Driving assistance system and driving assistance method for a vehicle

Abstract

The present disclosure relates to a driving assistance system (100) for a vehicle (10), comprising: - a surroundings detection module (110), which is configured to detect surroundings of a vehicle; and - a control module (120), which is configured to initiate a lateral positioning of the vehicle (10) on an ego lane (EG), - wherein when the surroundings detection module (110) detects another means of transport (20) moving towards the vehicle (10) from behind, the control module (120) is configured to initiate the lateral positioning of the vehicle (10) on the ego lane (EG) such that a passing of the vehicle (10) by the other means of transport (20) is either made possible or is prevented by the vehicle (10) depending on a potential clearance for the other means of transport (20) next to the vehicle (10).

Description

[0001] Driver assistance system and driver assistance procedure for a vehicle

[0002] The present disclosure relates to a driver assistance system for a vehicle, a vehicle having such a driver assistance system, a driver assistance method for a vehicle, and a storage medium for executing the driver assistance method. The present disclosure particularly relates to positioning the vehicle in relation to other road users, in particular cyclists and / or motorcyclists.

[0003] State of the art

[0004] In certain situations, such as slow-moving traffic, traffic jams, or traffic lights, a vehicle may block following cyclists and / or motorcyclists. This can lead to frustration and may even tempt the cyclist and / or motorcyclist to perform dangerous maneuvers past the blocking vehicle despite a lack of space. This impairs road safety and, under certain circumstances, may lead to accidents. Disclosure of the Invention

[0005] It is an object of the present disclosure to provide a driver assistance system for a vehicle, a vehicle with such a driver assistance system, a driver assistance method for a vehicle, and a storage medium for executing the driver assistance method, which can prevent dangerous driving maneuvers. Furthermore, it is an object of the present disclosure to increase road safety.

[0006] This object is achieved by the subject matter of the independent claims. Advantageous embodiments are specified in the subclaims.

[0007] According to an independent aspect of the present disclosure, a driver assistance system for a vehicle, in particular a motor vehicle, is specified. The driver assistance system comprises an environment detection module configured to detect vehicle surroundings; and a control module configured to initiate a lateral positioning of the vehicle in an ego lane. The control module is configured, when the environment detection module detects an external means of transport moving toward the vehicle from behind, to initiate the lateral positioning of the vehicle in the ego lane such that, depending on a potential clearance for the external means of transport next to the vehicle, passing the vehicle is either possible or blocked by the vehicle.

[0008] According to the invention, the ego vehicle is positioned laterally offset in the ego lane, e.g. in relation to a center of the ego lane, so that, depending on the situation, either enough space is created for the external vehicle coming from behind to pass or the path is obstructed. This occurs depending on whether the lateral positioning can create enough space for the external vehicle coming from behind to pass the vehicle safely. If the lateral positioning, e.g. at the left edge of the road, can create enough space to the right of the vehicle, the vehicle is positioned accordingly and the external vehicle can pass the vehicle. If the lateral positioning, e.g. at the left edge of the road, cannot create enough space to the right of the vehicle, the vehicle, e.g.positioned in the middle or right of the ego lane, blocking the path of the other vehicle's passing. As a result, dangerous maneuvers by the other vehicle can be prevented, thereby improving road safety.

[0009] The environment detection module and the control module can be implemented in a common software and / or hardware module. Alternatively, the environment detection module and the control module can each be implemented in separate software and / or hardware modules.

[0010] Preferably, the external means of transport is a bicycle, a motorcycle, a moped or an e-scooter.

[0011] Preferably, the third-party means of transport is a vulnerable road user, such as a Vulnerable Road User (VRU). The term "Vulnerable Road User," as used in the present disclosure, generally refers to those road users who are at particular risk of being injured or killed in road traffic because they are not surrounded by a protective shell, such as a driver's cabin. Vulnerable Road Users include, but are not limited to, cyclists, wheelchair users, and / or e-scooters.

