Method and control unit for operating a motor vehicle

Abstract

The invention relates to a method for operating a motor vehicle (10) and a control unit (100) for operating a motor vehicle (10) which is configured to carry out the said method. It is intended that the motor vehicle (10) determines a probability of presence for road users (16) located on an upcoming roadway entrance (12) using the stored swarm data and prepares a lane change to support the merging of a road user (16) located on the roadway entrance (12), provided that the determined probability of presence exceeds a predetermined threshold.

Description

[0001] The invention relates to a method for operating a motor vehicle and a control device for operating a motor vehicle, which is designed to carry out said method.

[0002] For merging onto motorways, expressways, and similarly well-maintained roads, these are often equipped with merging lanes, also called acceleration lanes. Merging lanes run adjacent to the outermost lane of the respective roadway and usually merge into it after a few hundred meters. They thus form an extended section of the access or slip road, serving the purpose of adapting the speed of the merging vehicle to the speed of the flowing traffic, allowing the vehicle to merge seamlessly into the flowing traffic.

[0003] It is not uncommon for merging or merging from the motorway entrance to be made difficult or even impossible by moving traffic. However, since the merging lane is only a limited length, the driver of the merging vehicle is forced to coordinate with the drivers of the moving vehicles in order to merge onto the motorway in time before reaching the end of the merging lane. The drivers involved are often under considerable pressure. Merging is particularly difficult and therefore poses a significant risk for the driver attempting to merge onto the motorway.

[0004] In this context, document US 2018 / 0319403 A1 proposes a method and vehicle-to-vehicle communication systems for determining a gap in traffic between two transport vehicles for a lane change of a transport vehicle. The method comprises identifying the traffic gap based on a first and a second detection process. The first detection process is based on at least one vehicle-to-vehicle status message from at least one other transport vehicle. The second detection process is based on an on-board sensor system of the transport vehicle.

[0005] The invention is based on the object of providing a method and a control device for operating a motor vehicle which facilitates merging processes from merging lanes on motorways and expressways and minimises the associated risk of accidents.

[0006] The object of the invention is achieved by a method and a control unit for operating a motor vehicle according to the independent patent claims. Preferred developments are the subject of the respective dependent claims.

[0007] A first aspect relates to a method for operating a motor vehicle. The motor vehicle comprises an environment sensor unit. The environment sensor unit preferably comprises one or a plurality of environment cameras and / or radar-based systems, for example, ultrasound, millimeter waves, and / or lidar, which are configured to detect road users in the vicinity of the motor vehicle. Particularly preferably, the motor vehicle comprises a driver assistance system. The driver assistance system of the motor vehicle is configured, for example, to control the steering and driving speed of the motor vehicle. For example, the driver assistance system comprises a lane keeping assistant (Lane Assist) and an adaptive cruise control (ACC). Another term for the combination of lane keeping assistant and adaptive cruise control is travel assist.In this case, the radar systems of the driver assistance system, for example ACC, can be used as an environment sensor unit or at least as part of it.

[0008] The motor vehicle further comprises a memory with stored map data and swarm data. The map data preferably comprises navigation maps and / or predictive route data. Predictive route data is typically calculated from digital road maps, for example, the navigation maps, the current vehicle position, and the direction of travel of the motor vehicle. Swarm data is traffic information from a large number of individual vehicles, which is processed in an anonymized and bundled form. The traffic information preferably comprises time-resolved location information of the individual vehicles, their respective speeds, and / or their predictive route data, and the like.The traffic information also preferably includes information about the respective day, for example the days of the week, i.e. Monday, Tuesday, Wednesday, Thursday, Friday, Saturday, Sunday and / or public holidays, or the date, the respective time and / or the respective weather conditions in relation to the respective traffic information of the individual vehicles. The traffic information of the individual vehicles is transmitted, for example, from the individual vehicles to a decentralized server, either wirelessly via a radio connection or via a cable, for example during a visit to the workshop. On the decentralized server, the traffic information from the multitude of individual vehicles is processed into the swarm data used and stored in the memory of the motor vehicle, for example via a radio connection or via a cable, for example during a visit to the workshop.

