Vehicle control procedures and vehicle control for executing a vehicle maneuver

Abstract

The invention relates to a vehicle control method for performing a vehicle maneuver of a vehicle (1,1a) comprising the steps: - Creating the vehicle maneuver trajectory for performing a vehicle maneuver and determining the necessary lateral and longitudinal accelerations using a vehicle maneuver planning module (7,7a), - Determining a maximum coefficient of friction between at least one tire and a vehicle floor during the vehicle maneuver using a coefficient of friction estimator (2,2a), taking into account the lateral and longitudinal accelerations occurring during the vehicle maneuver, - Checking the intended vehicle maneuver for a potential hazard during the execution of the intended vehicle maneuver, taking into account the coefficient of friction, as well as checking for a potential hazard when aborting the intended vehicle maneuver, taking into account the coefficient of friction, by a test unit (3,3a), - Performing the vehicle maneuver when there is no potential danger, - Modifying the vehicle maneuver by the vehicle maneuver planning module (7,7a) taking into account the coefficient of friction, whereby the modification includes at least the necessary lateral accelerations and / or longitudinal accelerations until there is no longer any potential danger when carrying out the vehicle maneuver, and subsequently carrying out the vehicle maneuver. - Discarding the vehicle maneuver if modification without potential danger is not possible.

Description

[0001] The invention relates to a vehicle control method and a vehicle control for executing a vehicle maneuver of a vehicle.

[0002] Automation and autonomization are currently increasing rapidly. In the future, partially or fully autonomous driving will be the rule rather than the exception.

[0003] The handling of an autonomous vehicle is highly dependent on the respective coefficient of friction between the tires and the road surface. If the coefficient of friction is high, it can accelerate or decelerate accordingly, or corner or overtake correspondingly quickly. If the coefficient of friction is low, the vehicle can easily become unstable due to a loss of grip with the road surface. This can lead to dangerous driving situations, particularly during overtaking maneuvers. Emergency situations such as a suddenly detected low coefficient of friction during braking during an overtaking maneuver are particularly difficult to manage in autonomous or semi-autonomous vehicles.

[0004] Methods and devices for calculating a coefficient of friction between tires and road surface have already been described in the prior art.

[0005] DE 102016214574 B4 discloses a method for estimating friction coefficients of a wheel of a vehicle relative to a ground surface, comprising the following steps: decomposing a provided trajectory into individual curve segments by means of a controller, estimating a lateral force and a slip angle for a front axle of the vehicle by means of a state estimator via a single-track model, taking into account state variables of the vehicle detected by at least one sensor when driving through the respective curve segment, assigning each estimated lateral force and slip angle to the associated individual curve segments and storing these value pairs in a memory by means of the controller, estimating a tire characteristic curve for each of the curve segments based on the value pairs stored in the memory for the respective curve segment by means of a characteristic curve estimator,Estimating a friction coefficient for each curve segment based on the respective estimated tire characteristic curve using a friction coefficient estimation device, storing the estimated friction values ​​for the respective associated curve segments in a friction coefficient map using the control system.

[0006] It is therefore an object to provide an improved vehicle control method and an improved vehicle control for carrying out a vehicle maneuver of a vehicle taking into account a friction coefficient, as well as a vehicle.

[0007] The object is achieved by a vehicle control method having the features of claim 1 and a vehicle control having the features of claim 7 as well as a vehicle having the features of claim 15.

[0008] Advantageous embodiments emerge from the dependent patent claims, the description and the figures.

[0009] The object is achieved by a vehicle control method for carrying out a vehicle maneuver of a vehicle comprising the steps: - Creating the vehicle maneuver trajectory to perform a vehicle maneuver and determining the necessary lateral and longitudinal accelerations by a vehicle maneuver planning module, - Determining a maximum coefficient of friction between at least one tire and a vehicle floor during the vehicle maneuver by means of a friction coefficient estimator, taking into account the lateral and longitudinal accelerations occurring during the vehicle maneuver, - Checking the intended vehicle maneuver for a potential hazard when carrying out the intended vehicle maneuver, taking into account the friction coefficient, as well as checking for a potential hazard when aborting the intended vehicle maneuver, taking into account the friction coefficient, by a test unit, - Carrying out the vehicle maneuver when there is no potential danger, - Modification of the vehicle maneuver by the vehicle maneuver planning module taking into account the coefficient of friction, whereby the modification includes at least the necessary lateral accelerations and / or longitudinal accelerations, until there is no longer any potential danger when performing the vehicle maneuver and subsequent execution of the vehicle maneuver, - Reject the vehicle maneuver if modification is not possible without potential danger.

