Method for assisting an ego vehicle in performing a driving maneuver towards at least one other vehicle

Abstract

The invention relates to a method for supporting an ego vehicle (6) in carrying out a driving maneuver vis-à-vis at least one other vehicle (7, 12), characterized by detection by means of sensors by the ego vehicle (6) in a certain traffic situation, as to whether the ego vehicle (6) is in a position in which it obstructs an expected driving maneuver of the at least one other vehicle (7, 12), and subsequent reaction of the ego vehicle (6) to this detection if an obstruction of the at least one other vehicle (7, 12) is detected.

Description

[0001] The invention relates to a method for assisting an ego vehicle in performing a driving maneuver towards at least one other vehicle, comprising the features of the preamble of claim 1.

[0002] From DE 10 2019 202 935 B3, a method for supporting a self-propelled vehicle in carrying out a predefinable driving maneuver is known, comprising the following steps: a) the self-propelled vehicle sends a position change request and identification data concerning the at least one other vehicle, captured by at least one detection device of the self-propelled vehicle and by means of which the at least one other vehicle can identify itself, to a plurality of motor vehicles; b) each motor vehicle of the plurality of motor vehicles checks whether it can identify itself as an other vehicle affected by the position change request based on the received identification data; c) the at least one motor vehicle that answers the check in step b) in the affirmative and thus represents an other vehicle affected by the position change request checks,whether it can implement a position change value derivable from the position change request without the involvement of other motor vehicles adjacent to it on the side facing away from the own vehicle; d) if the test of step c) is affirmed, a control device of the at least one other vehicle controls at least one of its motor vehicle components to change its position by the derivable position change value, wherein the own vehicle performs a turning maneuver at an intersection involving a preceding other vehicle, wherein in step a) a value of a desired minimum distance is sent to the at least one preceding other vehicle as the derivable position change value. In other words, this document discloses a method in which the own vehicle “requests” a third vehicle to change its position.so that the driver's own vehicle can perform the intended maneuver. Such a "request" can pose a safety-critical situation for the driver of the other vehicle, as they cannot readily, or even at all, recognize the origin and basis of the request.

[0003] DE 10 2006 005 022 B3 discloses a motor vehicle comprising at least one device for outputting acoustic and / or optical information and an associated control device that determines the information to be output and controls the output, wherein a receiving device communicating with the control device is provided for a signal sent by an emergency vehicle with right of way, containing signal information indicating this emergency vehicle and its direction of travel, and the control device is designed to generate and output behavioral information for the driver depending on the received signal information, wherein the signal information also contains information about the desired lane to be traveled in the future by the emergency vehicle, and wherein the control device is designed to take this information into account in generating the behavioral information.This document therefore describes how vehicles, as a result of the information they receive about an approaching emergency vehicle, clear its planned route.

[0004] WO 2020 / 207 631 A1 discloses a method for carrying out a driving maneuver involving a first and a plurality of second vehicles, whereby the driving maneuver creates a traffic flow gap that is several lanes wide, comprising the following steps: a) the first vehicle requesting the traffic flow gap periodically sends corresponding request signals to at least a large number of second vehicles located in the traffic flow upstream of the location of the desired traffic flow gap; b) the second vehicles receive these request signals, whereby at least the second vehicles that wish to comply with the request send corresponding signaling signals; c) Check whether, based on the reception of the signaling signals sent in step b), a minimum number of second vehicles sufficient to cover the multiple lanes of the desired traffic flow gap can be identified that are willing to comply with the request; d) If step c) is affirmed, the second vehicles participating in the driving maneuver to create the traffic flow gap will be informed; e) The second vehicles participating in the maneuver agree on the start of the maneuver and coordinate their trajectories; f) One of the second vessels is designated as the maneuver leader, the maneuver leader communicating with the first vessel to transmit at least one characteristic of the traffic flow gap to the first vessel; and g) the first vehicle evaluates at least one characteristic of the traffic flow gap transmitted by the maneuver leader in order to exploit the traffic flow gap

[0005] In light of what has been said, there is still room for improvement in connection with the current state of the art in the field of transport, where vehicles are stopped at road junctions and the flow of traffic is thereby obstructed.

[0006] The invention is based on the objective of demonstrating a method for supporting an ego vehicle in carrying out a driving maneuver vis-à-vis at least one other vehicle, which is improved compared to the prior art mentioned at the outset.

[0007] According to the invention, the problem is solved by a method having the features of claim 1.