[0009] In one method step, an upcoming roadway entrance to the roadway traveled by the motor vehicle is detected using the stored map data and / or the environment sensor unit. "Ahead" refers to "ahead" with reference to the direction of travel of the motor vehicle. Preferably, the upcoming roadway entrance is the immediately closest roadway entrance to the roadway traveled by the motor vehicle. Solutions for determining the current vehicle position and a distant object, such as the upcoming roadway entrance, are generally known to those skilled in the art and are therefore not described in detail here.

[0010] In a further step of the method, a probability of presence for road users on the detected roadway entrance is determined using the stored swarm data. In other words, the swarm data is used to determine how frequently individual vehicles have driven from the detected roadway entrance onto the roadway traversed by the motor vehicle in the past. When determining the probability of presence, the current day, the current time, and / or the current weather conditions, etc., at the time the motor vehicle is expected to pass the detected roadway entrance are preferably used.Thus, differences in the determined probability of location can be taken into account by using the traffic information from the swarm data relevant to the current situation of the motor vehicle at the time of impact at the detected road entrance.

[0011] In a further process step, the vehicle prepares to change lanes to assist a road user on the lane entrance if the determined probability of presence exceeds a specified threshold. If the threshold is exceeded, the next lane entrance ahead is preferentially detected, thus repeating the process for the subsequent lane entrance.

[0012] According to the invention, a lane change is checked and planned at an early stage, using systems and sensors that are usually already present in the vehicle. This allows the vehicle to prepare a possible reaction to a lane entrance and the associated merging challenges based on the probabilities of a road user on the lane entrance determined from the swarm data. According to the invention, this can be done even before the vehicle's sensors, for example, the environment sensor unit and / or a Car2X communication unit, detect or can detect an actual vehicle on the lane entrance. In other words, according to the invention, swarm intelligence is used to condition the vehicle.By preparing for the lane change in advance, the lane change can be performed more quickly during or before passing the merging lane of the detected lane entrance. Furthermore, the vehicle's systems' computing capacity can be reserved for the difficult situations of merging at the lane entrances and for other processes relevant to driving safety.

[0013] In a preferred embodiment, it is provided that when preparing the lane change of the motor vehicle, the surroundings of the vehicle are scanned using the surroundings sensor unit in order to change the lane safely, and a trajectory for changing the lane is calculated. When scanning the surroundings of the vehicle, the surroundings to the side and rear of the vehicle with respect to the direction of travel of the motor vehicle are preferably scanned for other road users in order to enable a collision-free lane change. The calculated trajectory preferably comprises a (first) change from the lane currently being traveled by the motor vehicle to the adjacent lane opposite the entrance direction and particularly preferably a second lane change from the adjacent lane back to the originally traveled lane, for example after passing the detected road entrance.

[0014] Furthermore, it is preferably provided that a request to carry out the prepared lane change is issued to the driver of the motor vehicle or that the motor vehicle is controlled to carry out the prepared lane change automatically. Thus, the prepared lane change can be recommended preventively based on the determined probability of location or can be carried out automatically by the motor vehicle, provided that the lane change can be carried out safely. This can facilitate merging procedures without the need for knowledge of a road user actually entering the lane. In this respect, this offers a simple solution that does not necessarily require complex cooperative logic between the motor vehicle and the road user entering the lane. The request to the driver is preferably issued on a display of the motor vehicle.This also allows for the presentation of additional information about the planned lane change. The display then serves as an information point for the driver when to change lanes. This provides the driver with support from the vehicle, increasing driving safety and reducing driver stress. Automated lane change execution results in a higher level of automation and a higher level of vehicle intelligence.

[0015] In a further preferred embodiment, it is provided that a sampling rate of the environment sensor unit is adjusted based on the determined probability of presence. The sampling rate of the environment sensor unit is preferably increased when the predefined threshold value is exceeded and / or reduced when the predefined threshold value is undershot. By adjusting the sampling rate, the detection of road users on the detected roadway entrance is improved in situations with a high probability of presence and reduced in situations with a low probability of presence in order to save energy. The sampling rate is preferably adjusted at least for the relevant roadway entrance section, which includes a range of the environment sensor unit.