[0012] The vehicle, in particular the driver assistance system, preferably comprises an environmental sensor system configured to acquire environmental data. The environmental sensor system preferably comprises at least one LiDAR system and / or at least one radar system and / or at least one camera and / or at least one ultrasound system. The environmental sensor system can provide the environmental data (also referred to as "environmental data") that maps an area surrounding the vehicle. The environmental data can be used to detect the external means of transport and to at least carry out the lateral positioning of the vehicle in the ego lane. In an exemplary embodiment, object recognition can be performed on the environmental data, such as semantic segmentation of a camera image using a trained neural network, in order to detect at least the external means of transport and the roadway or road.Typically, objects / subjects are classified into at least one class, such as “road surface,” “ego lane,” “crossing lane,” “oncoming lane,” “sidewalk,” “cycle lane,” “post,” “traffic sign,” “traffic light,” “pedestrian crossing,” “cycle crossing,” “floor markings,” “lane markings,” “vehicle,” “bicycle,” and / or “pedestrian.”

[0013] In some embodiments, in addition to the environmental data, digital map data may optionally be used in combination with a vehicle position, such as a GPS position, to perform at least the lateral positioning of the vehicle in the ego lane.

[0014] The term “lateral” as used in the present disclosure refers to a direction perpendicular to the longitudinal course of the ego lane and / or perpendicular to the direction of travel of the ego lane and / or perpendicular to a longitudinal axis of the ego vehicle.

[0015] Preferably, the control module is configured to initiate the lateral positioning of the vehicle in the ego lane such that the vehicle comes to a standstill laterally offset, for example, with respect to the center of the ego lane. However, the present disclosure is not limited to this, and in some embodiments the vehicle can also roll (slowly), for example, so that the vehicle is laterally offset or rolls, for example, with respect to the center of the ego lane while rolling. The control module is configured to initiate the lateral positioning of the vehicle in the ego lane depending on the potential clearance. The term “potential clearance” refers to a possible clearance to the left or right of the vehicle that can be created by lateral positioning of the vehicle for the external means of transport to pass by to the left or right of the vehicle.

[0016] The clearance can depend on various factors that can be taken into account by the driver assistance system depending on the situation. Examples of such factors include, but are not limited to, a left lane boundary, a right lane boundary, the width of the ego lane, the vehicle width, a (e.g., predetermined minimum) safety distance between the vehicle and the external vehicle during passing, the type of external vehicle, the width of the external vehicle, and the speed of the external vehicle.

[0017] Preferably, the free space is defined by a (e.g., approximate) width of a free or drivable area next to the vehicle or indicates the width of the free or drivable area. The width can be defined in the lateral direction, in particular perpendicular to the longitudinal course of the ego lane and / or perpendicular to the direction of travel of the ego lane and / or perpendicular to a longitudinal axis of the ego vehicle. In some embodiments, the width of the free or drivable area can correspond to a distance between the vehicle and a lane boundary (e.g., center line) or roadway boundary (e.g., curb).

[0018] Preferably, the control module is configured to cause the lateral positioning of the vehicle on the ego lane such that the passing of the third-party vehicle is possible if it is determined that the potential clearance is equal to or greater than a first threshold depending on the lateral positioning of the vehicle.

[0019] In some embodiments, the first threshold may be 1 meter or more, 1.5 meters or more, or 2 meters or more. Preferably, the control module is configured to cause the lateral positioning of the vehicle in the ego lane such that passing is blocked for the third-party vehicle if it is determined that the potential clearance is equal to or less than a second threshold depending on the lateral positioning of the vehicle.

[0020] In some embodiments, the second threshold may be 1 meter or less, 1.5 meters or less, or 2 meters or less.

[0021] In some embodiments, the first threshold and the second threshold may be identical. In other embodiments, the first threshold and the second threshold may be different.

[0022] Preferably, the control module is configured to initiate the lateral positioning of the vehicle on the ego lane in a first direction, so that the space for the third-party vehicle to pass the vehicle is created next to the vehicle; and to initiate the lateral positioning of the vehicle on the ego lane in a second direction opposite to the first direction, so that the passing of the third-party vehicle next to the vehicle is blocked.

[0023] The first direction can be a left direction, and the second direction can be a right direction. Alternatively, the first direction can be a right direction, and the second direction can be a left direction.