[0008] A method for supporting an ego-vehicle in carrying out a driving maneuver vis-à-vis at least one other vehicle is presented. According to the invention, the ego-vehicle, which is in a specific traffic situation, uses sensors to detect whether it is in a position that obstructs an expected driving maneuver of the at least one other vehicle, and a subsequent reaction of the ego-vehicle to this detection is initiated if an obstruction of the at least one other vehicle is detected.

[0009] Advantageous embodiments are disclosed in the dependent claims.

[0010] It should be noted that the features and measures listed individually in the following description can be combined in any technically feasible manner and demonstrate further embodiments of the invention. The description further characterizes and specifies the invention, particularly in conjunction with the figures.

[0011] The method according to the invention has the advantage of a fast reaction time, since the ego-vehicle is stationary and can assess its surrounding traffic situation before at least one other vehicle approaches the stationary or still-moving ego-vehicle. This means that the ego-vehicle can react immediately after assessing the expected maneuver if it determines that it is obstructing the expected maneuver of the at least one other vehicle.It is not necessary for the driver of at least one other vehicle to first assess the traffic situation and determine that the self-driving vehicle is obstructing their maneuver, and only then to inform the driver of the self-driving vehicle that they are blocking their maneuver, whereupon the driver of the self-driving vehicle must recognize that they are obstructing the maneuver for the other vehicle and react accordingly, considering how to remove this obstruction. This entire time loss due to communication between the drivers and the uncertainty in the self-driving vehicle driver's reaction are advantageously avoided by the method according to the invention.For example, it avoids longer waiting times at intersections and more traffic jams than necessary, as well as an increased risk of collisions between two vehicles when one vehicle tries to squeeze through a gap or past another. Furthermore, it can eliminate obstacles where the disabled vehicle has no means of communication, for example, because it is a classic car and therefore not equipped with such a device.

[0012] The method according to the invention advantageously results in fewer traffic jams and honking incidents at intersections, a faster resolution of waiting vehicles at an intersection, and also a reduced risk of extreme events caused by turning large vehicles (such as trucks) or careless drivers who want to squeeze into a narrow gap.

[0013] In a preferred embodiment, if an obstruction to at least one other vehicle is detected, a corresponding notification is given to the driver of the ego-vehicle. If the ego-vehicle's sensors detect that it is obstructing the expected maneuver of at least one other vehicle, a corresponding notification can first be given to the driver of the ego-vehicle. The driver can then decide whether to react and remove the obstruction to the expected maneuver of the at least one other vehicle. This allows the driver to retain full control of their ego-vehicle and only decide, after assessing the surrounding situation, whether they can or want to perform a maneuver to remove the obstruction to the at least one other vehicle.He may encounter an environmental situation that precludes such a reaction to remove the obstruction (for example, injury to persons or damage to vehicles in the vicinity of the ego-vehicle, violation of traffic regulations, or similar). Only when the driver of the vehicle is certain that he can safely execute such a maneuver to remove the obstruction to the expected maneuver of at least one other vehicle can he actually perform it.

[0014] Alternatively, if an obstruction to at least one other vehicle is detected, the autonomous vehicle autonomously performs a maneuver to overcome the obstruction. Instead of the driver of the autonomous vehicle retaining full control, the autonomous vehicle could perform the maneuver to overcome the obstruction if the detected environmental conditions permit. Here, too, it is particularly important to ensure that, for example, injuries to people or damage to vehicles in the vicinity of the autonomous vehicle, violations of traffic regulations, or similar issues are avoided during the autonomous maneuver.

[0015] In a preferred embodiment, the position of at least one other vehicle in the immediate vicinity of the ego-vehicle is recorded.

[0016] In this context, "immediate surroundings" means that vehicles around the ego-vehicle are detected, particularly those in front of or behind the ego-vehicle (or directly to its right or left). According to the inventive method, this allows turning maneuvers of vehicles at intersections, such as those stopped at traffic lights on a multi-lane road, to be accelerated.

