the evasive maneuver can be performed with a virtually continuous transition from the search drive to the evasive maneuver.

[0021] Thus, in one embodiment, after determining the immersion trajectory, the reversing assistance system is deactivated, in particular automatically, and a parking assistance system of the ego vehicle is activated, in particular automatically, so that the immersion trajectory is driven at least semi-autonomously, in particular fully autonomously, using the parking assistance system. This is another very advantageous embodiment because it allows automatic switching between two different assistance systems of the vehicle. This switching of assistance systems is therefore carried out very situation-dependently and depending on the need, so that each corresponding section of the route can be driven at least semi-autonomously, in particular fully autonomously, using the particularly suitable assistance system.Especially when the immersion trajectory is determined as a branch from the specified trajectory, such an automatic switch from one assistance system to the other is possible seamlessly. In particular, it is then not necessary to interrupt the movement of the ego vehicle. This allows the search drive, on the one hand, and the seamlessly subsequent evasive maneuver, on the other, to be carried out very safely and quickly. Furthermore, this procedure also very precisely specifies the point at which this switch between the assistance systems should take place. This is the point at which the immersion trajectory should branch off from the trajectory.

[0022] In one embodiment, the environmental information is evaluated to determine whether, in particular along the narrow section, at least one further second free space exists laterally to the narrow section, into which the ego vehicle can enter such that the other oncoming vehicle can drive past the ego vehicle in the narrow section. This is a further very advantageous embodiment, since it attempts, if possible, to find at least two separate free spaces into which the ego vehicle can enter in order to allow the oncoming vehicle to pass. By proceeding in this way, alternatives can be tested and provided, thus enabling a particularly suitable and rapid evasive maneuver and enabling the evasive maneuver to be carried out safely, as well as the oncoming vehicle to pass quickly and safely.

[0023] In one embodiment, it is possible to create a priority list for the open spaces if at least two such open spaces are available. This allows the open spaces to be compared and evaluated, particularly in relation to each other. This allows the most suitable open space to be suggested and selected based on needs. It is also possible for this to be done fully autonomously by the system itself.

[0024] In one embodiment, when at least two such clearances are present, one clearance is prioritized and selected over at least one other clearance depending on the location of the clearance from the ego vehicle and / or depending on the location of the oncoming vehicle, in particular to the ego vehicle and / or to at least one of the clearances. In addition or instead of this, if several clearances are present, a clearance can be prioritized and selected depending on a distance of the clearance from the ego vehicle and / or depending on a distance of the clearance from the oncoming vehicle and / or depending on a position and / or a speed of the oncoming vehicle. In addition or instead of this, if several suitable clearances are present, a clearance can be prioritized and selected depending on a driving maneuver required by the ego vehicle to reach this clearance and / or enter this clearance.Additionally or instead, if several suitable clearances are available, a clearance can be prioritized and selected depending on the size of the clearance and / or the limitations of the clearance. Required driving maneuvers in this context can be characterized, for example, by whether they can be achieved by driving forward or backward along the narrow section, and / or whether a single- or multi-pass immersion trajectory is required, and / or whether an immersion trajectory is or is required to be forward or reverse of the ego vehicle. This allows for highly flexible and variable assessments of potentially available clearances, in order to provide a highly needs-based, fast, and safe scenario for an evasive maneuver.

[0025] A further aspect of the invention relates to a method for driving a narrow section of a route with an ego vehicle, comprising the following steps: - Driving through the narrow section with the ego vehicle in a first direction; - Providing information that an oncoming vehicle is approaching the ego vehicle in the narrow section, in particular forwards or backwards; - activating a reversing assistance system of the ego vehicle for at least semi-autonomously, in particular fully autonomously, carrying out a search drive to search for at least one free space, wherein for this purpose the ego vehicle moves back in the direction along which it came in the narrow section when an oncoming vehicle has been detected and an evasive maneuver of the ego vehicle is to be carried out; - evaluating the environmental information acquired during the search drive to determine whether, in particular along the narrow section, there is at least one free space to the side of the narrow section which the ego vehicle can reach by reversing, in particular in the narrow section, and into which the ego vehicle can enter in such a way that the other oncoming vehicle can drive past the ego vehicle in the narrow section; - Providing the result of the evaluation for determining a potential evasive maneuver of the ego vehicle into a free space, wherein, if a suitable free space is determined during the search drive, an immersion trajectory for the evasive maneuver is determined, wherein the immersion trajectory is determined with a branching point from a previously driven and stored trajectory; - Deactivating the reversing assistance system when the junction is reached and activating a parking assistance system of the ego vehicle at the junction; - at least semi-autonomous, in particular fully autonomous, driving along the immersion trajectory with the parking assistance system until an avoidance position of the ego vehicle in the free space is reached.