[0024] Preferably, the first direction for allowing passing is a direction toward a lane boundary, such as a lane boundary to an adjacent lane, in particular an oncoming lane. In some embodiments, the lane boundary may be a center line. In particular, the vehicle may be positioned substantially directly or immediately at the lane boundary. Additionally or alternatively, the second direction for blocking passing may be a direction toward a roadway edge. In particular, the vehicle may be positioned substantially directly or immediately at the roadway edge. In some embodiments, the roadway edge may include a curb or be a curb. In some embodiments, the roadway edge may separate the first-line lane from a sidewalk and / or bicycle path and / or grass verge.

[0025] In other embodiments, the second direction for blocking passing is a direction toward a lane boundary, such as a lane boundary to an adjacent lane, in particular an oncoming lane. In some embodiments, the lane boundary may be a center line. In particular, the vehicle may be positioned substantially directly or immediately at the lane boundary. Additionally or alternatively, the first direction for allowing passing may be a direction toward a roadway edge. In particular, the vehicle may be positioned substantially directly or immediately at the roadway edge. In some embodiments, the roadway edge may include a curb or be a curb. In some embodiments, the roadway edge may separate the first-line lane from a sidewalk and / or bicycle path and / or grass verge.

[0026] Preferably, the control module is configured to initiate the lateral positioning of the vehicle on the ego lane at a stopping point of a traffic infrastructure. In particular, the vehicle can come to a stop at the stopping point laterally offset from the center of the ego lane. However, the present disclosure is not limited thereto, and in some embodiments, the vehicle can also roll (slowly) toward the stopping point, for example, so that the vehicle is positioned or rolls laterally relative to the center of the ego lane while rolling.

[0027] Preferably, the traffic infrastructure is a traffic junction. The term "traffic junction," as used in the present disclosure, refers to a location or area where multiple traffic routes meet, in particular intersect. The traffic routes may be of different or identical types and may, in particular, be roads. Preferably, the traffic infrastructure, in particular the traffic junction, is selected from the group comprising or consisting of an intersection and a road junction. While at an intersection all traffic routes continue after meeting, at a road junction one of the traffic routes ends. However, the present disclosure is not limited to these examples, and other traffic infrastructures are conceivable where a stopping point exists and where a following vehicle may be blocked by a preceding vehicle.

[0028] Preferably, the stopping point on the traffic infrastructure is a traffic light or is indicated by the traffic light. In some embodiments, the traffic light may be a traffic light. For example, the stopping point may be indicated by a stop line on a traffic light.

[0029] Preferably, the vehicle, in particular the driver assistance system, further comprises a communication module configured to communicate with at least one external vehicle in a vehicle environment. The control module can further be configured to control the communication module to transmit a request and / or instruction to the at least one external vehicle, wherein the request and / or instruction relates to the external means of transport passing the vehicle. In particular, the request and / or instruction can specify that the at least one external vehicle should position itself laterally in its lane such that the clearance and / or additional clearance is created or the path for the external means of transport is blocked. In other words, two or more vehicles can collectively allow or block the external means of transport from passing.

[0030] Preferably, the communication module of the (ego) vehicle is configured for vehicle-to-vehicle (V2V) communication. This allows the (ego) vehicle to communicate directly with the at least one external vehicle in its environment to transmit the request and / or instruction. Preferably, the communication module of the (ego) vehicle is configured for vehicle-to-X (V2X) communication. This allows the (ego) vehicle to communicate directly, for example, with a technical infrastructure or other stationary sources in its environment to transmit the request and / or instruction. The technical infrastructure or the other stationary sources can then forward the request and / or instruction to the at least one external vehicle.

[0031] Preferably, the communication module of the (ego) vehicle is configured for communication via a mobile network. The mobile network can be, for example, an LTE network or 5G network. This allows the (ego) vehicle to communicate with the at least one third-party vehicle and / or a technical infrastructure via the mobile network in order to transmit the request and / or instruction.

[0032] However, the present disclosure is not limited to these exemplary communication paths or requests / instructions, and for example, a trigger may be transmitted from the third-party means of transport to the vehicle and / or the at least one third-party vehicle, which trigger requests or instructs the lateral positioning of the vehicle and / or the at least one third-party vehicle.

[0033] Preferably, the control module is configured to initiate the lateral positioning of the vehicle by controlling at least one output device to output at least one optical and / or acoustic driver instruction.