[0017] In an alternative or supplementary configuration, the position of at least one other vehicle in the intermediate vicinity of the ego-vehicle is recorded. Intermediate vicinity in this context means that vehicles are further away from the ego-vehicle than if they were in its immediate vicinity. Vehicles in the intermediate vicinity include, for example, vehicles located on a cross lane to the lane on which the ego-vehicle is located. In this case, for instance, large vehicles such as trucks or similar vehicles with a large turning radius can be recorded on the cross lane when they intend to turn from the cross lane on which they are located onto the lane on which the ego-vehicle is located.This allows turning maneuvers to be advantageously accelerated according to the invention, as the stationary ego-vehicle recognizes the anticipated turning maneuver of the larger vehicle and, for example, when the ego-vehicle is directly in front of a red light, reverses slightly to make room for the larger vehicle. Of course, it must be ensured that sufficient space is available and, in particular, that other vehicles or people behind the ego-vehicle are not obstructed. Alternatively, the ego-vehicle could stop rolling towards the traffic light and leave sufficient space in front of the light for the turning maneuver. Stopping and reversing would also be conceivable.

[0018] In a preferred embodiment, the sensors of the ego-vehicle detect the anticipated driving maneuver of at least one other vehicle based on external characteristics of that other vehicle. This anticipated driving maneuver of the at least one other vehicle can be signaled, for example, by turn signals, hand signals, or the like. In particular, the at least one other vehicle should give a clear signal indicating the anticipated driving maneuver so that it can be detected by the sensors of the ego-vehicle.

[0019] In an alternative or supplementary configuration, the sensors of the ego vehicle detect the anticipated driving maneuver of at least one other vehicle based on radio communication between the vehicles. To increase safety in indicating the anticipated driving maneuver of the at least one other vehicle, it is conceivable that this vehicle emits a corresponding signal which can be detected by the ego vehicle's sensors. This allows the reaction to this anticipated driving maneuver to be automated if the ego vehicle presents an obstacle, thereby accelerating the entire process. For example, V2C (Virtual-to-Cell) communication could be used for this purpose. However, it is also conceivable that this method could be appropriately supplemented by additional external signals (V2X).

[0020] In a preferred embodiment, the sensors of the ego vehicle detect the surroundings (actual position) based on the expected driving maneuver of at least one other vehicle. From this, a modified position (target position) of the ego vehicle is determined, in which the obstruction to the at least one other vehicle is removed when the latter performs its expected driving maneuver. This allows the ego vehicle's driving maneuver from its actual position to the automatically determined target position to be carried out automatically, or it can be carried out by the driver of the ego vehicle upon receiving a corresponding signal, so that the obstruction to the expected driving maneuver of the at least one other vehicle is removed.

[0021] In a preferred embodiment, during a position change (from the actual position to the target position) of the ego-vehicle, its surroundings continue to be detected, and the position change (previous target position) is modified again if, based on the position change performed up to that point, the currently detected surroundings indicate that a further position change (new target position) is required. This new target position eliminates the obstruction of at least one other vehicle, ideally eliminating it earlier, when that vehicle performs its expected maneuver. It is initially assumed that, depending on the expected maneuver of the at least one other vehicle, a target position is determined by the ego-vehicle's sensors, into which the ego-vehicle moves, either with the assistance of its driver or autonomously, starting from its actual position.However, it is conceivable that the environmental conditions could change during this movement (for example, a traffic light in one lane of the intersection might turn green, allowing the ego-vehicle not only to continue moving until it is just in front of the vehicle ahead, but to completely clear its position and proceed). In this case, it is advantageous to take this change in environmental conditions into account and thereby further accelerate the entire movement of the ego-vehicle to overcome the obstacle to the expected maneuver of at least one other vehicle.

[0022] In a specific configuration, the ego-vehicle, situated in a particular traffic situation, is in a static traffic situation. This means that the ego-vehicle is stationary when it receives the expected driving maneuver and determines that it poses an obstruction to at least one other vehicle. The ego-vehicle can then react as described above.

[0023] Alternatively, the method according to the invention can also be carried out as described above if the ego-vehicle, which is in a specific traffic situation, is in a dynamic traffic situation. This means that the ego-vehicle is not yet stationary, i.e., it is still rolling, and while rolling (for example, when approaching the vehicle in front of it or a red light) it already represents an obstruction to the expected driving maneuver of at least one other vehicle (for example, its indicated change from the straight-ahead lane to a turning lane or the large turning radius of a large vehicle).

[0024] The method according to the invention is therefore applicable to both static and dynamic traffic situations of the ego vehicle.

[0025] In accordance with the foregoing explanations, which apply both generally and to the exemplary embodiments, it is possible, on the one hand, for the ego-vehicle to react only to the expected driving maneuver of a single other vehicle that it detects. On the other hand, it is also possible for the ego-vehicle not only to react to the expected driving maneuver of the other vehicle, but also to transmit its reaction to other vehicles, for example, those in front of it, so that several vehicles (including the ego-vehicle) are moved to remove the obstruction to the expected driving maneuver of the vehicle. The desired outcome, in line with the invention, is that the ego-vehicle detects the expected driving maneuver of the other vehicle and reacts to it without the vehicle executing the expected driving maneuver transmitting its maneuver to the ego-vehicle.