[0026] This aspect of the invention particularly advantageously enables the phased and alternating use of two different assistance systems, namely a reversing assistance system and a parking assistance system. This enables particularly safe and highly automated, particularly fully autonomous, driving through the narrow section, especially during a search, as well as in a narrow section. It is also particularly advantageous to skillfully utilize two different assistance systems in the narrow section to optimally perform the required maneuver.This is because the reversing assistance system makes it particularly easy and safe to drive along an already known and stored trajectory in the inverse direction, namely through the reversing direction, identically or essentially identically and, in the case of an existing free space, to design the immersion trajectory to branch off directly from the trajectory and to guide the continuous transition of an assistance system change, in particular fully autonomously with the parking assistance system, thus enabling entry into the free space.

[0027] In particular, it is possible that the reversing during the search drive and / or the driving along the immersion trajectory is carried out on the basis of a SLAM algorithm.

[0028] Embodiments of the above-mentioned first aspect, in particular in the specifications, are to be regarded as advantageous embodiments of this further independent aspect concerning the method.

[0029] A further independent aspect of the invention relates to a computer-implemented method for determining a characteristic value for an evasive maneuver of a vehicle during a driving maneuver in a narrow section, comprising the following steps: - Providing information to an evaluation unit that an oncoming vehicle is approaching the ego vehicle in the narrow section, in particular forwards or backwards; - Providing environmental information to the evaluation unit; - evaluating the environmental information with the evaluation unit to determine whether, in particular along the narrow section, there is at least one free space to the side of the narrow section, which the ego vehicle can reach by reversing, in particular in the narrow section, in particular starting from the current position, and into which the ego vehicle can enter in such a way that the oncoming vehicle can drive past the ego vehicle in the narrow section; - Providing the result of the evaluation to determine at least one parameter for determining a potential evasive maneuver of the ego vehicle into a free space.

[0030] Advantageous embodiments of the following method are advantageous embodiments of the above-mentioned computer-implemented method.

[0031] In particular, the method allows the evaluation unit to generate control signals that enable the vehicle to perform the maneuver in the narrow area. In particular, the control signals can be generated depending on the result of the evaluation. In particular, control signals can be generated that at least enable driving along an immersion trajectory into a free space.

[0032] A further independent aspect of the invention relates to a computer-implemented method for determining a characteristic value for an evasive maneuver of a vehicle during a driving maneuver in a narrow section, comprising the following steps: - Providing initial information to an evaluation unit that the bottleneck section is being driven on by the ego vehicle; - Providing second information to the evaluation unit that an oncoming vehicle is traveling in the opposite direction to the ego vehicle through the bottleneck section; - Providing third information to the evaluation unit that there is at least one free space to the side of the bottleneck section into which the ego vehicle can enter for the evasive maneuver; - Determining at least one immersion trajectory for the ego vehicle as a characteristic variable with the evaluation unit depending on at least the first information, the second information and the third information, wherein the immersion trajectory for driving the ego vehicle into the free space is generated in such a way that it is possible for the oncoming vehicle to drive past the ego vehicle in the narrow section.

[0033] Such a method makes it possible to determine a parameter, namely the immersion trajectory, with particularly high precision. The evaluation unit, which can be a single evaluation unit or multiple evaluation units and can also be referred to as an evaluation system, thus enables this immersion trajectory to be determined in a simple yet highly precise manner based on specific input information.

[0034] In one embodiment, the method comprises the following further steps: - Providing fourth information to the evaluation unit, relating to a trajectory which is being or was being travelled by the ego vehicle before determining and before travelling the immersion trajectory in the narrow section, and determining the immersion trajectory at least depending on the fourth information.