[0034] The at least one output device can comprise at least one display device and / or at least one loudspeaker. The at least one display device can comprise a display, in particular an LCD display, a plasma display or an OLED display. Additionally or alternatively, the at least one display device can comprise a projection device that is configured to display information directly in the driver's field of vision, in particular to project it onto a windshield. In some embodiments, the at least one display device can be a central information output device of an infotainment system, such as a head unit or a pillar-to-pillar display. Preferably, the at least one output device is permanently installed in the vehicle.

[0035] Preferably, the control module is configured to initiate the lateral positioning of the vehicle by controlling at least one driver assistance function for automated driving.

[0036] According to a further independent aspect of the present disclosure, a vehicle, in particular a motor vehicle, is specified. The vehicle comprises the driver assistance system according to the embodiments of the present disclosure.

[0037] The term "vehicle" includes cars, trucks, vans, buses, mobile homes, motorcycles, etc., used to transport people, goods, etc. In particular, the term includes motor vehicles used to transport people.

[0038] Preferably, the driver assistance system is configured for automated driving. In particular, the driver assistance system can be configured to move the vehicle automatically, so that the vehicle is positioned laterally offset in the ego lane.

[0039] In this document, the term "automated driving" refers to driving with automated longitudinal and / or lateral guidance. Automated driving can, for example, involve extended driving on the highway or limited-time driving while parking. The term "automated driving" encompasses automated driving with any degree of automation. Examples of levels of automation are assisted, partially automated, conditionally automated, highly automated, and fully automated driving (with increasing levels of automation in each case). The five levels of automation mentioned above correspond to SAE Levels 1 to 5 of the SAE J3016 standard (SAE - Society of Automotive Engineering) as of April 30, 2021. In assisted driving (SAE Level 1), the system performs longitudinal or lateral guidance in specific driving situations.In partially automated driving (SAE Level 2), the system assumes longitudinal and lateral guidance in certain driving situations, whereby the driver must continuously monitor the system, as in assisted driving. In conditionally automated driving (SAE Level 3), the system assumes longitudinal and lateral guidance in certain driving situations without the driver having to continuously monitor the system; however, the driver must be able to assume control of the vehicle within a certain period of time upon request from the system. In highly automated driving (SAE Level 4), the system assumes control of the vehicle in certain driving situations, even if the driver does not respond to a request for intervention, thus eliminating the driver as a fallback. In fully automated driving (SAE Level 5), the system can perform all aspects of the dynamic driving task under any road and environmental conditions that can also be mastered by a human driver.

[0040] Furthermore, the term "at least partially automated driving or maneuvering" is also understood in this document to include partially automated, conditionally automated, highly automated, and fully automated driving. In other words, the term "at least partially automated driving" refers to a level of automation up to and including SAE Level 2.

[0041] However, the embodiments of the present disclosure are not limited to automated driving. In alternative embodiments, the driver assistance system can output driver instructions regarding the lateral positioning of the vehicle in the ego lane using at least one output device when the vehicle is driven manually.

[0042] According to a further independent aspect of the present disclosure, a driver assistance method for a vehicle, in particular a motor vehicle, is specified. The driver assistance method comprises detecting, by an environment detection module, an external means of transport moving toward the vehicle from behind; and initiating, by a control module, a lateral positioning of the vehicle in the ego lane such that, depending on a potential clearance for the external means of transport next to the vehicle, the external means of transport can either pass the vehicle or is blocked by the vehicle.

[0043] The driver assistance procedure can implement the aspects of the driver assistance system described in this document.

[0044] According to a further independent aspect of the present disclosure, a software (SW) program is provided. The SW program can be configured to be executed on one or more processors and thereby to carry out the driver assistance method described in this document.

[0045] According to a further independent aspect of the present disclosure, a storage medium is provided. The storage medium may comprise a software program configured to be executed on one or more processors and thereby to execute the driver assistance method described in this document.

[0046] According to a further independent aspect of the present disclosure, software with program code is provided. The software is configured to implement the driver assistance method described in this document when the software runs on one or more software-controlled devices.

