Procedures for operating a motor vehicle

Abstract

The invention relates to a method for operating a motor vehicle (2), wherein the motor vehicle (2) is automatically guided longitudinally. An intersection (6) arranged in the direction of travel (X) in front of the motor vehicle (2) is detected, at which the traffic rule "right before left" applies and at which there is a road (8) from the right. Furthermore, visibility (E) is ensured. a , E b ) of the intersection (6) is determined, and a first velocity (v a , v b ) for at least partial passage of the intersection (6), in particular only depending on the certain visibility (E a , E b ) is determined. The speed of the motor vehicle (v KFZ ) is adjusted to the first speed (v a , v b ) set.

Description

[0001] The invention relates to a method for operating a motor vehicle, wherein the motor vehicle is automatically guided longitudinally, in particular by means of a driver assistance system designed as adaptive cruise control. The invention further relates to such a motor vehicle. It also relates to a corresponding computer program product and a computer-readable medium.

[0002] Motor vehicles can be equipped with advanced driver assistance systems (ADAS) to support the driver in certain driving tasks. For example, one such driver assistance system is adaptive cruise control (ACC), which provides adaptive speed control based on which longitudinal guidance is carried out automatically.

[0003] Adaptive cruise control systems typically disregard right-of-way situations, such as those encountered at intersections where the "right before left" rule applies. If a vehicle approaches such an intersection at a relatively high speed, the time available to detect oncoming traffic is comparatively short. This can negatively impact the risk of accidents.

[0004] From DE 10 2022 124 616 A1, a vehicle guidance device for guiding a motor vehicle with at least automated longitudinal control is known. The device is configured to detect a priority point ahead of the vehicle in the direction of travel and to carry out an automated approach maneuver of the vehicle, which aims to bring the vehicle to a stop at a stopping position at the detected priority point. Furthermore, the device is configured to determine before or during the approach maneuver that the priority point has been cleared by the driver of the vehicle and, in response to this determination, to cause the vehicle to carry out the maneuver at least partially automatically, in particular at least with automated longitudinal control, without stopping at the stopping position of the detected priority point.

[0005] German patent DE 10 2020 202 091 A1 discloses a method for guiding a vehicle towards a target position. When the vehicle stops at a stop position, sensor data is received from the vehicle's sensors. Based on this data, a risk / benefit analysis is performed for both exceeding the stop position and approaching a target position located behind the stop position in the direction of travel. Obstacles that obstruct the view of the intersection are taken into account. The stop position is exceeded if the vehicle has the right of way and / or exceeding the stop position is safe for the vehicle.

[0006] German patent application DE 11 2021 003 707 T5 describes a control device that regulates the speed of a vehicle. The control device comprises a scene determination unit that identifies a scene in which visibility is restricted by an obscuring object at an intersection where the vehicle's route crosses a cross street. The scene determination unit further determines whether the vehicle has the right of way on the route. The control device also includes a control unit that regulates the vehicle's speed to stop immediately before the intersection if the vehicle does not have the right of way on the route.

[0007] JP 2008 181 206 A discloses a collision avoidance device for a motor vehicle for issuing an alarm and / or controlling the deceleration to bring the vehicle to a stop at an intersection. The collision avoidance device monitors the vehicle's speed in a section before the stop and predicts that the deceleration at the stop will be insufficient if the vehicle travels at a predetermined speed or faster for at least a predetermined duration before the stop. The collision avoidance device issues the alarm and / or controls the deceleration, the deceleration of which can be adjusted depending on the visibility of the intersection.

[0008] From JP 2021 125 024 A, a method is known for setting a stopping position for a vehicle at an intersection where a stop is required when another vehicle is approaching and turning into the vehicle's lane. The stopping position is set further away from the intersection than a reference stopping position, which corresponds to a stopping position for a situation in which no other vehicle is approaching.

[0009] The invention is based on the objective of enabling the safest possible driving experience with an activated driver assistance function, in particular for adaptive speed control of a distance cruise control system.

