Method for carrying out a manoeuvre of a vehicle with requirements-based planning of the execution based on a potential collision, electronic vehicle guidance system, vehicle, computer program, control device etc.

Abstract

One aspect of the invention relates to a method for carrying out an at least semi-autonomous manoeuvre of a vehicle (1), comprising the following steps: - determining a travel trajectory (13) and / or a travel envelope (14) for the manoeuvre of the vehicle (1); - detecting the surroundings (11) of the vehicle (1), - evaluating the detected information to ascertain whether an at least movable or moving object (9) is present remotely from the travel trajectory (13) and / or remotely from the travel envelope (14); - if a movable or moving object (9) is present, analysing whether the object (9) will in the future cross the travel trajectory (13) and / or the travel envelope (14); and - planning a collision avoidance strategy for avoiding a collision between the vehicle (1) and the object (9) which can potentially occur in the future.

Description

[0001] Method for carrying out a maneuver of a vehicle with needs-based planning of the execution depending on a potential collision, electronic vehicle guidance system, vehicle, computer program, control unit, etc.

[0002] One aspect of the invention relates to a method for performing a maneuvering maneuver of a vehicle. Another aspect of the invention relates to a computer-implemented method for determining a collision avoidance strategy for a vehicle during a maneuvering maneuver. Further aspects of the invention relate to an electronic vehicle guidance system, a vehicle, a computer program, a computer-readable data storage medium, and a control unit.

[0003] At least semi-autonomous, and especially fully autonomous, maneuvering maneuvers are well known. For this purpose, a vehicle is equipped with an electronic vehicle guidance system that performs this maneuver. Shunting maneuvers, i.e., slow driving maneuvers, can include parking maneuvers or maneuvers negotiating narrow spaces.

[0004] It is known that these shunting maneuvers have a shunting trajectory, and that the vehicle drives along this shunting trajectory at least semi-autonomously, in particular fully autonomously.

[0005] From US 2019248414 A1 it is known that an obstacle can be located along this shunting trajectory and then a decision is made for the vehicle as to how the shunting maneuver should continue.

[0006] Such an approach therefore only considers those situations in which an obstacle occurs along the maneuvering trajectory. This limits the vehicle's options, and very often results in situations that lead to the abort of at least the semi-autonomous maneuver or to situations that require further very difficult driving maneuvers and / or require a considerable amount of time to resolve the resulting traffic situation.

[0007] It is an object of the present invention to provide a method, an electronic shunting system, a vehicle, a computer program, a computer-readable data carrier and a control device in which or with which a shunting maneuver can be planned and carried out in a more needs-based manner with regard to other road users.

[0008] This object is achieved by a method, an electronic vehicle guidance system, a vehicle, a computer program, a computer-readable data carrier, and a control device according to the independent claims.

[0009] One aspect of the invention relates to a method for performing an at least semi-autonomous, in particular fully autonomous, maneuvering maneuver of a vehicle. In particular, this method comprises the following steps:

[0010] In particular, determining a travel trajectory and / or a travel path for the maneuvering maneuver of the vehicle;

[0011] In particular, detecting the surroundings of the vehicle, in particular evaluating the detected information to determine whether there is an at least movable or moving object remote from the travel trajectory and / or remote from the travel path;

[0012] In particular, if a movable or moving object is present, analyzing whether the object will cross the travel trajectory and / or the travel path in the future; and

[0013] In particular, planning a collision avoidance strategy to avoid a future potential collision of the vehicle with the object.

[0014] This method is particularly advantageous for planning and executing specific slow driving maneuvers, namely at least semi-autonomous maneuvers, more accurately and on demand. This is because it intelligently and proactively checks whether an object in the surrounding area, which is currently outside the driving trajectory and / or the driving path, could collide with the vehicle or the ego vehicle during the maneuver. This essentially provides a proactive assessment of whether a collision or blocking of the path could occur. For this purpose, it is particularly advantageous to check whether this movable or currently moving object could cross the driving trajectory and / or the driving path during the maneuver.In this context, it is particularly advantageous that a collision avoidance strategy is planned prior to the start of the maneuvering maneuver and based on the estimated potential intersection of the driving trajectory and / or the driving path by this object. This makes it particularly advantageous to avoid situations which, as in the prior art, lead to the maneuver being unable to be continued once the maneuver has begun due to an object then being present in the area of ​​the maneuvering vehicle. Traffic situations that are no longer or only very difficult to resolve and those that have arisen can therefore be avoided significantly more effectively using the proposed method. This also saves time in resolving such traffic situations.