[0047] According to a further independent aspect of the present disclosure, a driver assistance system for a vehicle is specified. The driver assistance system comprises one or more processors; and at least one memory connected to the one or more processors and containing instructions that can be executed by the one or more processors to carry out the driver assistance method described in this document. A processor or a processor module is a programmable computing unit, i.e., a machine or electronic circuit that controls other elements according to transmitted commands and, in doing so, advances an algorithm (process).

[0048] Short description of the drawings

[0049] Embodiments of the disclosure are illustrated in the figures and are described in more detail below. They show:

[0050] Figure 1 schematically shows a driver assistance system for a vehicle according to embodiments of the present disclosure,

[0051] Figures 2A and 2B schematically illustrate lateral positioning of a vehicle according to embodiments of the present disclosure,

[0052] Figure 3 schematically shows a lateral positioning of a vehicle according to further embodiments of the present disclosure,

[0053] Figure 4 schematically shows a lateral positioning of a vehicle according to further embodiments of the present disclosure,

[0054] Figure 5 schematically shows a vehicle with a driver assistance system for automated driving according to embodiments of the present disclosure, and

[0055] Figure 6 is a flowchart of a driver assistance method according to embodiments of the present disclosure.

[0056] Embodiments of the disclosure

[0057] Unless otherwise noted, the same reference numerals are used below for identical and equivalently functioning elements. Figure 1 schematically shows a driver assistance system 100 for a vehicle 10 according to embodiments of the present disclosure. Figures 2A and 2B schematically show a lateral positioning of the vehicle 10 according to embodiments of the present disclosure.

[0058] The driver assistance system 100 comprises an environment detection module 110 configured to detect a vehicle's surroundings; and a control module 120 configured to initiate a lateral positioning of the vehicle 10 in an ego lane EG. When the environment detection module 110 detects an external means of transport 20 moving toward the vehicle 10 from behind, the control module 120 is configured to initiate the lateral positioning of the vehicle 10 in the ego lane EG such that, depending on a potential clearance for the external means of transport 20 next to the vehicle 10, a passing of the external means of transport 20 is either possible (Figure 2A) or blocked by the vehicle 10 (Figure 2B).

[0059] The third-party means of transport 20 may be a bicycle, a motorcycle, a moped or an e-scooter, but is not limited to these examples.

[0060] The vehicle 10 includes an environmental sensor system configured to capture environmental data. The environmental sensor system preferably includes at least one LiDAR system and / or at least one radar system and / or at least one camera and / or at least one ultrasound system. The environmental sensor system can provide the environmental data (also referred to as "environmental data") that maps an area surrounding the vehicle.

[0061] The environment recognition module 110 analyzes the environment data from the environment sensor system to recognize the third-party vehicle 20 and to at least perform the lateral positioning of the vehicle 10 in the ego lane EG. In an exemplary embodiment, object recognition can be performed on the environment data, such as a semantic segmentation of a camera image using a trained neural network, to at least recognize the third-party vehicle 20 and the roadway or road.

[0062] In some embodiments, the environment detection module 110 may use digital map data, optionally in combination with a vehicle position, such as a GPS position, in addition to the environment data from the environment sensors to perform at least the lateral positioning of the vehicle in the ego lane.

[0063] Preferably, the control module 120 is configured to cause the lateral positioning of the vehicle 10 on the ego lane EG such that the vehicle 10 is laterally offset with respect to a center of the ego lane EG.

[0064] The control module 120 is configured to initiate the lateral positioning of the vehicle 10 in the ego lane EG depending on the potential clearance. The term "potential clearance" refers to a possible clearance next to the vehicle 10 (in the example of Figures 2A and 2B, to the right of the vehicle 10) that can be created by laterally positioning the vehicle 10 for the passing of the third-party vehicle 20.

[0065] The potential clearance may depend on various factors that can be taken into account by the driver assistance system 100 depending on the situation. Examples of such factors include, but are not limited to, a left lane boundary, a right lane boundary, a width of the ego lane, a vehicle width, a (e.g., predetermined minimum) safety distance between the vehicle 10 and the third-party vehicle 20 while passing, a type of third-party vehicle 20, a width of the third-party vehicle 20, and a speed of the third-party vehicle 20 approaching from behind.