[0010] Regarding the method, the problem is solved according to the invention by a method for operating a motor vehicle with the features of claim 1. Furthermore, this problem is solved according to the invention by a motor vehicle with the features of claim 8, by a computer program product with the features of claim 9, and by a computer-readable medium with the features of claim 10. Advantageous embodiments and further developments are the subject of the dependent claims. The statements relating to the method apply mutatis mutandis to the motor vehicle, the computer program product, and the computer-readable medium, and vice versa.

[0011] The method is designed and configured for operating a motor vehicle equipped with a driver assistance system for automatic longitudinal control. Specifically, the driver assistance system is configured as an adaptive cruise control system. Such an adaptive cruise control system regulates the speed of the motor vehicle, for example, depending on the distance to a vehicle ahead, in particular to maintain this distance constantly and / or to ensure that a predetermined minimum distance is not undercut. Additionally or alternatively, the speed is regulated to a set speed, either specified by the driver and / or predetermined by the driver assistance system, if no vehicle ahead is present or the distance to a vehicle ahead is greater than a (further) predetermined distance.

[0012] The vehicle is automatically guided longitudinally, particularly by means of the driver assistance system. The driver assistance system is specifically designed as an adaptive cruise control system.

[0013] Furthermore, particularly while the vehicle is being automatically guided longitudinally and / or using the driver assistance system, an intersection located ahead of the vehicle in its direction of travel is detected. This intersection must adhere to the "right before left" rule and must have a road approaching from the right. In other words, the road entering the intersection from the right, in relation to the vehicle's direction of travel, must be the area where at least two roads intersect. Therefore, if another road user is approaching from this road, the vehicle must yield the right-of-way according to the "right before left" rule. For example, the "right before left" rule is regulated in Germany by Section 8, Paragraph 1, Sentence 1 of the Road Traffic Regulations (StVO).

[0014] To detect such an intersection, for example using a camera, image data of an area in front of the vehicle is captured and evaluated to determine the presence of an intersection, a road entering the intersection from the right, and the applicable right-of-way rules. Additionally or alternatively, map data, such as from a navigation system, containing this information about the intersection, is retrieved and evaluated.

[0015] Furthermore, the visibility of the intersection is determined, particularly while the vehicle is automatically guided longitudinally and / or using the driver assistance system. For example, visibility is represented by a parameter, i.e., a numerical value, or assigned to one of at least two classes, such as "good visibility" or "poor visibility".

[0016] Visibility, in this context, refers specifically to whether and / or to what extent the driver's field of vision and / or the detection range of a sensor at the intersection, and especially at the road approaching from the right, is restricted by the obstacle. Visibility is therefore more advantageous the less the field of vision and / or the detection range is restricted.

[0017] For example, this determination is made by evaluating image data from the camera, by evaluating received reflections from a radar or laser of the motor vehicle and / or by evaluating map data.

[0018] Subsequently, particularly while the vehicle is automatically guided longitudinally and / or using the driver assistance system, a first speed is determined for at least a partial, preferably automatically guided, crossing of the intersection, i.e., for driving through the intersection, preferably automatically guided longitudinally, depending on the specific visibility. Preferably, the determination of the first speed is based solely on the visibility.

[0019] For example, the first speed is assigned to the previously determined visibility, which is conveniently represented by a parameter or assigned to a class, or this speed is calculated based on it. For example, a predefined table, a predefined characteristic curve, or a predefined mathematical function is used for this purpose.

[0020] The detection of the intersection, where the "right before left" traffic rule applies and where there is a road approaching from the right, the determination of the visibility of this intersection, and / or the determination of the initial speed are expediently carried out within the framework of automatic longitudinal control. This is therefore integrated into the assistance function provided by the driver assistance system, in particular the adaptive cruise control of the driver assistance system designed as a distance-controlled cruise control. Alternatively, this detection of the intersection, the determination of the visibility of this intersection, and / or the determination of the initial speed are performed by another assistance system, and the results, in particular the value for the initial speed, are fed into the driver assistance system, for example, the distance-controlled cruise control.