[0026] Further advantageous embodiments of the invention are disclosed in the dependent claims and the following description of the figures. These show Fig. 1. An exemplary situation at a road junction with a turning vehicle, Fig. 2. An exemplary situation at a road junction with a large vehicle, Fig. 3 an exemplary procedure according to the situation according to Fig. 1, and Fig. 4 an exemplary procedure according to the situation according to Fig. 2.

[0027] In the different figures, identical parts are always provided with the same reference symbols, which is why they are usually only described once.

[0028] Fig. Figure 1 shows an example situation at a road junction 1 with a turning vehicle. At the junction 1, there are two traffic lights, 2 and 3. Traffic light 2 is for the straight-ahead lane, while traffic light 3 is for left-turning traffic. At the red traffic light 2, vehicles 4 and 5 are stopped, with an ego vehicle 6 behind them. Behind ego vehicle 6, another vehicle 7 is approaching or at least stopped, intending to move into the left-turn lane and pull in front of traffic light 3, as there is space for this. However, it is blocked by ego vehicle 6. This waiting by vehicle 7 would cost time, as it would first have to wait for traffic light 2 to turn green and for vehicles 4 to 6 to clear the straight-ahead lane sufficiently for vehicle 7 to move into the left-turn lane. For illustrative purposes only, another vehicle 8 is shown in the oncoming lane.Reference number 9 designates a problem area, which in this case is, for example, the area where the left-turn lane branches off from the straight-ahead lane. This problem area 9 is too narrow (insufficient) for vehicle 7 to pass the ego vehicle 6. While ego vehicle 6 is stationary and the other vehicle 7 approaches, vehicle 7 signals its anticipated maneuver of turning left into the left-turn lane of intersection 1 using its turn signal 10. The signal from this turn signal 10 is detected and evaluated by the sensors of ego vehicle 6. It may be supplemented by a radio signal or consist solely of a radio signal.

[0029] Thus, the sensors of the ego vehicle 6, such as the front camera, side cameras, reversing camera, or V2V communication, detect the intention of the rear vehicle 7 to turn left. The ego vehicle 6 then assesses the situation, including factors such as the distance to the vehicle in front (here, to vehicle 5), the road gradient (if the threshold is exceeded, the distance to the vehicle in front must be increased), the distance to the right side of the road, the width of the rear vehicle 7 (including any side mirrors), the appearance of the rear vehicle 7 (for example, scratches on the bumper), the gap to move onto the lane marking and turn left, the number of vehicles 8 traveling in the oncoming lane, the time until traffic lights 2 and / or 3 change their current state (C2X), and so on (the above list is only exemplary and not exhaustive). This evaluation will show that the ego vehicle 6 is obstructing the further maneuver of vehicle 7, namely turning into the left-turn lane.As a result of this analysis, the driver of ego vehicle 6 can be shown this obstruction. The driver can then decide whether to react to this display, and if so, how. If they react, this could, for example, result in them moving their ego vehicle 6 slightly forward towards the vehicle 5 in front of them. Alternatively or additionally, in this specific situation, the driver of ego vehicle 6 could also consider moving only to the right, or slightly forward and simultaneously to the right, to create space for vehicle 7 so that it can enter the left-turn lane unimpeded (i.e., without hindering its expected maneuver). It goes without saying that this maneuver by ego vehicle 6 must not impede the vehicle 5 in front of it, nor should it cross the edge of the straight-ahead lane.This driving maneuver by the ego vehicle 6 to remove the obstruction to the expected driving maneuver of vehicle 7 can be performed under the full control of the driver of the ego vehicle 6 or autonomously. If performed autonomously, the autonomous driving maneuver of the ego vehicle 6 can be overridden or stopped by its driver.