[0066] Preferably, the control module 120 is configured to control the lateral positioning of the

[0067] Vehicle 10 in the ego lane EG in such a way that the passing of the third-party vehicle 20 is possible if it is determined that the potential free space is equal to or greater than a first threshold depending on the lateral positioning of the vehicle 10. On the other hand, the control module 120 can be configured to cause the lateral positioning of the vehicle 10 in the ego lane EG in such a way that the passing of the third-party vehicle 20 is blocked if it is determined that the potential free space is equal to or less than a second threshold depending on the lateral positioning of the vehicle 10. In some embodiments, the first threshold and the second threshold can be identical. In other embodiments, the first threshold and the second threshold can be different.

[0068] Referring to Figure 2A, the control module 120 can be configured to initiate the lateral positioning of the vehicle 10 on the ego lane EG toward a lane boundary FSB to a secondary lane NF, such as a center line, so that the free space FR is created next to the vehicle 10 for the third-party vehicle 20 to pass on the right side of the vehicle 10. In particular, the vehicle 10 can be positioned substantially directly or immediately at the lane boundary FSB or the secondary lane NF.

[0069] Referring to Figure 2B, the control module 120 can be configured to initiate the lateral positioning of the vehicle 10 in the ego lane EG toward a road edge FBR, such as a curb, so that the passage of the third-party vehicle 20 to the right of the vehicle 10 is blocked. In particular, the vehicle 10 can be positioned substantially directly or immediately at the road edge FBR.

[0070] Figure 3 schematically shows a lateral positioning of a vehicle 10 according to further embodiments of the present disclosure.

[0071] In the example of Figure 3, the third-party vehicle 20 wishes to overtake the vehicle 10 between two opposing lanes. The control module of the driver assistance system can be configured to initiate the lateral positioning of the vehicle 10 on the first-party lane EG toward a road edge FBR, such as a curb, so that the third-party vehicle can pass to the left of the vehicle 10. In particular, the vehicle 10 can be positioned essentially directly or immediately at the road edge FBR. Similarly, the vehicle 10 can be positioned essentially directly or immediately at the lane boundary FSB or the adjacent lane NF, so that the passing of the third-party vehicle 20 to the left of the vehicle 10 is blocked (not shown).

[0072] In the example of Figure 3, oncoming traffic 30 or a distance to oncoming traffic 30 can also be taken into account when determining the potential clearance and the decision regarding the lateral positioning of the vehicle 10.

[0073] In some embodiments, the vehicle 10 further comprises a communication module configured to communicate with oncoming traffic 30. The control module may further be configured to control the communication module to transmit a request and / or instruction to the oncoming traffic 30, wherein the request and / or instruction relates to the passing of the third-party vehicle 20 past the vehicle 10. In particular, the request and / or instruction may indicate that the oncoming traffic 30 should position itself laterally in its lane such that the clearance and / or additional clearance is created or the path of travel for the third-party vehicle 20 is blocked. In other words, two or more vehicles can collectively allow or block the passing of the third-party vehicle 20.

[0074] However, the present disclosure is not limited to these exemplary communication paths, and, for example, a trigger can be sent from the third-party means of transport 20 to the vehicle 10 and / or the oncoming traffic 30, requesting or instructing the lateral positioning of the vehicle 10 and / or the oncoming traffic 30. Figure 4 schematically shows a lateral positioning of a vehicle 10 according to further embodiments of the present disclosure.

[0075] The control module of the driver assistance system can be configured to initiate the lateral positioning of the vehicle 10 on the ego lane EG at a stopping point HL of a traffic infrastructure. In particular, the vehicle 10 can come to a stop at the stopping point HL laterally offset with respect to the center of the ego lane EG. However, the present disclosure is not limited thereto, and in some embodiments, the vehicle 10 can, for example, also roll slowly toward the stopping point HL, so that the vehicle 10 is positioned or rolls laterally with respect to the center of the ego lane EG while rolling.

[0076] The stopping point HL can be a traffic signal or be defined by the traffic signal LS. In some embodiments, the traffic signal LS can be a traffic light. For example, the stopping point HL can be defined or indicated by a stop line at a traffic light.