[0021] Subsequently, the vehicle's speed is adjusted, and in particular regulated, to the first speed, preferably automatically and / or based on the automatic longitudinal control of the driver assistance system. The vehicle's current speed is thus changed, in particular reduced, so that the vehicle travels at the first speed, especially immediately following this change.

[0022] It is advantageous to adjust the speed of the motor vehicle in such a way that the first speed is reached at the intersection, i.e. at the beginning of the intersection, or preferably before the intersection, for example 1 m, 2 m or 5 m before the intersection.

[0023] Preferably, the determination of the first speed and / or the adjustment of the vehicle speed to the first speed is carried out independently of other road users and / or of the right of way of the motor vehicle and / or other road users, especially from the right, and in particular regardless of whether another (priority) road user is coming from the right to whom right of way must be given.

[0024] In summary, the vehicle's speed is adjusted to the visibility of the intersection. This makes it particularly advantageous to recognize oncoming traffic at the intersection, thereby improving safety for the vehicle and its occupants.

[0025] According to a preferred embodiment of the procedure, the first speed is a minimum speed for passing through the intersection without stopping. Advantageously, the first speed is not undercut while passing through, and especially when passing through the entire intersection. During the automatic longitudinal guidance of the vehicle, the first speed is therefore not undercut and / or is always greater than zero, particularly if no other road user is detected approaching from the right and / or to whom right-of-way must be yielded. Advantageously, if no other road user is detected approaching from the right, the intersection is passed at least at the first speed during automatic longitudinal guidance. Advantageously, no release or input from the driver is necessary for this.

[0026] If another road user is detected approaching from the right and / or requiring right-of-way, the vehicle will automatically stop, in accordance with a suitable enhancement of the system. Specifically, the vehicle will only stop automatically if such another road user is detected. Detection of the other road user can be achieved, for example, using a camera, radar, and / or laser, followed by an evaluation of the data provided by the camera, radar, and / or laser. As an alternative to the vehicle stopping automatically, the driver can also brake and / or bring the vehicle to a complete stop manually. The driver can therefore always intervene in the automatic longitudinal control system and take over the longitudinal control of the vehicle.

[0027] For example, the initial speed is set to the vehicle's speed until the intersection has been completely cleared. Such behavior can be perceived as inconvenient by the driver, since—especially if the intersection is clearly visible—the driver would typically accelerate from the initial speed sooner. According to a preferred embodiment of the method, a distance, i.e., the amount of travel, required to maintain the initial speed is determined based on the visibility of the intersection. Specifically, this distance is determined solely based on the visibility of the intersection. In summary, this distance, and thus the distance to be traveled to clear the intersection at the initial speed (the vehicle's speed), is determined based solely on the visibility of the intersection.Accordingly, in automatic longitudinal control, the vehicle is guided in such a way that this specific distance is covered at the first speed. The speed is preferably set and / or remains constant at the first speed until the specified distance has been covered.

[0028] For example, the distance is assigned to the previously determined visibility, which is conveniently represented by a parameter or assigned to a class, or this distance is calculated based on the parameter. For example, a predefined table, a predefined characteristic curve, or a predefined mathematical function is used for this purpose.

[0029] According to a preferred embodiment, the vehicle's speed is increased to a predetermined second speed after the distance has been covered, particularly from the first speed. For example, the second speed is the vehicle speed at which the vehicle was traveling immediately before the change to the first speed. Furthermore, and preferably, the second speed is predetermined by the driver, particularly as a set speed for the adaptive cruise control system, and / or is determined and predetermined by the adaptive cruise control system as the set speed for automatic longitudinal guidance.In summary, the second speed is preferably the set speed of the driver assistance system designed as adaptive cruise control, whereby this is, for example, preset by the driver and / or determined by the driver assistance system.

[0030] After passing through the intersection at a relatively slow speed for a specified distance, the vehicle automatically adjusts to the second speed. Manual intervention by the driver is therefore unnecessary. Because the distance is determined based on visibility, the vehicle's speed is adjusted to the visibility of the intersection for that distance. This also significantly improves the time required to detect oncoming traffic at the intersection, thus aligning it with the visibility of the intersection. Consequently, safety for the vehicle and its occupants is enhanced.