[0030] In Fig. Figure 1 illustrates that the ego-vehicle 6, in a specific traffic situation, is in a static traffic situation, namely already behind vehicle 5, while the other vehicle 7 approaches and signals its expected maneuver. Alternatively, the ego-vehicle 6 could also be in a dynamic traffic situation, namely still rolling towards the vehicle 5 in front of it. The ego-vehicle 6 would thus come to a stop very slowly. Even while rolling, especially at a low speed, it obstructs the approaching vehicle 7 in its expected maneuver. If the ego-vehicle 6 had approached vehicle 5 at a higher speed and stopped just before it, it would not have obstructed vehicle 7 in its turning maneuver.Thus, the Ego Vehicle 6 can already recognize the obstruction in its dynamic traffic situation (for example, coasting, rolling at a slow, largely constant speed, reversing, or the like) and react accordingly to remove the obstruction.

[0031] Fig. Figure 2 shows an exemplary situation at a road junction 1 with another vehicle 12, for example a large vehicle. The road junction 1 is similar to the road junction 1 according to Fig. 1, where a traffic light 11 is also present on the roadway (cross lane) adjacent to the straight-ahead lane and the left-turn lane. A large vehicle, i.e., another vehicle 12, for example, a semi-trailer truck, approaches this traffic light 11, which is green, with a turning radius that extends to the left-turn lane of the intersection 1. However, the ego vehicle 6 is stopped in front of the traffic light 3 and thus obstructs the large vehicle's turn (even though it has a green light). Without the method according to the invention, the large vehicle would have to wait for a green traffic light 11 until the area, in particular the problem area 9, in front of the traffic light 3 is clear so that it can turn. However, since the large vehicle has activated its turn signal 10 (or possibly signaled its intention to turn in another way or additionally as an expected maneuver), this is detected by the sensors of the ego vehicle 6.Here, too, a situation is conceivable in which the ego vehicle 6 is not yet directly in front of traffic light 3, but is rolling towards it, thereby already obstructing the turning radius of the other vehicle 12, especially the larger vehicle. A corresponding reaction of the ego vehicle 6 to this would be, for example, reversing, at least partially changing lanes, or something similar.

[0032] The sensors of the Egovehicle 6, such as the front camera, side cameras, reversing camera, V2V communication, and the like, detect and evaluate the situation: detection of the large vehicle (such as a truck, bus, vehicle with trailer, and the like) and its intention to turn right, assessment of the size and the turning radius required for the right turn, assessment of the appearance of, for example, the truck (for example, scratches on the bumper), and examination of the area behind the Egovehicle 6 to check if there is space to reverse.

[0033] Using these sensors, the ego vehicle 6 now determines that there is no other vehicle behind it and that it is possible to reverse a short distance. This reversing action clears the problem area 9, meaning that the larger vehicle, i.e., the other vehicle 12, can turn at the green traffic light 11. By activating its turn signal 10, and without any further action from the driver of the larger vehicle, the ego vehicle 6 is signaled the expected maneuver of the larger vehicle, i.e., the other vehicle 12. The ego vehicle 6 can then either by sending a corresponding notification to its driver or autonomously clear the problem area 9, thus removing the obstruction to the larger vehicle's maneuver.

[0034] Fig. Figure 3 shows an exemplary procedure according to the situation as described above. Fig. 1. In step 20, it is assumed that the ego vehicle 6 is stopped at intersection 1, specifically directly behind or behind other vehicles, at a red light. This means that the ego vehicle 6 exhibits static behavior at this moment, occupying a fixed position. In step 21, the ego vehicle 6's surroundings are detected using suitable sensors. In step 22, it is further determined that the vehicle 7 behind the ego vehicle 6 intends to turn. For example, it has activated its turn signal 10. Subsequently, in a further step 23, the ego vehicle 6's sensors determine a modified (improved) target position compared to the actual position. The modification (improvement) refers to the fact that the modified target position (new position) of the ego vehicle 6 no longer obstructs the turning maneuver of the vehicle 7 behind it.This new position of the ego-vehicle 6 is communicated to its driver. Two different alternative steps are conceivable in response. In step 25, the driver, based on the information in step 24, changes the current position of the ego-vehicle 6 towards or completely to the new position, thus potentially removing the obstruction to the expected maneuver of the vehicle 7 behind it. Alternatively, the change described above, from the current position of the ego-vehicle 6 towards or completely to the specified new position (target position), can be performed autonomously by the ego-vehicle 6, as shown in step 26.Finally, in step 27, the ego vehicle 6 has reached a target position in which the other vehicle 7 can perform its expected maneuver (here, the turning maneuver) without obstructing the ego vehicle 6. In each of the two preceding cases, it is—as is generally the case—independent of the [missing information]. Fig. In the situation shown at the intersection 1, it is conceivable that this removal of the obstruction to the expected driving maneuver of the further vehicle 7 is carried out by the ego vehicle 6 and not by the further vehicle 7.