[0035] This makes it possible, through computer implementation, to determine a particularly advantageous immersion trajectory whose starting point lies directly on the specified trajectory and thus branches off from it in a defined manner. The immersion trajectory is then particularly advantageous to navigate because it starts without any offset from the trajectory, thus enabling a continuous transition from the trajectory in the opposite direction to the immersion trajectory.

[0036] This, in particular, provides a particularly advantageous way of automatically switching from one assistance system, namely the reversing assistance system, to another, namely the parking assistance system. In particular, this also makes it possible to perform the search drive and the immediately subsequent evasive maneuver fully autonomously without interruption, even though two different assistance systems are used for different sections.

[0037] One embodiment provides that the immersion trajectory is defined as a branch trajectory to be traveled backwards from a trajectory traveled backwards by the vehicle. This provides the evaluation unit with very specific information about the trajectory and the direction in which it is traveled before the immersion trajectory begins. This information allows the evaluation unit to determine with particular precision the point from which the immersion trajectory branches off from the trajectory and the direction in which the immersion trajectory leads and should be traveled.

[0038] In one embodiment, the computer-implemented method provides, in particular, the following further steps or the method comprises these corresponding steps: - Determining a branching point with the evaluation unit at which the immersion trajectory branches off from the trajectory; - Determining a vehicle control change between two assistance systems of the ego vehicle at the junction point with the evaluation unit, wherein during the vehicle control change, in which the at least semi-autonomous control of the ego vehicle is changed with an assistance system, a reversing assistance system of the ego vehicle is deactivated and a parking assistance system of the ego vehicle is activated.

[0039] A further aspect of the invention relates to a computer program product comprising instructions that, when executed by a computer or a computing unit, cause the computer or computing unit to execute the method according to an above-mentioned aspect or an advantageous embodiment thereof. This computer or computing unit can be part of a control unit of an electronic vehicle guidance system. In particular, this computer can be arranged in the ego vehicle itself.

[0040] A further aspect of the invention relates to a computer-readable storage medium comprising instructions that, when the program is executed by a computer, cause the computer to execute a method according to an above-mentioned aspect or an advantageous embodiment thereof. A further aspect of the invention relates to a computer-readable data carrier on which the computer program or the computer program product is stored.

[0041] A further aspect of the invention relates to an electronic vehicle guidance system with at least one evaluation unit and at least one control unit, wherein the vehicle guidance system is designed to carry out a method according to an above-mentioned aspect or an advantageous embodiment thereof. In particular, the method is carried out with the system.

[0042] A further aspect of the invention provides that the electronic vehicle guidance system has at least one detection unit with which the environment in the narrow section can be detected. In particular, this detection unit is a component of the ego vehicle. The detection unit can, for example, have a camera and / or at least one ultrasonic sensor and / or at least one radar sensor and / or at least one LIDAR sensor. In particular, the electronic vehicle guidance system can also have an electronic storage unit. Corresponding information can be stored therein. It can be made available from there to the evaluation unit. In particular, provision can take place here. This can, for example, be reception of the information by the evaluation unit.

[0043] In one embodiment, the evasive maneuver is carried out depending on at least one decision criterion. The decision criterion is therefore the reason for determining and starting the evasive maneuver. For example, this can be the case if it is known that this evasive maneuver is being carried out by the ego vehicle. For this purpose, it can be provided, for example, that the ego vehicle and the oncoming vehicle coordinate with each other. This is possible, for example, through a signal exchange. However, it is also possible for the occupants of the said vehicles to communicate in this regard on a human level. In addition to or instead of this, it can also be provided that when driving through the narrow section, it is specified which vehicle has to carry out an evasive maneuver if it is necessary to carry out an evasive maneuver due to an ego vehicle and an oncoming vehicle.

[0044] Embodiments of the invention are explained in more detail below with reference to schematic drawings. They show: Fig. 1 is a schematic plan view of a first embodiment of a traffic situation in a narrow section; and Fig. 2 a schematic plan view of another embodiment of a traffic situation in a bottleneck section.

[0045] In the figures, identical or functionally identical elements are provided with the same reference symbols.