[0077] In Figure 4, the vehicle 10 creates a clear space for the external vehicle 20 to pass by positioning itself laterally at the lane boundary FSB on the right. This can happen, for example, if a traffic jam or slow-moving traffic is expected after the stop and the external vehicle 20 would make faster progress. Depending on the situation, however, it can also be advantageous for the path for the external vehicle 20 to be blocked on the right-hand side, for example if it is expected that the vehicle 10 will have to overtake the external vehicle 20 again immediately and a sufficient safety distance cannot be maintained in the foreseeable future. The input variables for the decision as to whether the clear space is created or the path is blocked can include, for example, a lane width, a width of a travel path of the external vehicle 20, a further road course (e.g. width), traffic flow after the stop, etc.Figure 5 schematically shows a vehicle 10 with a driver assistance system 500 for automated driving according to embodiments of the present disclosure.

[0078] The driver assistance system 500 may comprise or be the driver assistance system according to the invention described with reference to Figures 1 to 4, or may be communicatively connected to the driver assistance system according to the invention in order to implement the functionalities described in this document.

[0079] The driver assistance system 500 may be configured to move the vehicle 10 automatically so that the vehicle 10 is positioned laterally offset on the ego lane.

[0080] In automated driving, the longitudinal and / or lateral guidance of the vehicle 10 is automatic. The driver assistance system 500 thus assumes vehicle guidance. To this end, the driver assistance system 500 controls the drive 20, the transmission 22, the (e.g., hydraulic) service brake 24, and the steering 26 via intermediate units (not shown).

[0081] To plan and implement automated driving, the driver assistance system 500 receives environmental information from an environmental sensor system 12 that monitors the vehicle's surroundings. In particular, the vehicle 10 may include at least one environmental sensor configured to record environmental data indicating the vehicle's surroundings. The at least one environmental sensor may, for example, include one or more LiDAR systems, one or more radar systems, one or more ultrasonic sensors, and / or one or more cameras.

[0082] However, the embodiments of the present disclosure are not limited to automated driving. In alternative embodiments, the driver assistance system can output driver instructions regarding the lateral positioning of the vehicle 10 in the ego lane using at least one output device when the vehicle 10 is driven manually. The at least one output device can comprise at least one display device and / or at least one loudspeaker. The at least one display device can comprise a display, in particular an LCD display, a plasma display, or an OLED display. Additionally or alternatively, the at least one display device can comprise a projection device configured to overlay information directly in the driver's field of vision, in particular to project it onto a windshield.In some embodiments, the at least one display device can be a central information output device of an infotainment system, such as a head unit or a pillar-to-pillar display. Preferably, the at least one output device is permanently installed in the vehicle.

[0083] Figure 6 schematically shows a flowchart of a driver assistance method 600 for a vehicle according to embodiments of the present disclosure. The driver assistance method 600 can be implemented by appropriate software executable by one or more processors (e.g., a CPU).

[0084] The driver assistance method 600 comprises, in block 610, detection by an environment detection module of an external means of transport moving toward the vehicle from behind; and, in block 620, initiation by a control module of a lateral positioning of the vehicle in the ego lane such that, depending on a potential free space for the external means of transport next to the vehicle, the external means of transport can either pass the vehicle or be blocked by the vehicle.

[0085] According to the invention, the ego vehicle is positioned laterally offset in the ego lane, e.g. in relation to a center of the ego lane, so that, depending on the situation, either enough space is created for the external vehicle coming from behind to pass or the path is obstructed. This occurs depending on whether the lateral positioning can create enough space for the external vehicle coming from behind to pass the vehicle safely. If the lateral positioning, e.g. at the left edge of the road, can create enough space to the right of the vehicle, the vehicle is positioned accordingly and the external vehicle can pass the vehicle. If the lateral positioning, e.g. at the left edge of the road, cannot create enough space to the right of the vehicle, the vehicle, e.g.positioned in the middle or right of the ego lane, blocking the path of the other vehicle's passing. As a result, dangerous maneuvers by the other vehicle can be prevented, thereby improving road safety.