[0016] In a further preferred embodiment, it is provided that the motor vehicle further comprises a C2X communication unit configured to transmit and receive C2X radio signals. In the method, it is further verified using the environment sensor unit and / or the C2X communication unit whether a road user is located on the detected lane entrance, and a need to carry out a measure to assist the verified road user in merging is determined. The motor vehicle can thus determine whether a road user is actually located on the lane entrance. This information can be used to determine whether the prepared lane change should actually be carried out or can be omitted. C2X ("Car to x") is communication between vehicles and their environment ("x").For example, C2X communication takes place with another motor vehicle, in particular a road user on the road entrance. Since transmitted C2X radio signals have a range of several hundred meters, for example, at least 300 meters, they can be used, unlike the environment sensor unit, to detect road users within a greater range. Furthermore, areas that cannot be seen can also be scanned. However, this requires that the other road user also has a C2X communication unit configured to send and receive C2X radio signals. In this case, an exchange of C2X radio signals can take place with the road user on the road entrance.The C2X radio signals preferably include the speed and route, for example, predictive route data, of the respective sender of the C2X radio signal, so that, based on the exchanged C2X radio signals, a collision between the motor vehicle and the merging (verified) road user is likely and a need to implement a measure to assist the merging of the verified road user is required. In a preferred method step, one or a plurality of C2X radio signals comprising a speed and route, for example, predictive route data, of the road user on the roadway entrance are received using the C2X communication unit.In a preferred embodiment, one or a plurality of C2X radio signals comprising a speed and a route, for example predictive route data, of the motor vehicle are transmitted using the C2X communication unit.

[0017] Also preferably, to determine the need to implement a measure to assist the verified road user in merging, a meeting of the motor vehicle and the verified road user on the roadway traveled by the motor vehicle is determined using the environment sensor unit and / or the C2X communication unit. In other words, based on the motor vehicle's environment sensor system and / or exchanged C2X radio signals, it is calculated whether and at which point the motor vehicle and the verified road user are likely to meet.

[0018] Preferably, the measure for assisting the verified road user in merging comprises the prepared lane change and / or adjusting the driving behavior of the motor vehicle in the longitudinal direction. The longitudinal direction corresponds to the direction of travel of the motor vehicle. Preferably, a target speed or a required acceleration or deceleration of the motor vehicle is calculated to create a gap in front of or behind the motor vehicle for the verified road user to merge. This is preferably issued as a request to the driver of the motor vehicle as a required measure to assist the verified road user in merging, or the motor vehicle is controlled to automatically reach this gap.Furthermore, a C2X radio signal comprising the measure deemed necessary by the motor vehicle to assist the merging of the verified road user is preferably transmitted using the C2X communication unit. Thus, the road user on the road entrance ramp is informed of the measure being performed by the motor vehicle to assist the merging, so that they can prepare and implement a corresponding response to merge into the provided gap. For example, a response could also be that a C2X radio signal is transmitted by the road user on the road entrance ramp, after which they do not need the provided gap to merge or cannot reach it. Thus, a coordination process between the motor vehicle and the road user on the road entrance ramp, thus a cooperative behavior, can take place.

[0019] Furthermore, the acceleration of the motor vehicle is preferably limited and / or delayed in order to adapt the driving behavior of the motor vehicle in the longitudinal direction. This achieves improved energy efficiency through a predictive driving style. In the event that the motor vehicle includes adaptive cruise control, an acceleration originally selected by the ACC, i.e. planned, to reach the predetermined target speed can be reduced in order to create a gap in front of the motor vehicle. In other words, the acceleration gradient of the motor vehicle is reduced accordingly, i.e. the acceleration of the motor vehicle is delayed. Consequently, an intervention in the driving behavior of the motor vehicle planned by the driver assistance system preferably takes place as a measure to support the merging of the verified road user.

[0020] It is also preferably provided that the measure to assist the merging of the verified road user is selected and preferably carried out depending on the energy expenditure required for this purpose. This achieves improved energy efficiency through anticipatory driving. The measures to assist the merging of the verified road user sometimes incur different energy expenditures. Since braking of the motor vehicle, for example, requires a subsequent acceleration phase, the energy expenditure is significantly higher here than for a lane change, which usually does not require an adjustment of speed. An order, sorted by energy expenditure from lowest to highest, is preferably as follows: lane change < deceleration of acceleration < limitation of acceleration < acceleration < braking.In other words, lane changing is prioritized over the other measures, meaning that it is selected preferentially as a measure to assist the verified road user in merging, if possible. If lane changing is not possible, the measures to assist the verified road user in merging are checked preferentially according to the order of measures specified here.