[0046] In Fig. Figure 1 shows a traffic scenario in a schematic plan view. It shows a roadway 1. The roadway 1 only has a single lane 2. A bottleneck section 3 is shown here. This section has only one lane. However, it can be used in both directions. It is therefore not a one-way street. This bottleneck section 3 has an entrance or a start 3a and an end 3b or an exit. This can be seen in relation to an ego vehicle 4, which is driving through the bottleneck section 3. A bottleneck section 3 is defined in such a way that the width of the lane 2 is such that two vehicles cannot drive next to each other or past each other. The lane 2 therefore has a width that is only intended for one vehicle.

[0047] The ego vehicle 4 has an electronic reversing assistance system 5. Furthermore, the ego vehicle 4 has an electronic parking assistance system 6. These assistance systems 5, 6 can have one or more evaluation units. They can also have one or more control units. In particular, they can also have one or more electronic memories. In one exemplary embodiment, the ego vehicle 4 has at least one detection unit 7. This is oriented such that it can detect the surroundings of the ego vehicle 4.

[0048] As in Fig. 1, viewed in the width direction, there are objects 8 that delimit the narrow section 3. These boundaries or objects 8 can be, for example, other vehicles and / or planking and / or vegetation and / or curbs or the like. In addition, in the traffic scenario in Fig. 1 also shows that an oncoming vehicle 9 is present in the narrow section 3, in particular, has entered it. The oncoming vehicle 9 is traveling through the narrow section 3 in the direction of arrow P1. This is the opposite direction to the direction of travel in which the ego vehicle 4 is traveling through the narrow section 3 from its beginning 3a.

[0049] In Fig. 1 shows a static traffic situation in which the ego vehicle 4 has already stopped. In the exemplary embodiment, the ego vehicle 4 has traveled a trajectory 10 starting from the beginning 3a of the narrow section 3. The trajectory 10 has preferably been traveled by the ego vehicle 4 itself. In particular, this trajectory 10 is recorded. It is stored in a storage unit. The storage unit can be a component of the ego vehicle 4. However, it can also be a component of a system 11 arranged externally to the ego vehicle 4. For example, this system 11 can have a server, a backend, or a cloud. In one exemplary embodiment, this system 11 can be a component of an electronic vehicle guidance system. This electronic vehicle guidance system can have at least one evaluation unit and / or at least one control unit. The evaluation unit can also be a component of the control unit here.It is also possible for an electronic vehicle guidance system to be entirely a component of the ego vehicle 4. In this context, an electronic vehicle guidance system 12 may then be present. Thus, embodiments are possible in which the electronic vehicle guidance system is entirely a component of the ego vehicle 4 or in which the electronic vehicle guidance system may also be partially formed by components external to the ego vehicle 4, such as, for example, the system 11.

[0050] In particular, the reversing assistance system 5 and / or the parking assistance system 6 can be part of the electronic vehicle guidance system 12.

[0051] In the Fig. 1, information, which may be second information, is already known that the bottleneck section 3 is being traveled by another oncoming vehicle 9. In particular, it is known that the oncoming vehicle 9 is coming towards the ego vehicle 4. For example, this second information can be detected by the detection unit 7 of the ego vehicle 4. However, it is also possible that, for example, if the bottleneck section 3 is not completely straight, but also has a curved section, and the ego vehicle 4 and the oncoming vehicle 9 cannot yet recognize each other and cannot be detected by the detection unit 7, corresponding information from the existing oncoming vehicle 9 is transmitted externally to the ego vehicle 4.

[0052] In particular, this second piece of information can be provided to an evaluation unit 13, here of the ego vehicle 4. In particular, this evaluation unit 13 receives this first piece of information.

[0053] In addition, initial information can be provided to the evaluation unit 13. This initial information characterizes the travel through the narrow section 3 with the ego vehicle 4. For example, this can be recorded with the recording unit 7, particularly when it travels at the beginning 3a of the narrow section 3. However, it is also possible that, for example, a traffic sign or other information is recorded or provided, based on which this initial information is characterized.

[0054] In one embodiment, environmental information is provided. In particular, it is provided to the ego vehicle 4. In this context, it is possible for third information to be provided to the evaluation unit 13, in particular to be received by the evaluation unit 13. This third information characterizes the free spaces present laterally to the bottleneck section 3. In the embodiment according to Fig. 1, only one free space 14 is available. The free space 14 is designed such that the ego vehicle 4 can enter.