[0031] According to a preferred embodiment of the method, the first speed is lower the less visible the intersection is. In other words, the first speed (in magnitude) is determined and / or chosen to be lower the less visible the intersection is. Put another way, a comparatively low first speed is determined for a relatively low visibility, and a comparatively high first speed is determined for a relatively high visibility.

[0032] It is expedient to determine a value between 5 km / h and 25 km / h for the first speed, depending on visibility. For example, a characteristic curve or mathematical function, as shown above, is used to assign the value of the first speed to a visibility value, particularly one represented as a parameter. Additionally or alternatively, if visibility has been assigned to a class, a value for the first speed is assigned to that class. For example, the first speed for visibility deemed good is between 15 km / h and 25 km / h, particularly between 15 and 20 km / h, and / or for visibility deemed poor is between 5 km / h and 10 km / h, particularly between 7 km / h and 9 km / h.

[0033] In summary, at an intersection with poor visibility, this method reduces the vehicle's speed to a relatively low level, allowing the vehicle to pass through the intersection slowly and giving the driver ample time to brake to a complete stop should a vehicle with the right-of-way be detected approaching from the right. At an intersection with good visibility, the vehicle's speed is reduced to a relatively high initial speed. Due to the improved visibility, the driver can decide much earlier whether to stop for a vehicle with the right-of-way, thus making the relatively high initial speed seem appropriate.

[0034] In further summary, the automatic longitudinal guidance achieves a natural, i.e., human-like, behavior for the speed profile when passing the intersection, by determining the initial speed depending on the visibility of the intersection.

[0035] For example, to determine the first speed, a directly proportional relationship is used between the visibility, expressed as a parameter, and the first speed.

[0036] According to a suitable training course, the specified distance is greater the less visibility there is at the intersection. In other words, the distance, and especially its magnitude, is determined and / or chosen to be greater the less visibility there is at the intersection.

[0037] In other words, a comparatively large distance is determined for a visibility that is defined as comparatively low, and a comparatively small distance is determined for a visibility that is defined as comparatively high.

[0038] In summary, at an intersection with poor visibility, acceleration to the second speed, which is the target speed of the adaptive cruise control system, begins after a relatively long distance. Consequently, the driver or the vehicle has a comparatively long time to brake to a standstill if a vehicle with the right-of-way is detected approaching from the right. At an intersection with good visibility, acceleration to the second speed begins after a comparatively short distance. Due to the better visibility, the driver can decide much earlier whether to stop for a potentially approaching vehicle with the right-of-way, which is perceived as more convenient.

[0039] In further summary, the automatic longitudinal guidance achieves a behavior for the driver that is perceived as natural, i.e., human-like, regarding the speed profile when passing the intersection, by determining the distance for passing the intersection at the first speed depending on the visibility of the intersection.

[0040] For example, to determine the distance, an inversely proportional relationship is used between the visibility, defined as a parameter, and the distance.

[0041] Another aspect of the invention relates to a motor vehicle that is operated and / or operable in one of the variants described above according to the method.

[0042] The motor vehicle includes a means for detecting an upcoming intersection. This means is, or includes, for example, a camera and / or a navigation system that contains map data with information about the presence and / or position of the intersection.

[0043] Furthermore, the vehicle includes a driver assistance system, which is specifically designed as an adaptive cruise control system. The driver assistance system is designed and configured for automatic longitudinal control of the vehicle. The driver assistance system is also connected to the device via signal and / or data transmission. In this way, data provided by the device, in particular image data and / or map data, can be transmitted to the driver assistance system.

[0044] Furthermore, the driver assistance system includes a control unit (control device), for example a controller, which is designed to carry out the steps of the procedure according to one of the procedure variants shown above.

[0045] Furthermore, the motor vehicle comprises a (traction) drive for propelling, i.e., for moving, the motor vehicle, as well as a braking system. The drive and braking systems are connected to the driver assistance system, in particular its control unit, via signal and / or data transmission, so that the speed of the motor vehicle can be automatically adjusted to a speed specified by the driver assistance system, in particular to the first speed and / or to the second speed.