[0086] Although the invention has been illustrated and explained in detail by means of preferred embodiments, the invention is not limited by the disclosed examples, and other variations may be derived therefrom by those skilled in the art without departing from the scope of the invention. It is therefore clear that a multitude of possible variations exist. It is also clear that the embodiments mentioned by way of example are truly only examples and should not be construed as limiting the scope, possible applications, or configuration of the invention in any way.Rather, the preceding description and the description of the figures enable the person skilled in the art to implement the exemplary embodiments in concrete terms, whereby the person skilled in the art, with knowledge of the disclosed inventive concept, can make various changes, for example with regard to the function or the arrangement of individual elements mentioned in an exemplary embodiment, without departing from the scope of protection defined by the claims and their legal equivalents, such as further explanations in the description.

Claims

Patent claims 1. A driver assistance system (100) for a vehicle (10), comprising: an environment detection module (HO) configured to detect vehicle surroundings; and a control module (120) configured to initiate a lateral positioning of the vehicle (10) in an ego lane (EG), wherein, when the environment detection module (110) detects an external means of transport (20) moving towards the vehicle (10) from behind, the control module (120) is configured to initiate the lateral positioning of the vehicle (10) in the ego lane (EG) such that a passing of the external means of transport (20) past the vehicle (10) is either possible or blocked by the vehicle (10), depending on a potential free space for the external means of transport (20) next to the vehicle (10).

2. The driver assistance system (100) according to claim 1, wherein the control module (120) is configured to: cause the lateral positioning of the vehicle (10) in the ego lane (EG) such that the passing of the external means of transport (20) is possible if it is determined that the potential clearance is equal to or greater than a first threshold depending on the lateral positioning of the vehicle (10); and / or cause the lateral positioning of the vehicle (10) in the ego lane (EG) such that the passing of the external means of transport (20) is blocked if it is determined that the potential clearance is equal to or less than a second threshold depending on the lateral positioning of the vehicle (10).

3. Driver assistance system (100) according to claim 1 or 2, wherein the control module (120) is configured to: initiate the lateral positioning of the vehicle (10) on the ego lane (EG) in a first direction, so that the free space (FR) for the third-party means of transport (20) to pass the vehicle (10) is created next to the vehicle (10); and to cause the lateral positioning of the vehicle (10) on the ego lane (EG) in a second direction opposite to the first direction, so that the passing of the external means of transport (20) next to the vehicle (10) is blocked.

4. Driver assistance system (100) according to claim 3, wherein: the first direction is a direction towards a lane boundary (FSB), in particular a lane boundary to a secondary lane (NF), and the second direction is a direction towards a road edge (FBR), or the second direction is a direction towards a lane boundary (FSB), in particular a lane boundary to a secondary lane (NF), and the first direction is a direction towards a road edge (FBR).

5. Driver assistance system (100) according to claim 3 or 4, wherein the control module (120) is configured to initiate the lateral positioning of the vehicle (10) on the ego lane (EG) at a stopping point (HL) of a traffic infrastructure.

6. Driver assistance system (100) according to one of claims 1 to 5, further comprising a communication module which is configured to communicate with at least one external vehicle (30) in a vehicle environment, wherein the control module (120) is further configured to control the communication module for a transmission of a request and / or instruction to the at least one external vehicle (30), wherein the request and / or instruction relates to a passing of the external means of transport (20) past the vehicle (10).

7. The driver assistance system (100) according to one of claims 1 to 6, wherein the control module (120) is configured to initiate the lateral positioning of the vehicle (10) by: controlling at least one output device for outputting at least one visual and / or acoustic driver instruction; and / or controlling at least one driver assistance function for automated driving.

8. Vehicle (10), in particular a motor vehicle, comprising the driver assistance system (100) according to one of claims 1 to 7.

9. A driver assistance method (600) for a vehicle (10), comprising: - detecting (610), by an environment detection module (HO), an external means of transport (20) moving towards the vehicle (10) from behind; and Initiating (620), by a control module (120), a lateral positioning of the vehicle (10) on the ego lane (EG) such that, depending on a potential free space for the external means of transport (20) next to the vehicle (10), a passing of the external means of transport (20) past the vehicle (10) is either possible or is blocked by the vehicle (10).

10. A storage medium comprising a software program configured to be executed on one or more processors and thereby to execute the driver assistance method (600) according to claim 9.

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