[0055] In particular, the free space 14 is a passing bay, such as a free parking space. The ego vehicle 4 can enter this bay in such a way that the oncoming vehicle 9 can pass in its direction of travel according to P1. Thus, in this exemplary embodiment, the ego vehicle 4 itself performs an evasive maneuver in the narrow section 3 such that the oncoming vehicle 9 can pass the ego vehicle 4 in lane 2 in the narrow section 3.

[0056] It is possible that the environmental information is captured when the ego vehicle 4 moves along the trajectory from the beginning 3a to the Fig. 1 shown position. In addition or instead of this, it can be provided that the detection of the environment and thus the generation of environmental information only takes place when the ego vehicle 4, starting from its position shown in Fig. 1, in particular at which it detects that an oncoming vehicle 9 is present and an evasive maneuver is necessary, a search drive begins. In one embodiment, a search drive can be such that the ego vehicle 4 reverses back toward the beginning 3a of the narrow section 3.

[0057] In the exemplary embodiment, the detection units 7 can be a front camera and a rear camera. These can detect the area in front of the ego vehicle 4 and the area behind the ego vehicle 4. Furthermore, additional detection units, in particular cameras, can be present whose detection areas are oriented laterally outward. However, this is not absolutely necessary, since the front camera and the rear camera can also detect the surrounding areas located to the side of the bottleneck section 3 and thus also detect the objects 8 and the free space 14.

[0058] It is advantageous that, starting from the Fig. 1, the reversing assistance system 5 is activated. The ego vehicle 4 then travels along the stored and known trajectory 10 in the inverse direction in an identical or essentially identical manner. In particular, this travel is carried out at least semi-autonomously, in particular fully autonomously. During this search drive, which is carried out very specifically here, the free space 14 is then also detected. The recorded environmental information is evaluated to determine whether there is at least one free space, here the free space 14, along the narrow section 3 to the side of the narrow section 3, which the ego vehicle 4 can reach from the current position by reversing in the narrow section 3 and into which the ego vehicle 4 can also enter in such a way that the other oncoming vehicle in the narrow section 3 can drive past the ego vehicle 4.In particular, this evaluation result is provided for determining a potential evasive maneuver of the ego vehicle 4 in the free space 14. In one exemplary embodiment, at least one immersion trajectory 15 is determined for this purpose. This immersion trajectory 15 is generated for the ego vehicle 4 to enter the free space 14 in such a way that the oncoming vehicle 9 can drive past when the ego vehicle 4 has reached the evasive position in the free space 14. Preferably, in one exemplary embodiment, information about the trajectory 10 is provided to the evaluation unit 13 as fourth information. In particular, this fourth information is also taken into account by the evaluation unit 13 when the immersion trajectory 15 is determined. In particular, the immersion trajectory is determined as a branch trajectory to be traveled backwards from the trajectory 10.In particular, it is determined as a branch trajectory to be traveled backwards from a previously known trajectory 10 traveled backwards by the ego vehicle 4. Thus, in one exemplary embodiment, the trajectory 10 traveled in the forward direction represents a first trajectory section, which is at least partially traveled again in the reverse direction during the search drive. This inverse travel represents a further trajectory section in one exemplary embodiment.

[0059] In one embodiment, the evaluation unit 13 determines a branching point 16 at which the immersion trajectory 15 branches off from the trajectory 10. The branching point 16 is here remote from a beginning of the trajectory 10. In particular, this beginning is at the beginning 3a of the narrow section 3. It is particularly advantageous if the evaluation unit 13 determines a vehicle control change between two assistance systems, here the reversing assistance system and the parking assistance system 6. It is therefore determined at which point the reversing assistance system is deactivated and the parking assistance system 6 is activated. This is the branching point 16 here. This is because it is then possible for the ego vehicle 4 to Fig. 1, with the reversing assistance system 5 activated, the vehicle travels back, in particular fully autonomously, along the known and stored trajectory 10 in the reverse direction, and at the junction point 16, the reversing assistance system is deactivated and the parking assistance system 6 is activated. This is because the immersion trajectory 15 can then be traveled as a parking trajectory, and the parking assistance system 6 can be used for this purpose. The search drive, however, is not a parking process and is therefore not carried out with the parking assistance system 6. To ensure that the assistance systems 5, 6 do not influence each other in this exemplary embodiment, they are specifically activated and deactivated here. The reversing assistance system 5 is not possible for traveling the immersion trajectory 15, since it preferably performs the inverse reversing drive based on the previously traveled and known trajectory 10 and thus does not know and cannot use the immersion trajectory 15 in this regard.Therefore, it is particularly advantageous here if, from the junction point 16 onward, the parking assistance system 6 is used without the reversing assistance system 5 to enter the free space 4, in particular to park. This junction point 16, in particular its position, as well as the automatic switching between the aforementioned assistance systems 5, 6 and the exact position of this switching, can also be determined by the evaluation unit 13.