[0046] The control unit is specifically designed and intended to detect an intersection located ahead of the vehicle in the direction of travel, particularly based on the data provided by the device, and to determine whether the "right before left" traffic rule applies to the intersection and whether there is a road approaching from the right at the intersection. The control unit is also appropriately designed and intended to determine the visibility of the intersection, particularly based on the data provided by the device.

[0047] The control unit is further appropriately designed and configured to determine a first speed for at least partial passage through the intersection, in particular solely based on the certain visibility, and / or to control the drive and / or the braking system in such a way that the speed of the motor vehicle is set to the first speed, in particular automatically, and in particular by braking.

[0048] Another aspect of the invention relates to a computer program product. This includes commands that cause the motor vehicle to perform the steps of the method in one of the above-described variants.

[0049] The computer program product expediently includes program code with commands that cause, in particular, the device to detect the intersection and / or transmit corresponding data to the control unit of the driver assistance system. For example, the commands cause the control unit to activate the device to capture image data and / or provide map data.

[0050] The commands further expediently ensure that, particularly with the help of the control unit, the intersection located in front of the vehicle in the direction of travel is detected, where the "right before left" traffic rule applies and where there is a road approaching from the right. The commands further expediently ensure that, particularly with the help of the control unit, the visibility of the intersection is determined. The commands further expediently ensure that, particularly with the help of the control unit, the initial speed for at least partially crossing the intersection is determined, specifically solely based on the determined visibility.The commands further expediently ensure that, in particular by means of the control unit, the drive and / or the braking system is controlled in such a way and / or corresponding data and / or signals are transmitted from the control unit to the drive and / or the braking system, so that the speed of the motor vehicle is set to the first speed and / or to the second speed by means of the drive and / or the braking system.

[0051] Another aspect of the invention relates to a computer-readable medium on which the computer program product described above, in particular the program code, is stored. Advantageously, the computer-readable medium is a hard drive or a storage device installed in the vehicle; alternatively, the computer-readable medium is a portable and / or not permanently installed storage medium, such as flash memory, a CD, or a DVD.

[0052] Exemplary embodiments of the invention are explained in more detail below with reference to a drawing. The drawing shows: Fig. 1. Using a flowchart, describe a procedure for operating a motor vehicle, wherein the motor vehicle is automatically guided longitudinally, and wherein the visibility of an intersection ahead of the motor vehicle is determined. Fig. 2 schematically the motor vehicle approaching an intersection, where the traffic rule "right before left" applies at the intersection, Fig. 3 schematically the motor vehicle, wherein it has a means for detecting the intersection and a driver assistance system, in particular designed as an adaptive cruise control system, and Fig. 4 a v KFZ (D)-Diagram for different visibility of the intersection.

[0053] Corresponding parts and sizes are always marked with the same reference symbols in all figures.

[0054] In the Fig. Figure 1 is illustrated by a flowchart, which represents a procedure for operating a motor vehicle 2. This motor vehicle 2 is in the Fig. 3 shown schematically.

[0055] During the procedure, and in particular throughout the entire procedure, the motor vehicle 2 is automatically guided longitudinally. Therefore, the (vehicle) speed v KFZ The vehicle's longitudinal control is automatically adjusted, in particular regulated, by means of a driver assistance system 4, which is expediently designed as an adaptive cruise control system.

[0056] In the first step I of the procedure, motor vehicle 2 detects an intersection 6 located ahead of it in its direction of travel X, where the traffic rule "right before left" applies and where there is a road 8 from the right, i.e., a road 8 entering the intersection area (i.e., the area where the two intersecting roads 8 and 18 overlap) of intersection 6 from the right with respect to the direction of travel X. The intersection 6 is shown schematically in plan view in the Fig. 2 shown.

[0057] At intersection 6, a (first) obstacle 10 is arranged, which restricts a driver's field of vision of intersection 6 and, in particular, of road 8 approaching from the right, and / or which restricts the detection range of a means 12 for detecting intersection 6 and, in particular, road 8. The means 12 of the motor vehicle 2 is, for example, a camera or a radar. Alternatively or additionally, the means 12 includes a navigation system that contains map data with information about the presence and / or design of the intersection and / or the right-of-way rules applicable there.