[0010] A vehicle maneuver is, in particular, an overtaking maneuver. A potential hazard can be understood, for example, as an impending accident or, more generally, a critical driving situation that could lead to an accident and / or other damage.

[0011] The coefficient of friction can be estimated using a state-of-the-art friction coefficient estimator, taking into account the lateral and longitudinal accelerations occurring during the vehicle maneuver.

[0012] Preferably, the coefficient of friction between all four tires is estimated.

[0013] The invention recognizes that information about the coefficient of friction between the road surface and tires during a planned overtaking maneuver is currently not available or is not taken into account in the vehicle's implementation. In the prior art, the currently detected maximum coefficient of friction is used to determine whether the maneuver can be executed.

[0014] For example, the vehicle is traveling at a constant / variable speed behind a vehicle in front on the road with Autopilot active. The vehicle then decides to perform an overtaking maneuver to overtake the vehicle in front. This maneuver results in additional lateral acceleration (lane change) and longitudinal acceleration (acceleration), which can become critical if the friction coefficient is low during the overtaking maneuver.

[0015] This is now taken into account by the vehicle control method according to the invention. According to the invention, the maximum friction coefficient during the vehicle maneuver is estimated and incorporated into the decision. Thus, the maximum friction coefficient occurring is estimated based on the changed lateral acceleration (lane change) and longitudinal acceleration, and the vehicle maneuver is estimated based on the future friction coefficient.

[0016] Thus, by means of the vehicle control method according to the invention, a vehicle maneuver is only performed if the future change in the maximum friction coefficient allows for a safe vehicle maneuver. In doing so, the invention not only considers the potential danger when executing the intended vehicle maneuver, taking into account the friction coefficient, but also the potential danger when aborting the intended vehicle maneuver, taking into account the friction coefficient. For example, during an overtaking maneuver in winter with a low friction coefficient, it can be taken into account that wild animals may cross the country road in the dark, necessitating immediate abort of the overtaking maneuver. Such an abort is taken into account by the vehicle control method according to the invention, taking into account the maximum friction coefficient throughout the entire vehicle maneuver.

[0017] If the maximum coefficient of friction allows both an abort and the vehicle maneuver itself, the vehicle maneuver is implemented.

[0018] If such a safe, hazard-free maneuver is not possible due to the maximum friction coefficient being too low, the maneuver is modified. For example, the maneuver can be implemented with a lower target speed or a longer maneuver time. If the maneuver is modified in this way and thus becomes possible without danger, it will be implemented.

[0019] For example, during an overtaking maneuver, the longitudinal acceleration can be reduced as a vehicle maneuver so that, in combination with the lateral acceleration, the overtaking maneuver can be carried out safely (Kamm (friction) circle).

[0020] If a safe implementation is not possible even after modifying the vehicle maneuver, the implementation will be aborted.

[0021] According to the invention, a safe abort is thus incorporated into the implementation, taking the coefficient of friction into account. For example, in an overtaking maneuver, the abort of the maneuver during the maneuver implementation must also be considered. For example, when aborting an overtaking maneuver, abrupt changes in steering angle or deceleration / acceleration must be taken into account, which, for example, require a certain time buffer to achieve a safe abort.

[0022] This enables safer vehicle maneuvers. In particular, overtaking maneuvers can be performed safely, for example, by an autonomous or semi-autonomous vehicle, but also by manually driven vehicles. The latter significantly contributes to increased road safety, especially for older drivers.