[0060] In particular, the computer-implemented method described above is provided for this purpose. A computer program product or a computer program may be provided for this purpose. This may, for example, be stored on the evaluation unit 13.

[0061] Therefore, continuous driving is particularly advantageous, in this case continuous reversing starting from the Fig. 1 to the avoidance position in the free space 14, whereby both a trajectory change and an automatically performed change of the assistance systems used take place. A particularly smooth and continuous movement of the ego vehicle 4 from the position shown in Fig. 1 shown position up to the avoidance position in the free space 14 is thereby made possible.

[0062] In particular, in the embodiment according to Fig. 1 the search drive, which in Fig. 1 at the position of the ego vehicle 4 shown, at the point where a suitable free space 14 was detected.

[0063] In Fig. 2 shows a schematic plan view of another traffic scenario. In contrast to Fig. 1, several, in particular two, separate free spaces 14 and 17 are present here. In the embodiment shown here, one free space 14 is behind the ego vehicle 4 and can thus be reached by reversing. A further free space 17, spaced apart and separate from this, which is suitable as an overtaking bay, is in front of the ego vehicle 4 in the direction of travel of the ego vehicle 4. It is therefore located on the section of road between the ego vehicle 4 and the oncoming vehicle 9. This free space 17 can thus be reached by the ego vehicle 4 driving forward. In another constellation, it is also possible for at least two separate free spaces to be present, all of which are located behind the ego vehicle 4 in the direction of travel in the bottleneck section 3. These can also be on opposite sides of the bottleneck section 3, viewed in the transverse direction.

[0064] In such a constellation, in an advantageous embodiment, it is possible to create a priority list for the free spaces 14 and 17. This can be done by the evaluation unit 13. A selection of a free space 14 or 17 from several potentially possible free spaces 14, 17 can, for example, depend on the location of the free space 14, 17 in relation to the ego vehicle 4 and / or the location of the free space 14, 17 in relation to the oncoming vehicle 9. In addition to or instead of this, a corresponding selection of a free space 14, 17 can depend on the location of the oncoming vehicle 9 in relation to the location of the ego vehicle 4. In addition to or instead of this, a selection of a free space 14, 17 can depend on a distance of a free space 14, 17 from the ego vehicle 4 and / or from the oncoming vehicle 9. Additionally or instead, a selection of a clearance 14, 17 may be dependent on a position of the oncoming vehicle and / or a speed of the oncoming vehicle 9.Additionally or instead, the selection of a clearance 14, 17 can depend on a required driving maneuver of the ego vehicle 4 starting from a reference point, in particular from a reference point at which the at least two clearances 14 and 17 were identified as suitable bays for an evasive maneuver. Required driving maneuvers can be characterized by various parameters. This can be characterized by whether forward travel or reverse travel is required, whether a single- or multi-move evasive maneuver is required and thus a single- or multi-move dive trajectory is required, and whether the oncoming vehicle 9 must stop and remain stationary during the evasive maneuver. Furthermore, the selection of a clearance 14, 17 can also depend on the size of a clearance 14, 17 and / or the type of boundary of a clearance 14, 17.