[0058] Furthermore, in the Fig. 2. A smaller obstacle 14 (second obstacle 14) is shown with a dashed line compared to obstacle 10. This second obstacle 14 restricts the field of vision and / or the detection range at intersection 6 and especially at road 8 less than the first obstacle 10.

[0059] In the second step II of the procedure, the visibility E a , E b the intersection 6, and in particular its road 8. For example, the visibility E a , E b based on an angular range that the first obstacle 10 or the second obstacle 14 occupies from the perspective of the driver and / or the means 12. This angular range is in the Fig. 2 marked with the reference symbol B.

[0060] Here and in the following, the index "a" represents, by way of example, quantities (in particular the first velocity v described in more detail below) a and for the distance S described in more detail below a ) for an initial overview E a Here and in the following, the index "b" represents, by way of example, quantities (in particular the first velocity v, which is described in more detail below). b and for the distance S described in more detail below b) for a second viewing E b The visibility of E is one example. a greater than the visibility E b , intersection 6 and especially road 8 will therefore be considered for visibility E in the case of a less obscured by an obstacle than in the case of visibility E b For example, visibility corresponds to E a the intersection 6 according to the Fig. 2 with the comparatively small second obstacle 14 and the visibility E b the intersection 6 according to the Fig. 2 with the comparatively large first obstacle 10.

[0061] To determine the visibility E a , E bAppropriately, data, for example image data and / or map data, from the device 12 are transmitted to the driver assistance system 4, in particular to its control unit 16, and this data is evaluated by the control unit 16, in particular with regard to a restriction of the driver's field of vision and / or with regard to a detection range of the device 12, whereby the specific visibility E a , E b The result of this evaluation is, for example, the angle range B is determined based on the data transmitted by mean 12, and the visibility E is determined based on this. a , E b certainly.

[0062] For example, the visibility E a , E b as a parameter, that is, as a numerical value, which is inversely proportional to the magnitude of this angular range B. Furthermore, for example, the visibility E a , E bclassified. For this purpose, a class is appropriately assigned to the angle range. The visibility E is usefully used for this purpose. a , E b A class "poor visibility" is assigned if the magnitude of the angle range B exceeds a predefined limit; otherwise, visibility is assigned a class E. a , E b assigned a class "easily visible".

[0063] In a subsequent third step III, a first velocity v is determined. a , v b , preferably only, depending on the previously determined visibility E a , E b determined. Furthermore, in the third step III, a distance S is determined. a , S b for driving at the first speed v a , v b , preferably only, depending on the previously determined visibility E a , E b certainly.

[0064] In summary, the first velocity is va a minimum speed for at least partially passing the intersection, i.e., for driving through intersection 6 for the specified distance S a and / or the first speed v b a minimum speed for at least partially passing the intersection, i.e., for driving through intersection 6 for the specified distance S b The distance S a , S b is, for example, equal to or appropriately smaller than the spatial extent of road 8 in the direction of travel X, i.e. in a direction of extension of the road 18 from which the motor vehicle 2 enters the intersection.

[0065] The first velocity v is particularly preferred. a , v b the smaller the less visibility E a , E b The intersection 6 and especially street 8 from the right, see also Fig. 4. Alternatively or preferably additionally, the distance Sa , S b the greater the lower the visibility E a , E b The intersection 6 and especially street 8 from the right, see also Fig. 4.

[0066] In a fourth step IV, the speed of the motor vehicle v is determined. KFZ automatically based on the driver assistance system to the first speed v a or v b adjusted, especially slowed down.

[0067] If there is no other road user 20 approaching from the right, i.e., from road 8, to whom the motor vehicle 2 must yield, the procedure proceeds according to steps V and VI described below. For example, the data provided by the means 12 and / or by another sensor, such as another camera, are evaluated, in particular by the control unit 16, with regard to the presence of another road user 20 to whom the right of way must be yielded.