[0023] In particular, the vehicle control method includes the following steps: - Receiving the topology information of the route ahead, - Determination of a maximum friction coefficient based on the topology information of the route ahead, taking into account the lateral and longitudinal accelerations on the route ahead, - Checking the intended vehicle maneuver for a potential hazard when carrying out the intended vehicle maneuver, taking into account the coefficient of friction on the route ahead, on one or more suitable sections of the route ahead, as well as checking for a potential hazard when aborting the intended vehicle maneuver on one or more suitable sections of the route ahead, taking into account the coefficient of friction, - if there is no potential danger on one of the vehicle sections of the route ahead, carry out the vehicle maneuver on that vehicle section.

[0024] Such topology information can be obtained, for example, via ADASIS (Advancing map-enhanced driver assistance systems).

[0025] This allows the route / road curve in front of the vehicle to be taken into account. For example, in the case of an impending overtaking maneuver planned just sufficiently before a curve with the maximum friction coefficient, the topology information can be used to decide whether overtaking or aborting the overtaking maneuver is safer after completing the curve, taking the maximum friction coefficient into account. It can also be determined, for example, that a higher friction coefficient a few hundred meters ahead allows for safer overtaking than, for example, an overtaking maneuver on a leaf-strewn country road through a forest. The topology information of the route ahead can be incorporated for this purpose. The topology information can include, for example, the road curvature, lane width, elevation changes, and forest cover.

[0026] In a further development, an AI-based environment detection module is provided for estimating the dynamics of the vehicle floor condition of the route ahead based on a past time window and / or a traveled distance, whereby the dynamics of the route ahead are taken into account when determining a maximum friction coefficient during the vehicle maneuver by the friction coefficient estimator.

[0027] Such AI-based environmental detection is particularly advantageous in constantly changing road conditions, for example, a sunny winter day with partially icy and partially dry road sections. In this case, the AI-based environmental detection module can classify the situation as highly dynamic and potentially dangerous. Based on this, the vehicle control system can prevent the vehicle maneuver. If the AI-based environmental detection module detects that the vehicle is currently on a dry road section, but that the maneuver is partially taking place on ice with a very low friction coefficient, a dangerous maneuver can be prevented.

[0028] Similarly, a maneuver can be planned in reverse even if the vehicle is currently traveling on ice with a low friction coefficient, but AI-based environmental detection has determined that the road ahead or sections of the future roadway are not icy. This allows, for example, a safe overtaking maneuver to be accomplished.

[0029] In a further embodiment, the electronic horizon located spatially and temporally in front of the vehicle is received using an interface, and the dynamics of the vehicle floor condition of the route ahead are estimated based on a past time window and / or a traveled distance and the electrical horizon, and the intended vehicle maneuver is checked for a potential hazard when carrying out the intended vehicle maneuver, taking into account the coefficient of friction on the route ahead on one or more suitable sections of the route ahead, as well as for a potential hazard when aborting the intended vehicle maneuver on one or more suitable sections of the route ahead, taking into account the coefficient of friction, and if there is no potential hazard on one of the vehicle sections of the route ahead,the vehicle maneuver is carried out on the vehicle section.,

[0030] Such an electronic horizon not only provides the topology but also, for example, the traffic signs or traffic rules, so that forward-looking planning based on the maximum future friction coefficient is possible, taking into account future traffic rules, for example the lifting of a speed limit.

[0031] In particular, at least the current temperature and the time of day can be received via an interface, and the dynamics of the vehicle's ground condition for the upcoming route can be estimated based on a past time window and / or a traveled distance and the current temperature and the time of day. This allows a very rapid, rough estimate of the dynamics of the vehicle's ground condition.

[0032] In a further embodiment, the vehicle maneuver is an overtaking maneuver, wherein at least a required target steering angle for carrying out the overtaking maneuver, a target speed during the overtaking maneuver, a required time to reach the target speed, a target speed after the overtaking maneuver, and a required target steering angle after overtaking are used to determine the friction coefficient.

[0033] In further development, to determine the lateral accelerations and longitudinal accelerations during the overtaking maneuver, at least the required target steering angle to carry out the overtaking maneuver, the target speed during the overtaking maneuver, the time required to reach the target speed, the target speed after the overtaking maneuver, and the required target steering angle after overtaking are taken into account.

[0034] For example, the target speed may mean a delay after the vehicle maneuver.