[0065] This also allows two immersion trajectories to be determined in the exemplary embodiment. According to the exemplary embodiment shown, this can be an immersion trajectory 15a to be traveled backwards, with which the vehicle can enter the free space 14. In addition, a further immersion trajectory 15b can be determined, with which the vehicle can enter the free space 17 by moving forwards. If both free spaces 14 and 17 can only be reached by reversing the ego vehicle 4, individual immersion trajectories can also be determined for each of them. Furthermore, the explanations apply to further exemplary embodiments, as they are used for Fig. 1, also for the embodiment or the Fig. 2 explained several embodiments accordingly. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] US 2019 / 375 410 A1

[0003]

Claims

[1] Method for driving a narrow section (3) of a route with an ego vehicle (4), comprising the following steps: - Driving through the narrow section (3) with the ego vehicle (4); - providing information that an oncoming vehicle (9) is approaching the ego vehicle (4) in the narrow section (3); - Providing environmental information; - evaluating the environmental information to determine whether at least one free space (14, 17) is present to the side of the narrow section (3) which the ego vehicle (4) can reach by reversing and into which the ego vehicle (4) can enter in such a way that the other oncoming vehicle (9) can drive past the ego vehicle (4) in the narrow section (3); - Providing the result of the evaluation for determining a potential evasive maneuver of the ego vehicle (4) into a free space (14, 17). [2] Method according to claim 1, wherein environmental information is provided to the side of the bottleneck section (3) at least for the areas that lie along a trajectory (10) that was and / or is being driven by a vehicle in the bottleneck section (3). [3] Method according to claim 2, wherein the trajectory (10) was and / or is driven by the ego vehicle (4) itself. [4] Method according to one of the preceding claims, wherein an immersion trajectory (15, 15a, 15b) is determined, along which the ego vehicle (4) with a parking assistance system (6) can enter the free space (14, 17) at least semi-autonomously. [5] Method according to claim 2 or 3 and according to claim 4, wherein the immersion trajectory (15, 15a, 15b) is determined as a branch from the trajectory (10). [6] Method according to claim 4 or 5, wherein an end position for the ego vehicle (4) along the immersion trajectory (15, 15a, 15b) is determined, which is a temporary avoidance position. [7] Method according to one of the preceding claims, wherein the environmental information is acquired at least when driving through the narrow section (3) with the ego vehicle (4) in the forward direction. [8] Method according to one of the preceding claims, wherein the environmental information is acquired at least when driving through the narrow section (3) with the ego vehicle (4) in the reverse direction when the ego vehicle (4) moves away from the oncoming vehicle (9) to avoid the oncoming traffic. [9] Method according to claim 8, wherein a search drive is carried out to search for at least one free space (14, 17), wherein for this purpose the ego vehicle (4) moves back in the direction along which it came in the narrow section (3). [10] Method according to claim 9, wherein a reversing assistance system (5) of the ego vehicle (4) is activated to carry out the search drive, so that the search drive is carried out at least partially fully autonomously. [11] Method according to claim 2 or 3 and according to one of claims 8 to 10, wherein the search run is carried out in the inverse direction along the trajectory (10) recorded before the start of the search run. [12] Method according to claim 4 or 5 and according to claim 10 and 11, wherein when a suitable free space (14, 17) is determined during the search run, the immersion trajectory (15, 15a, 15b) is determined, in particular starting from a branching point (16) from the trajectory (10). [13] Method according to claim 12, wherein after determining the immersion trajectory (15, 15a, 15b) the reversing assistance system (5) is deactivated, in particular automatically, and a parking assistance system (6) of the ego vehicle (4) is activated, in particular automatically, so that the immersion trajectory (15, 15a, 15b) is driven at least semi-autonomously with the parking assistance system (6). [14] Method according to one of the preceding claims, wherein the environmental information is evaluated to determine whether at least one further second free space (14, 17) is present laterally to the narrow section (3), into which the ego vehicle (4) can enter such that the further oncoming traffic vehicle (9) can drive past the ego vehicle (4) in the narrow section (3). [15] Method according to claim 14, wherein, if at least two such free spaces (14, 17) are present, a priority list for the free spaces (14, 17) is created. [16] Method according to claim 13 or 14, wherein, when at least two such free spaces (14, 17) are present, a free space (14, 17) is selected depending on the location of the free space (14, 17) from the ego vehicle (4) and / or depending on the location of the oncoming vehicle (9), and / or depending on a distance