[0068] The motor vehicle 2 is then guided longitudinally in step V such that it covers the corresponding distance S a or S b with the first velocity v a or v b drives.

[0069] In a subsequent step VI, after covering the distance S a or S b , especially as soon as the distance S a or S bThe distance traveled increased the speed v KFZ of motor vehicle 2 automatically from the first speed v a or v b set to a predetermined second speed v2, particularly preferably the setting speed of the driver assistance system 4 designed as an adaptive cruise control, and in particular accelerated.

[0070] The respective speed profile is shown in the Fig. 4 shown, which represents the velocity v KFZ The function of motor vehicle 2 is represented as a function of the distance traveled D. Here, S represents... K The point where intersection 6 begins, i.e., the point where road 18 intersects with road 8 from the right. Motor vehicle 2 is thus guided longitudinally in such a way that it enters intersection 6 at the first speed v. a or v b drives.

[0071] In summary, the Fig. 4. It is evident that for a comparatively good, i.e., high, visibility (speed profile represented as a solid line), a higher initial speed v is required. a This is used when visibility is comparatively poor (speed profile represented as a dashed line). Furthermore, when visibility is comparatively poor, the distance S b greater than the distance S a for comparatively good visibility.

[0072] In further summary, the first velocity v a , v b The minimum speed for passing intersection 6 without stopping before and / or in intersection 6.

[0073] If another road user 20 (priority road user 20) is present from the right, i.e. from road 8 from the right, to whom the motor vehicle 2 must give way, and this has been detected by the driver assistance system 4 by evaluating the data provided by the means 12, the procedure proceeds according to step VII described below.

[0074] In step VII, if the priority road user 2 is detected by the driver assistance system 4, vehicle 2 is automatically brought to a stop. Vehicle 2 is therefore not brought to a stop for the entire specified distance S. a , S b with the first velocity v a , v b longitudinally guided. Alternatively, if the priority road user 2 has been recognized by the driver, the vehicle is brought to a stop by a manual intervention of the driver.

[0075] In particular, the motor vehicle 2 will only be automatically stopped if the priority road user 2 is detected by the driver assistance system 4.

[0076] The following section summarizes motor vehicle 2 based on the Fig. 3 described. This includes the means for detecting the intersection 6. The means 12 is or comprises, for example, a camera or a navigation system which provides map data with information about the presence and / or position of the intersection.

[0077] Furthermore, the motor vehicle 2 includes the driver assistance system 4 for the automatic longitudinal control of the motor vehicle 2, wherein the driver assistance system 4 is designed in particular as an adaptive cruise control system. The driver assistance system 4, in particular its control unit 16, is connected to the means 12 via signal and / or data transmission. Consequently, the driver assistance system can control the means 12, if necessary, to generate and provide the data and can receive this data.

[0078] Furthermore, the motor vehicle 2 comprises a (traction) drive 22 for propelling the motor vehicle 2 and a braking system 24. The drive 22 and the braking system 24 are connected to the control unit 16 of the driver assistance system via signal and / or data transmission, so that the speed v KFZ of the motor vehicle 2 to a speed specified by the driver assistance system 4, in particular to the first speed va or v b , and / or can be set to the second speed v2.

[0079] Control unit 16 is specifically designed and configured to use the data provided by means 12 to detect intersection 6 and determine whether the "right before left" traffic rule applies to the intersection and whether there is a road 8 from the right at the intersection. Furthermore, control unit 16 is designed and configured to monitor the visibility of E a , E b to determine the intersection 6. The control unit 16 is further appropriately designed and configured to determine the initial speed v. a , v b as well as the distance S a , S b depending on the specific visibility E a , E b to determine, and / or to control the drive 22 and / or the braking system 24 so that the speed v KFZof motor vehicle 2 in the course of automatic longitudinal guidance to the first speed v a , v b and / or is set to the second speed v2.

[0080] The motor vehicle 2, in particular its driver assistance system, further comprises a computer-readable medium 26, which is expediently designed as a non-volatile memory. This is connected to the control unit 16 via data transmission technology.