[0035] In particular, the vehicle can be designed as an autonomous or semi-autonomous vehicle. Such an overtaking maneuver represents a challenge and a source of danger, particularly for such a vehicle and for older drivers.

[0036] In a further development, a comfort index can be determined, whereby the vehicle maneuver is modified by the vehicle maneuver planning module if the comfort index falls below a predetermined threshold. Such a comfort index can be easily determined using appropriate comfort index modules or comfort modules. For example, an overtaking maneuver can be performed with less abrupt movements, i.e., with less jerking. This is more comfortable for the occupants. It can also prevent motion sickness.

[0037] Furthermore, the object is achieved by a vehicle control system for carrying out a vehicle maneuver of a vehicle, wherein the vehicle control system has a vehicle maneuver planning module which is designed to determine a vehicle maneuver trajectory for carrying out a vehicle maneuver and the lateral accelerations and longitudinal accelerations required for this purpose, wherein a friction coefficient estimator is provided which is designed to determine a maximum friction coefficient between at least one tire and a vehicle floor during the vehicle maneuver by means of a friction coefficient estimator, taking into account the lateral accelerations and longitudinal accelerations occurring during the vehicle maneuver, and wherein a test unit is provided which is used to test the intended vehicle maneuver for a potential hazard when carrying out the intended vehicle maneuver, taking into account the coefficient of friction as well as to check for a potential danger when aborting the intended vehicle maneuver, taking into account the coefficient of friction, wherein the vehicle control is designed to carry out the vehicle maneuver when no potential danger exists, and to modify the vehicle maneuver by the vehicle maneuver planning module taking into account the coefficient of friction, wherein the modification comprises at least the necessary lateral accelerations and / or longitudinal accelerations, until no potential danger exists when carrying out the vehicle maneuver and subsequently carrying out the vehicle maneuver, and wherein the vehicle control is designed to reject the vehicle maneuver if modification is not possible without potential danger.

[0038] The friction coefficient estimator, the test unit, and the vehicle maneuver planning module can be implemented as software modules. Such a vehicle maneuver planning module is already known, particularly for (semi-)autonomous vehicles.

[0039] Likewise, the advantages of the vehicle control method according to the invention can be transferred to the vehicle control system. In particular, the vehicle control system is suitable for executing the vehicle control method.

[0040] In a further embodiment, an AI (artificial intelligence)-based environment detection module is provided, which is designed to estimate a dynamic of the vehicle floor condition of the route ahead based on a past time window and / or a traveled distance, and wherein the friction coefficient estimator is designed to take into account the dynamic of the route ahead when determining a maximum friction coefficient during the vehicle maneuver by the friction coefficient estimator.

[0041] In particular, the AI-based environment detection module is designed as a trained neural network. The training data can be provided by a simulation or real driving data. These can be easily created or generated. The neural network can be easily trained using such simulated or real data.

[0042] Furthermore, the neural network is designed to perform further retraining based on the completed, modified, or aborted vehicle maneuver. This allows for continuous improvement of the artificial neural network for ever-changing driving situations.

[0043] In a further embodiment, an interface is provided for receiving an electronic horizon located spatially and temporally in front of the vehicle, wherein the AI-based environment detection module is designed to estimate the dynamics of the vehicle floor condition of the route ahead based on a past time window and / or a traveled distance and the electrical horizon, and wherein the testing unit checks the intended vehicle maneuver for a potential hazard when carrying out the intended vehicle maneuver, taking into account the coefficient of friction on the route ahead on one or more suitable sections of the route ahead, as well as for a potential hazard when aborting the intended vehicle maneuver on one or more suitable sections of the route ahead, taking into account the coefficient of friction.wherein the vehicle control system carries out the vehicle maneuver on one of the vehicle sections if there is no potential danger on the vehicle section of the route ahead.

[0044] If there is a danger, the vehicle maneuver is aborted.

[0045] Furthermore, the object is achieved by a vehicle with a vehicle control system as described above and / or a vehicle control method as described above, wherein the vehicle is configured for assisted, partially automated, or automated operation. This means implementation in an assisted / partially automated / automated maneuver. For this purpose, the vehicle can have corresponding driver assistance systems or be configured for a partially automated / automated operation.