of the free space (14, 17) from the ego vehicle (4) and / or from the oncoming vehicle (9), and / or depending on a position and / or speed of the oncoming vehicle (9), and / or depending on a required type of evasive maneuver of the ego vehicle (4) into a free space (14, 17), and / or depending on the size and / or boundaries (8) of the free spaces (14, 17). [17] Method for driving a narrow section (3) of a route with an ego vehicle (4), comprising the following steps: - driving the narrow section (3) with the ego vehicle (4) in a first direction; - providing information that an oncoming vehicle (9) is approaching the ego vehicle (4) in the narrow section (3); - activating a reversing assistance system (5) of the ego vehicle (4) for at least semi-autonomously carrying out a search drive to search for at least one free space (14, 17), wherein for this purpose the ego vehicle (4) moves back in the direction along which it came in the narrow section (3) when an oncoming vehicle (9) has been detected and an evasive maneuver of the ego vehicle (4) is to be carried out; - evaluating the environmental information acquired during the search drive to determine whether there is at least one free space (14, 17) to the side of the narrow section (3) which the ego vehicle (4) can reach by reversing and into which the ego vehicle (4) can enter in such a way that the other oncoming vehicle (9) can drive past the ego vehicle (4) in the narrow section (3); - Providing the result of the evaluation for determining a potential evasive maneuver of the ego vehicle (4) into a free space (14, 17), wherein, if a suitable free space (14, 17) is determined during the search drive, an immersion trajectory (15, 15a, 15b) for the evasive maneuver is determined, wherein the immersion trajectory (15, 15a, 15b) is determined with a branching point (16) from a previously traveled and stored trajectory (10); - Deactivating the reversing assistance system (5) when the junction point (16) is reached and activating a parking assistance system (6) of the ego vehicle (4) at the junction point (16); - at least semi-autonomous driving of the immersion trajectory (15, 15a, 15b) with the parking assistance system (6) until an avoidance position of the ego vehicle (4) in the free space (14, 17) is reached. [18] Computer-implemented method for determining a characteristic value for an evasive maneuver of an ego vehicle (4) during a driving maneuver in a narrow section (3), comprising the following steps: - Providing initial information to an evaluation unit (13) that the bottleneck section (3) is being traveled by the ego vehicle (4); - Providing second information to the evaluation unit (13) that an oncoming vehicle (9) is traveling in the opposite direction to the ego vehicle (4) through the bottleneck section (3); - Providing third information to the evaluation unit (13) that at least one free space (14, 17) is present laterally to the narrow section (3) into which the ego vehicle (4) can enter for the evasive maneuver; - Determining at least one immersion trajectory (15, 15a, 15b) for the ego vehicle (4) as a characteristic variable with the evaluation unit (13) depending on at least the first information, the second information and the third information, wherein the immersion trajectory (15, 15a, 15b) for driving the ego vehicle (4) into the free space (14, 17) is generated in such a way that the oncoming vehicle (9) can drive past the ego vehicle (4) in the narrow section (3). [19] A method according to claim 18, wherein the method comprises the following steps: - Providing fourth information to the evaluation unit (13) relating to a trajectory (10) which is being travelled or was travelled by the ego vehicle (4) before determining and before travelling on the immersion trajectory (15, 15a, 15b) in the constriction section (3), and determining the immersion trajectory (15, 15a, 15b) at least as a function of the fourth information. [20] Method according to claim 19, wherein the immersion trajectory (15, 15a, 15b) is determined as a branch trajectory to be traveled backwards of a trajectory traveled backwards with the ego vehicle (4). [21] Method according to one of the preceding claims 18 to 20, the method comprising the following steps: - determining a branching point (16) with the evaluation unit (13) at which the immersion trajectory (15, 15a, 15b) branches off from the trajectory (10); - Determining a vehicle control change between two assistance systems (5, 6) of the ego vehicle (4) at the junction point (16) with the evaluation unit (13), wherein during the vehicle control change, in which the at least semi-autonomous control of the ego vehicle (4) is changed with an assistance system, a reversing assistance system (5) of the ego vehicle (5) is deactivated and a parking assistance system (6) of the ego vehicle (6) is activated. [22] A computer program product comprising instructions which, when executed by a computer, cause the computer to carry out the method according to any one of the preceding claims 18 to 21. [23] Electronic vehicle guidance system (12) with at least one evaluation unit (13), wherein the vehicle guidance system (12) is designed to carry out a method according to one of the preceding claims.

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