[0021] A further aspect of the invention relates to a control unit for a motor vehicle. The control unit is configured to carry out the method described above. The motor vehicle is preferably the motor vehicle described above. The advantages achieved with the method can be achieved analogously with the control unit. The disclosed feature combinations of the method can be applied analogously to the control unit. A repeated description of the features and advantages is therefore omitted.

[0022] The individual method steps of the method according to the invention are further preferably embodied as one or more processes that run on one or more processors in one or more electronic computing devices and are generated when executing one or more computer programs. The computing devices are preferably designed to cooperate with other components, in particular a control unit for operating a motor vehicle, in order to implement the functionalities described herein. Likewise, the control unit is preferably embodied as a central (single-part) or decentralized (multi-part) component.

[0023] The individual components of the control unit are further preferably embodied as one or more processes that run on one or more processors in one or more electronic computing devices and are generated during the execution of one or more computer programs. The computing devices are preferably designed to cooperate with other components, for example, an environment sensor unit, in order to implement the functionalities described herein. The instructions of the computer programs are also preferably stored in a memory, such as a RAM element. However, the computer programs can also be stored in a non-volatile storage medium, such as a CD-ROM, a flash memory, or the like.

[0024] It will also be apparent to a person skilled in the art that the functionalities of several computers (data processing devices) may be combined or combined in a single device or that the functionality of a particular data processing device may be distributed among a plurality of devices in order to carry out the steps of the method according to the invention without deviating from the method according to the invention.

[0025] A further aspect of the invention relates to a computer program comprising instructions which, when the program is executed by a computer, such as a control unit for operating a motor vehicle, cause the computer to carry out the method, in particular a method for operating a motor vehicle.

[0026] Further preferred embodiments of the invention emerge from the remaining features mentioned in the subclaims.

[0027] The various embodiments of the invention mentioned in this application can be advantageously combined with one another, unless otherwise stated in the individual case.

[0028] The invention is explained below in exemplary embodiments with reference to the accompanying drawings. They show: Fig. 1 a schematic representation of an exemplary traffic situation on a road with a merging lane, Fig. 2 a schematic representation of a method for operating a motor vehicle according to an embodiment, Fig. 3 a schematic representation of a motor vehicle with a control unit for operating the motor vehicle according to an embodiment and Fig. 4 a schematic representation of the traffic situation Fig. 1 with a motor vehicle containing a control unit according to a further embodiment.

[0029] Fig. Figure 1 shows a schematic representation of an exemplary traffic situation on a road with a merging lane. In the example shown, the road is depicted as a motorway, but is not limited to this. The road can also be an expressway or a similarly well-developed road. A motor vehicle 10 is traveling on the motorway. On the roadway 14 traveled by the motor vehicle 10, there is a road entrance 12 in the direction of travel. A road user 16, for example another motor vehicle, is located on the road entrance 12. In the Fig. According to the arrangement shown in Figure 1, the motor vehicle 10 and the road user 16 located on the roadway entrance 12 are expected to meet on the roadway 14 when the road user 16 leaves the merge lane and onto the motorway. This is because the lane 18 used by the motor vehicle 10 is the lane 18 adjacent to the merge lane, i.e., in this traffic situation, which is configured as right-hand traffic, it is the right-hand lane.

[0030] However, since the merging lane is only of limited length, the merging road user 16 is forced to coordinate with the motor vehicle 10 in order to be able to merge onto lane 14 in time before reaching the end of the merging lane. The drivers involved are often under considerable pressure in this process. Merging poses particular difficulties and thus a significant risk for the road user 16 attempting to merge onto lane 14. This situation can be prevented by the motor vehicle 10 taking a measure to assist the merging of the road user 16, for example, by changing from the lane 18 being used to the adjacent lane 20 (left lane).

[0031] In the following, a method for operating the motor vehicle 10 according to an embodiment and a control device 100 for operating the motor vehicle 10 according to an embodiment with regard to the Fig. 1. The procedure is shown schematically in Fig. 2. The Fig. 3 shows a schematic representation of the motor vehicle 10 with the control unit 100 configured to carry out the method described herein.