[0035] Fig. Figure 4 shows an exemplary procedure according to the situation as described above. Fig. 2. The only difference in this procedure is that the turning intention of the other vehicle 7 standing behind the ego vehicle 6 is not taken into account (step 22 in Fig. 3) is recorded, but that in step 28 a turning maneuver of a large vehicle, i.e. another vehicle 12 on the cross lane of the road intersection 1 is recorded and the ego vehicle 6 reacts accordingly.

[0036] The implementation of the method according to the invention is not limited to road intersections, but can also be applied in comparable situations (such as entrances and exits from parking lots to roads). Reference symbol list: 1 street intersection 2 traffic lights 3 traffic lights 4 first vehicle 5 more vehicles 6 Ego vehicles 7 more vehicles 8 oncoming vehicle 9 Problem area 10 turn signals 11 traffic lights 12. Further vehicle / large vehicle procedure steps Fig. 3 20 Ego vehicle is at the street intersection - current position 21. Capturing the area around the ego vehicle 22. Detection of the turning intention of the vehicle behind the ego vehicle 23 Determination of an improved target position 24 Information to the driver of the ego vehicle 25 drivers change the position of the ego vehicle. 26 Ego vehicle changes its position autonomously 27. Taking the best possible position of the ego vehicle in this situation. Procedure steps Fig. 4 20 Ego vehicle is at the street intersection - current position 21. Capturing the area around the ego vehicle 23 Determination of an improved target position 24 Information to the driver of the ego vehicle 25 drivers change the position of the ego vehicle. 26 Ego vehicle changes its position autonomously 27. Assuming the best possible position of the ego vehicle in this situation 28 Recording a turning maneuver of a large vehicle QUOTES INCLUDED IN THE DESCRIPTION

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

[0000] DE 10 2019 202 935 B3

[0002] DE 10 2006 005 022 B3

[0003] WO 2020 / 207 631 A1

[0004]

Claims

[1] Method for assisting an ego vehicle (6) in performing a driving maneuver towards at least one other vehicle (7, 12), characterized by a detection by means of sensors by the ego vehicle (6) in a specific traffic situation, whether the ego vehicle (6) is in a position in which it obstructs an expected driving maneuver of at least one other vehicle (7, 12), and subsequent reaction of the ego vehicle (6) to this detection if an obstruction of at least one other vehicle (7, 12) is detected. [2] Method according to claim 1, characterized by , that if an obstruction of at least one other vehicle (7, 12) is detected, a corresponding notice is given to the driver of the ego vehicle (6). [3] Method according to claim 1 or 2, characterized by, that if an obstruction of at least one other vehicle (7, 12) is detected, the ego vehicle (6) autonomously performs a driving maneuver to eliminate the obstruction. [4] Method according to any one of the preceding claims, characterized by , that the position of at least one other vehicle (7, 12) in the immediate and / or indirect vicinity of the ego vehicle (6) is recorded. [5] Method according to any one of the preceding claims, characterized by , that the expected driving maneuver of at least one other vehicle (7, 12) is detected by means of the sensors of the ego vehicle (6) based on external characteristics of the at least one other vehicle (7, 12). [6] Method according to any one of the preceding claims, characterized by, that the expected driving maneuver of at least one other vehicle (7, 12) is detected by means of the sensors of the ego vehicle (6) based on radio communication between the vehicles (6; 7, 12). [7] Method according to any one of the preceding claims, characterized by , that by means of the sensors of the ego vehicle (6) depending on the expected driving maneuver of at least one other vehicle (7, 12) the environment around the ego vehicle (6) is detected and a changed position of the ego vehicle (6) is determined from this, in which the obstruction of the at least one other vehicle (7, 12) is removed when it carries out its expected driving maneuver. [8] Method according to claim 7, characterized by, that during a change in position of the ego vehicle (6) its surroundings continue to be detected and the change in position is changed again if, as a result of the change in position of the ego vehicle (6) carried out up to that point, it turns out that a further change in position results from the currently detected surroundings in which the obstruction of at least one other vehicle (7, 12) is removed when it carries out its expected driving maneuver. [9] Method according to any one of the preceding claims, characterized by , that the ego vehicle (6) in a particular traffic situation is in a static traffic situation. [10] Method according to any one of the preceding claims, characterized by , that the ego vehicle (6) in a particular traffic situation is in a dynamic traffic situation.

Images