[0081] For example, medium 26 contains a characteristic curve and / or table which determines the specific visibility E a , E b the respective first velocity v a , v b can be assigned. Additionally, a characteristic curve and / or table is provided, based on which the specific visibility E a , E b the respective distance S a , S b can be assigned.

[0082] Furthermore, a computer program product 28 is stored in memory 26. The computer program product 28 comprises instructions that cause the motor vehicle 2 to execute the steps of the procedure described above.

[0083] The invention is not limited to the embodiments described above. Rather, other variants of the invention can also be derived by a person skilled in the art within the scope of the claims, without departing from the subject matter of the invention. In particular, all individual features described in connection with the embodiments and / or in the claims can also be combined with one another in other ways without departing from the subject matter of the invention. Reference symbol list 2 motor vehicles 4 Driver assistance systems 6 Intersection 8th street from the right 10 first obstacle 12 means 14 second obstacle 16 Control unit 18 Motor vehicle road 20 other road users 22 Drive 24 braking system 26 Computer-readable medium 28 Computer program product D distance covered E a , E b Visibility S a , S b specific distance v2 second speed v a , v b first speed v KFZ Speed ​​of the motor vehicle X Direction of travel of the motor vehicle I Capturing the intersection II Determining the visibility of the intersection III Determining the first velocity IV. Adjusting the speed of the motor vehicle to the first speed Drive for the distance at the first speed VI Changing the speed of the motor vehicle to the second speed VII Stopping the motor 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 2022 124 616 A1

[0004] DE 10 2020 202 091 A1

[0005] DE 11 2021 003 707 T5

[0006] JP 2008 181 206 A

[0007] JP 2021 125 024 A

[0008]

Claims

[1] Methods for operating a motor vehicle (2), - wherein the motor vehicle (2) is automatically guided longitudinally, in particular by means of a driver assistance system appropriately designed as an adaptive cruise control system, - where an intersection (6) arranged in the direction of travel (X) in front of the motor vehicle (2) is recorded, where the traffic rule "right before left" applies and where there is a road (8) from the right, - where visibility (E a , E b ) the intersection (6) is determined, - where a first velocity (v a , v b ) for at least partial passage of the intersection (6), in particular only depending on the certain visibility (E a , E b ) is determined, - where the speed of the motor vehicle (v KFZ ), in particular automatically, to the first speed (v a , v b) is adjusted, in particular slowed down. [2] Method according to claim 1, characterized by , that the first velocity (v a , v b ) a minimum speed for passing through the intersection (6), in particular without stopping. [3] Method according to claim 1 or 2, characterized by that a distance (S a , S b ) for driving at the first speed (v a , v b ), in particular only, depending on visibility (E a , E b ) the intersection is determined. [4] Method according to claim 3, characterized by that the speed of the motor vehicle after covering the distance (S), in particular from the initial speed (v) a , v b ), is increased to a predetermined second speed (v2). [5] Method according to any one of claims 1 to 4, characterized by , that the first velocity (v a , v b) the smaller the lower the visibility (E a , E b ) the intersection (6). [6] Method according to any one of claims 3 to 5, characterized by , that the distance (S) is greater the lower the visibility (E) a , E b ) the intersection (6). [7] Method according to any one of claims 1 to 6, characterized by , that the motor vehicle (2) will be automatically stopped, in particular only when another road user (20) coming from the right is detected. [8] motor vehicle (2), comprising - a means (12) for detecting an intersection (6), - a driver assistance system (4), in particular designed as an adaptive cruise control system, for automatic longitudinal guidance of the motor vehicle (2), wherein the driver assistance system (4) is connected to the means (12) by means of signal and / or data transmission technology, and wherein the driver assistance system (4) has a control unit (16) for carrying out the steps of the method according to one of claims 1 to 7. [9] Computer program product (28) comprising instructions that cause the motor vehicle (2) according to claim 8 to perform the steps of the method according to any one of claims 1 to 7. [10] Computer-readable medium (26) on which the computer program product (28) according to claim 9 is stored.

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