[0032] As in Fig. As illustrated in Figure 3, the motor vehicle 10 comprises the control unit 100, an environment sensor unit 102, a memory 104 with stored map data and swarm data, and a travel assistant (not shown). The travel assistant, which includes a lane keeping assistant and adaptive cruise control, is not mandatory, however. The environment sensor unit 102 comprises a plurality of environment cameras and radar-based systems configured to detect other road users in the vicinity of the motor vehicle 10, for example, in the current lane 18, the adjacent lane 20, and on the roadway entrance 12. Since the motor vehicle 10 is equipped with a travel assistant, the sensors of the travel assistant installed in the motor vehicle 10 can be used, at least in part, as the environment sensor unit 102, in order to increase the functionality of systems and sensors already present in the motor vehicle 10.The map data includes navigation maps and predictive route data from the motor vehicle 10. The swarm data is traffic information from a large number of individual vehicles, which is processed in an anonymized and bundled form in the memory 104. The traffic information includes time-resolved location information of the individual vehicles, their respective speeds, and predictive route data, each of which is linked to the day of the week, the time of day, and the respective weather conditions.

[0033] For the sake of completeness, it is mentioned at this point that the motor vehicle 10 further comprises an optional C2X communication unit 106, the use and function of which will only be explained with regard to Fig. 4 will be described in more detail.

[0034] In the Fig. In the method illustrated in Figure 2, a first method step 50 is performed, after which the roadway entrance 12 located ahead of the roadway 14 traveled by the motor vehicle 10 is detected using the stored map data. Optionally, the existence of the roadway entrance 12 is further verified for plausibility using the environment sensor unit 102.

[0035] In a second method step 52, a location probability for a road user 16 located on the detected roadway entrance 12 is determined using the stored swarm data. The current day of the week, the current time, and the current weather conditions are taken into account. The current weather conditions can be obtained either by sensors contained in the motor vehicle 10, such as a rain sensor, light sensor, and the like, or by radio communication with a decentralized server on which spatially resolved current weather data is stored. For example, fewer individual vehicles are on the roads at night than usual, while heavy traffic volumes can be observed during rush hour.Such findings obtained from the swarm data are used to calculate the probability of a road user 16 located on the detected roadway entrance 12.

[0036] In a further optional method step 54, it is checked whether the determined probability of location exceeds a predefined threshold. If this is not the case (No), the method returns to its initial state in order to execute the method for a further roadway entrance following the detected roadway entrance 12.

[0037] If the determined probability of presence exceeds the specified threshold value (Yes), a third method step 56 is performed. According to the third method step 56, a lane change of the motor vehicle 10 is prepared to assist the merging of a road user 16 located on the roadway entrance 12. The preparation includes scanning the vehicle's surroundings for a safe change from the currently used lane 18 to the adjacent lane 20 using the environment sensor unit 102. In other words, the currently used lane 18 and the adjacent lane 20 are scanned for other road users, and a check is carried out to determine whether a safe lane change is possible.If this is the case, a trajectory for changing from the current lane 18 to the adjacent lane 20 is calculated in preparation, and after passing the lane entrance 12, a further lane change from the adjacent lane 20 back to the originally used lane 18 is calculated. Thus, a lane change is checked and planned early on using systems and sensors that are usually already present in the motor vehicle 10, whereby the lane change can be carried out more quickly during or before passing the area of ​​the merging lane of the detected lane entrance 12. In order to achieve the advantages according to the invention, it is therefore not necessary to detect a road user 16 actually located on the lane entrance 12.In addition, the lane change can already be prepared before the sensors of the motor vehicle 10, for example the environment sensor unit 102 or the Car2X communication unit 106, detect or can detect the road user 16 located on the roadway entrance 12.

[0038] Subsequently, a request to carry out the prepared lane change is issued to the driver of the motor vehicle 10 or the motor vehicle 10 is controlled to carry out the prepared lane change automatically in order to enable the road user 16 to merge safely.

[0039] Fig. 4 shows a schematic representation of the exemplary situation from Fig. 1 with a motor vehicle 10 containing a control unit 100 according to a further embodiment. As already mentioned, the motor vehicle 10 in this embodiment comprises a C2X communication unit 106 configured to transmit and receive C2X radio signals. In addition, the road user located on the detected roadway entrance 12 also comprises a C2X communication unit configured to transmit and receive C2X radio signals, which is indicated by the Fig. 4. Consequently, an exchange of C2X radio signals takes place between the motor vehicle 10 and the road user 16 located on the roadway entrance in order to perform mutual detection. Since transmitted C2X radio signals typically have a greater range than would be possible using the environment sensor unit 102, earlier (longer-range) mutual detection is enabled by means of C2X communication.