[0046] Further features and advantages of the present invention will become apparent from the following description with reference to the accompanying figures, which schematically show: Fig. 1: a vehicle control method according to the invention, Fig. 2: a vehicle with a vehicle control system according to the invention, Fig. 3: a vehicle control method according to the invention in a further embodiment.

[0047] Fig. 1 shows a vehicle control method according to the invention for carrying out an overtaking maneuver of a vehicle 1 on a vehicle control 6 according to the invention.

[0048] In a first step S1, a vehicle maneuver planning module 7 first determines the necessary vehicle maneuver trajectory for carrying out an overtaking maneuver and, for the necessary vehicle maneuver trajectory, the necessary lateral accelerations and longitudinal accelerations that occur during the overtaking maneuver.

[0049] To determine the lateral and longitudinal accelerations during the overtaking maneuver, at least the required target steering angle to perform the overtaking maneuver, a target speed during the overtaking maneuver, a time required to reach the target speed, the target speed after the overtaking maneuver, and the required target steering angle after overtaking can be taken into account. These can be provided / generated by the vehicle maneuver planning module 7.

[0050] In a second step S2, the maximum coefficient of friction between at least one tire and the vehicle floor during the overtaking maneuver is determined by a friction coefficient estimator 2, taking into account the lateral and longitudinal accelerations occurring during the overtaking maneuver. Subsequently, the plausibility of the calculated coefficient of friction is checked against the required lateral and longitudinal accelerations.

[0051] In a third step S3, a test unit 3 uses the friction coefficient to determine whether there is a potential danger for the intended overtaking maneuver when executing the intended overtaking maneuver, taking the friction coefficient into account, or whether there is a potential danger when aborting the intended overtaking maneuver. For example, if the friction coefficient is low, there is a risk that an unforeseen event, such as a wildlife crossing, will no longer allow the overtaking maneuver to be aborted during the maneuver's execution.

[0052] For example, during an overtaking maneuver, the coefficient of friction must be tested with regard to abrupt steering angle changes and deceleration / acceleration, so that the overtaking maneuver can be safely aborted at any time. Depending on the coefficient of friction, more or less time buffer time must be observed by test unit 3.

[0053] Safe also means that, given the existing coefficient of friction in relation to the determined lateral and longitudinal accelerations during an overtaking maneuver, no potential hazards, such as accidents or other critical situations, occur during the overtaking maneuver.

[0054] In a fourth step S4, if it is determined that the maximum coefficient of friction allows safe overtaking even under abort conditions, the overtaking maneuver is implemented.

[0055] In an alternative fourth step S4a, if the friction coefficient is too low, the overtaking maneuver or its parameters are modified. For example, during an overtaking maneuver, the longitudinal acceleration can be reduced, i.e., a low target speed can be set, so that, in combination with the lateral acceleration, the overtaking maneuver can be safely implemented (Kamm's (friction) circle).

[0056] Alternatively or additionally, the time for implementing the maneuver can be increased, provided, for example, that there is no danger associated with an increased time, e.g., from a vehicle approaching from behind. For example, the overtaking maneuver can be implemented with a lower target speed or a longer maneuver time. If the overtaking maneuver is modified in this way and thus makes the overtaking maneuver possible without danger, it will be implemented.

[0057] If a safe implementation is not possible even after modifying the overtaking maneuver, the implementation is aborted (sixth step S6).

[0058] Alternatively, the comfort index can be determined, whereby the overtaking maneuver is modified by the vehicle maneuver planning module 7 if the comfort index is below a predetermined threshold. Such a comfort index can be easily determined using appropriate comfort index modules or comfort modules. For example, the overtaking maneuver can be performed with less abrupt movements, i.e., with less jerking. This is more comfortable for the occupants. It can also prevent motion sickness.

[0059] Fig. 2 shows such an overtaking maneuver.

[0060] In this case, the vehicle 1 with the vehicle control method according to the invention and the vehicle control 6 according to the invention overtakes a vehicle 4 in front with a vehicle 5 following behind it.

[0061] The vehicle control method and the vehicle control system 6 according to the invention enable a safe overtaking maneuver, for example, by an autonomously or semi-autonomously driving vehicle, but also by manually driven vehicles 1, especially by older drivers. This significantly contributes to increasing road safety.