[0040] In dem in Fig.In the optional method step 58 shown in Figure 2, using the C2X communication unit 106, it is verified whether a road user 16 is located on the detected roadway entrance 12 and whether there is a need to implement a measure to assist the merging of the verified road user 16. If no road user 16 is verified or no measure to assist the merging of the verified road user 16 is required (No), the optional method step 58 is repeated. Since the exchanged C2X radio signals include the speeds and predictive route data of the respective sender 10, 16 of the C2X radio signals, a collision between the motor vehicle 10 and the merging road user 16 can be determined based on the exchanged C2X radio signals.For this purpose, based on exchanged C2X radio signals, it is calculated and checked whether and at which point the motor vehicle 10 and the verified road user 16 are likely to meet.

[0041] If optional method step 58 determines that a measure to assist the merging of the verified road user 16 is required (yes), a further optional method step 60 issues a request to the driver of the motor vehicle 10 to perform the required measure to assist the merging of the verified road user 16, or the motor vehicle 10 is controlled to automatically reach this point. The prepared lane change is used as a measure to assist the merging of the verified road user 16, but is not limited to this. Rather, other measures to assist the merging of the verified road user 16 can also be used. List of reference symbols 10 motor vehicle 12 ahead road entrance 14 busy roadway 16 road users on the road entrance 18 busy lanes 20 adjacent lane 50 first procedural step 52 second procedural step 54 optional process step 56 third procedural step 58 optional process step 60 optional process step 100 control unit 102 Environment sensor unit 104 memory 106 C2X communication unit 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 2018 / 0319403 A1

[0004]

Claims

[1] Method for operating a motor vehicle (10), wherein the motor vehicle (10) comprises an environment sensor unit (102) and a memory (104) with stored map data and swarm data, and the method comprises the steps: - detecting (50) an approaching roadway (12) to the roadway (14) travelled by the motor vehicle (10) using the stored map data and / or the environment sensor unit (102), - determining (52) a probability of presence of road users (16) on the detected roadway entrance (12) using the stored swarm data and - preparing (56) a lane change of the motor vehicle (10) to assist the merging of a road user (16) located on the roadway entrance (12), provided that the determined probability of presence exceeds a predetermined threshold value. [2] Method according to claim 1, wherein preparing the lane change of the motor vehicle (10) comprises the steps of: - scanning the vehicle environment for safely changing lanes using the environment sensor unit (102) and - Calculating a trajectory for changing lanes. [3] Method according to claim 2, wherein the prepared lane change of the motor vehicle (10) is output to the driver of the motor vehicle (10) with the request to carry out the prepared lane change or the motor vehicle (10) is controlled to carry out the prepared lane change automatically. [4] Method according to one of the preceding claims, wherein a sampling rate of the environment sensor unit (102) is adjusted based on the determined probability of presence. [5] Method according to one of the preceding claims, wherein the motor vehicle (10) further comprises a C2X communication unit (106) configured to transmit and receive C2X radio signals, and the method further comprises the steps of: - Verifying (58) whether a road user (16) is located on the detected roadway entrance (12) using the environment sensor unit (102) and / or the C2X communication unit (106) and - Determine the need to implement an action to assist the merging of the verified road user (16). [6] The method of claim 5, wherein determining a need to perform a measure to assist the merging of the verified road user (16) comprises the step of: - Determining an encounter between the motor vehicle (10) and the verified road user (16) on the roadway (14) traveled by the motor vehicle (10) using the environment sensor unit (102) and / or the C2X communication unit (106). [7] Method according to one of claims 5 or 6, wherein the measure for assisting the merging of the verified road user (16) comprises the prepared lane change and / or an adaptation of the driving behavior of the motor vehicle (10) in the longitudinal direction. [8] Method according to claim 7, wherein the acceleration of the motor vehicle (10) is limited and / or delayed in order to adapt the driving behavior of the motor vehicle (10) in the longitudinal direction. [9] Method according to one of claims 5 to 8, wherein the measure for supporting the merging of the verified road user (16) is selected depending on the energy expenditure required for this purpose. [10] Control device (100) for operating a motor vehicle (10), which is designed to carry out the method according to one of the preceding claims.

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