[0062] Fig. 3 shows the vehicle control method according to the invention for carrying out an overtaking maneuver of a vehicle 1a on a vehicle control 6a according to the invention.

[0063] In the first step A1, a vehicle maneuver planning module 7a first determines the necessary vehicle maneuver trajectory for carrying out an overtaking maneuver and, for the necessary vehicle maneuver trajectory, the necessary lateral accelerations and longitudinal accelerations that occur during the overtaking maneuver.

[0064] In a second step A2, a trained neural network is provided as an AI-based environment detection module.

[0065] This has been trained to output an estimate of the dynamics of the vehicle floor condition of the upcoming route based on a past time window and / or a traveled distance.

[0066] Such an artificial neural network is particularly advantageous in constantly changing road conditions, for example a sunny day in winter with a partially icy and partially dry road. Here the artificial neural network can classify the situation as very dynamic and at times dangerous. Based on this, the vehicle control process can prevent the overtaking maneuver. If the artificial neural network detects that the vehicle is currently on a dry section of road, but that the overtaking maneuver will partly take place on ice with a very low coefficient of friction, a dangerous overtaking maneuver can be prevented. Likewise, in the opposite way, the overtaking maneuver can be planned even if the vehicle is currently on ice with a low coefficient of friction, but the artificial neural network has determined that the road ahead is icy.Vehicle sections of the future roadway are not icy. This allows, for example, safe overtaking maneuvers to be performed.

[0067] Such an artificial neural network can postpone, i.e., perform risky overtaking maneuvers at a later time, especially when road conditions are constantly changing. This increases the likelihood of safe overtaking, especially when road conditions are changing. The potential danger can increase, especially when dynamic changes occur.

[0068] The estimation of the dynamics can be carried out taking into account received topology information of the route ahead.

[0069] The friction coefficient estimator 2a is designed to take the dynamics of the upcoming route into account when determining a maximum friction coefficient during the overtaking maneuver. This means that, for example, a current maximum friction coefficient during an imminent overtaking maneuver, as well as a maximum friction coefficient that is likely to prevail in future vehicle sections, can be determined.

[0070] Subsequently, the test unit 3a can check, based on the current and future friction coefficient and taking into account received topology information and the dynamics, whether there is a potential danger for the intended overtaking maneuver when carrying out the intended overtaking maneuver or whether there is a potential danger when aborting the intended overtaking maneuver.

[0071] This can further increase safety and increase the probability of a future overtaking maneuver.

[0072] Alternatively, the neural network can only be used to determine the dynamics if overtaking is not currently possible.

[0073] In a fourth step A4, if it is determined that the maximum coefficient of friction allows safe overtaking even under abort conditions, the overtaking manoeuvre is carried out immediately or on a suitable section of road ahead determined by the test unit 3a.

[0074] In an alternative fourth step A4a, if the friction coefficient on one of the road sections ahead or the road section immediately ahead is too low, the overtaking maneuver or its parameters are modified. For example, the longitudinal acceleration during the overtaking maneuver can be reduced, i.e., a low target speed can be set, so that, in combination with the lateral acceleration, the overtaking maneuver can be safely implemented (Kamm's (friction) circle).

[0075] Alternatively or additionally, the time for implementing the maneuver can be increased, provided that there is no danger associated with an increased time, e.g., from a vehicle approaching from behind. For example, the overtaking maneuver can be implemented with a lower target speed or a longer maneuvering time. If the overtaking maneuver is modified in this way and thus makes the overtaking maneuver possible without danger, it will be implemented.

[0076] This increases the probability that the overtaking maneuver is possible on one of the sections of road ahead.

[0077] If a safe implementation is not possible even after modifying the overtaking manoeuvre, the implementation is aborted (sixth step A6). List of reference symbols 1.1a vehicle 2.2a Friction coefficient estimator 3.3a ​​test unit 4 front vehicle 5 Rear vehicle 6.6a Vehicle control 7.7a Vehicle maneuver planning module 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] DE 102016214574 B4

[0005]

Claims

[1] Vehicle control method for executing a vehicle maneuver of a vehicle (1,1a) comprising the steps: - Creating the vehicle maneuver trajectory for performing a vehicle maneuver and determining the necessary lateral accelerations and longitudinal accelerations by a vehicle maneuver planning module (7,7a), - determining a maximum coefficient of friction between at least one tyre and a vehicle floor during the vehicle manoeuvre by means of a friction coefficient estimator (2, 2a), taking into account the lateral accelerations and longitudinal accelerations occurring during the vehicle manoeuvre, - checking the intended vehicle maneuver for a potential hazard when carrying out the intended vehicle maneuver, taking into account the friction coefficient, as well as checking for a potential hazard when aborting the intended vehicle maneuver, taking into account the friction coefficient, by a test unit (3,3a), - Carrying out the vehicle maneuver when there is no potential danger, - modifying the vehicle maneuver by the vehicle maneuver planning module (7, 7a) taking into account the coefficient of friction, wherein the modification comprises at least the necessary lateral accelerations and / or longitudinal accelerations, until there is no longer any potential danger when carrying out the vehicle maneuver, and subsequently carrying out the vehicle maneuver, - Reject the vehicle maneuver if modification is not possible without potential danger. [2] A vehicle control method according to claim 1, comprising the further steps of: - Receiving the topology information of the route ahead, - Determination of a maximum friction coefficient based on the topology information of the route ahead, taking into account the lateral and longitudinal accelerations on the route ahead, - Checking the intended vehicle maneuver for a potential hazard when carrying out the intended vehicle maneuver, taking into account the coefficient of friction on the route ahead, on one or more suitable sections of the route ahead, as well as checking for a potential hazard when aborting the intended vehicle maneuver on one or more suitable sections of the route ahead, taking into account the coefficient of friction, - if there is no potential danger on one of the vehicle sections of the route ahead, carry out the vehicle maneuver on that vehicle section. [3] Vehicle control method according to one of the preceding claims, characterized by that an AI (artificial intelligence)-based environment detection module is provided for estimating a dynamics of the vehicle floor condition of the route ahead based on a past time window and / or a traveled distance, and wherein the dynamics of the route ahead are taken into account when determining a maximum friction coefficient during the vehicle maneuver by the friction coefficient estimator (2,2a). [4] Vehicle control method according to claim 3, characterized bythat the electronic horizon located spatially and temporally in front of the vehicle (1, 1a) is received by means of an interface and the dynamics of the vehicle floor condition of the route ahead are estimated based on a past time window and / or a traveled distance and the electrical horizon, and wherein the intended vehicle maneuver is checked for a potential hazard when carrying out the intended vehicle maneuver, taking into account the coefficient of friction on the route ahead on one or more suitable sections of the route ahead, as well as for a potential hazard when aborting the intended vehicle maneuver on one or more suitable sections of the route ahead, taking into account the coefficient of friction, and if no potential hazard exists on one of the vehicle sections of the route ahead,Carrying out the vehicle maneuver on the vehicle section., [5] Vehicle control method according to claim 3 or 4, characterized by that at least the current temperature and the time of day are received via an interface and the dynamics of the vehicle floor condition of the route ahead are estimated based on a past time window and / or a route covered and the current temperature and the time of day. [6] Vehicle control method according to one of the preceding claims, characterized by that the vehicle maneuver is an overtaking maneuver and that at least a required target steering angle for carrying out the overtaking maneuver, a target speed during the overtaking maneuver, a time required to reach the target speed, a target speed after the overtaking maneuver, and a required target steering angle after overtaking are used to determine the coefficient of friction. [7] Vehicle control method according to claim 6, characterized by that in order to determine the lateral accelerations and longitudinal accelerations during the overtaking manoeuvre, at least the required target steering angle to carry out the overtaking manoeuvre, the target speed during the overtaking manoeuvre, the time required to reach the target speed, the target speed after the overtaking manoeuvre, and the required target steering angle after overtaking are taken into account. [8] Vehicle control method according to one of the preceding claims, characterized by that a comfort index is determined and the vehicle maneuver is modified by the vehicle maneuver planning module (7,7a) if the comfort index is below a predetermined threshold value. [9] Vehicle control (6, 6a) for carrying out a vehicle maneuver of a vehicle (1, 1a), wherein the vehicle control (6, 6a) has a vehicle maneuver planning module (7, 7a) which is designed to determine a vehicle maneuver trajectory for carrying out a vehicle maneuver and the necessary lateral accelerations and longitudinal accelerations, characterized by , that a friction coefficient estimator (2, 2a) is provided, which is designed to determine a maximum friction coefficient between at least one tire and a vehicle floor during the vehicle maneuver by means of a friction coefficient estimator (2, 2a), taking into account the lateral accelerations and longitudinal accelerations occurring during the vehicle maneuver, and wherein a test unit (3, 3a) is provided which is designed to test the intended vehicle maneuver for a potential danger when carrying out the intended vehicle maneuver, taking into account the coefficient of friction, as well as to test for a potential danger when aborting the intended vehicle maneuver, taking into account the coefficient of friction, wherein the vehicle control (6, 6a) is designed to carry out the vehicle maneuver when no potential danger exists, and to modify the vehicle maneuver by the vehicle maneuver planning module (7, 7a) taking into account the coefficient of friction, wherein the modification comprises at least the necessary lateral accelerations and / or longitudinal accelerations, until no potential danger exists when carrying out the vehicle maneuver and subsequently carrying out the vehicle maneuver, and wherein the vehicle control (6,6a) is designed to reject the vehicle maneuver if a modification is not possible without potential danger. [10] Vehicle control (6,6a) according to claim 9, characterized bythat an interface is provided for receiving the topology information of the route ahead, and wherein the friction coefficient estimator (2, 2a) is designed to determine a maximum friction coefficient based on the topology information of the route ahead, taking into account the lateral accelerations and longitudinal accelerations occurring on the route ahead, and wherein the testing unit (3, 3a) is designed to test the intended vehicle maneuver for a potential hazard when carrying out the intended vehicle maneuver, taking into account the friction coefficient on the route ahead on one or more suitable sections of the route ahead, as well as to check for a potential hazard when aborting the intended vehicle maneuver, taking into account the friction coefficient, wherein the vehicle control (6, 6a) is designed toto carry out the vehicle maneuver on one of the vehicle sections if there is no potential danger on the vehicle section of the route ahead. [11] Vehicle control (6,6a) according to claim 9 or 10, characterized by that an AI (artificial intelligence)-based environment detection module is provided, which is designed to estimate a dynamic of the vehicle floor condition of the route ahead based on a past time window and / or a traveled distance, and wherein the friction coefficient estimator (2, 2a) is designed to take the dynamic of the route ahead into account when determining a maximum friction coefficient during the vehicle maneuver by the friction coefficient estimator (2, 2a). [12] Vehicle control (6,6a) according to claim 11, characterized by that the AI-based environment detection module is designed as a trained neural network. [13] Vehicle control (6,6a) according to claim 12, characterized by that the neural network is trained to carry out further retraining of the neural network based on the performed / modified or aborted vehicle maneuver. [14] Vehicle control (6,6a) according to one of the preceding claims 11, 12 or 13, characterized bythat an interface is provided for receiving an electronic horizon located spatially and temporally in front of the vehicle (1, 1a), and the AI-based environment detection module is designed to estimate the dynamics of the vehicle floor condition of the route ahead based on a past time window and / or a traveled distance and the electrical horizon, and wherein the testing unit (3, 3a) is designed to test the intended vehicle maneuver for a potential hazard when carrying out the intended vehicle maneuver, taking into account the coefficient of friction on the route ahead on one or more suitable sections of the route ahead, as well as for a potential hazard when aborting the intended vehicle maneuver on one or more suitable sections of the route ahead, taking into account the coefficient of friction, and wherein the vehicle control system (6,6a) is designed to carry out the vehicle maneuver on the vehicle section if there is no potential danger on one of the vehicle sections of the route ahead. [15] Vehicle (1,1a) with a vehicle control (6,6a) according to one of the preceding claims 9 to 14 and / or a vehicle control method according to one of the preceding claims 1 to 8, wherein the vehicle (1,1a) is designed for assisted or partially automated or automated operation.

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