[0015] In particular, evaluation takes place before the shunting maneuver begins. Analysis and planning also preferably take place before the shunting maneuver begins.

[0016] In one embodiment, the current direction of movement and / or the current speed of the object are determined. Depending on this, it is determined whether a potential crossing of the travel trajectory and / or the travel path by the object occurs. In addition or instead of this, a future direction of movement and / or a future speed of the object is estimated, and depending on this, it is estimated whether a potential crossing of the travel trajectory and / or a potential crossing of the travel path by the object is occurring or could occur. In this context, it is possible for the current direction of movement and / or the current speed of this object to be detected by at least one detection unit of the vehicle. In addition or instead of this, it is also possible for related information to be transmitted to the vehicle by the object itself.It is also possible that this information is retrieved from a traffic control system on the vehicle and transmitted wirelessly to the vehicle.

[0017] By taking these parameters into account, a collision avoidance strategy can be planned more precisely and in more detail.

[0018] In one embodiment, the vehicle can detect the object with at least one detection unit. Based on this information, it can be assessed whether the object is fundamentally movable. This makes it possible to recognize whether the object is, for example, single-lane or multi-lane, i.e., whether it is a passenger car, a bicycle, a motorcycle, a scooter, or the like. Furthermore, this information can then also be used to assess whether the object is, for example, a pedestrian, an animal, or the like. This analysis alone is advantageous in determining whether planning a collision avoidance strategy is even necessary. If, for example, a permanently static object is detected outside the travel trajectory and / or outside the travel path, a collision with the vehicle during the maneuvering maneuver can be ruled out.Therefore, planning a collision avoidance strategy is not necessary in such cases.

[0019] Furthermore, it is particularly advantageous that the current state of movement of the object is detected if the object is recognized as a fundamentally movable object. If the object is currently stationary, it can be concluded, possibly for at least a specific period of time, that it will continue to remain stationary. Such analysis information can also advantageously contribute to the individual planning of a collision avoidance strategy. For example, planning can then be carried out in such a way that the shunting maneuver is started very promptly and a partial section of the shunting maneuver can already be completed before the currently stationary, but fundamentally movable object possibly moves further or is likely to move further.Since it is currently unknown where this object will move when it moves again and at what speed, in such a constellation at least the shunting maneuver can already be started.

[0020] In such constellations, it is particularly advantageous that an interaction of this object itself and / or an interaction of other objects with this currently stationary object is or are assessed. This is because if this movable object is currently stationary due to a traffic guidance system, for example a traffic light or a stop sign or the like, a time period can be estimated until when the movable object will move again. On the other hand, if an interaction is detected in which, for example, a flap of this object, if this is a vehicle, is open, such as a vehicle door or a hood or a trunk, it can be concluded that the stationary state of such an object, in this case another vehicle, will last even longer. This is particularly true if it is also detected that loading or unloading of this object is taking place.Signaling information, such as a turn signal or hazard warning light on an object configured as another vehicle, can also be evaluated and used as a basis for analyzing, in particular, the duration of this object's standstill. Based on this information, the duration of this object's standstill can then be estimated, and a collision avoidance strategy can be planned based on this. These examples are not intended to be exhaustive, but merely to illustrate which information about such an object can be provided and assessed in order to be able to decide, depending on this, whether a collision avoidance strategy needs to be planned at all, and if so, how it can be planned in a situation-dependent and needs-based manner.

[0021] In one embodiment, the analysis determines and / or estimates the point in time at which the object crosses the travel trajectory and / or the travel path. Such information is helpful in that the collision avoidance strategy can already assess whether the maneuvering maneuver can be started immediately or whether it should not be started at all. If the maneuvering maneuver can already be started, this information can also be used during the analysis to determine how far and / or up to which position the vehicle can already perform the maneuvering maneuver in at least one section.

[0022] In addition or instead, the analysis can be used to determine and / or estimate the location of the travel trajectory and / or the location of the travel path where the object will cross. This also provides information that supports the aforementioned options and the resulting advantages. In particular, this determination and / or estimation is carried out depending on the time at which the shunting maneuver is started or is to be started and / or depending on the type of shunting trajectory and / or depending on an estimated duration of shunting of the vehicle for at least one section of the travel trajectory. This more detailed information also enables diverse and very finely tuned planning of the collision avoidance strategy. With regard to the type of travel trajectory, this is characterized, for example, by the number of trains involved in the shunting maneuver.This means whether the shunting maneuver involves moving the vehicle in one direction or at least in two directions. In particular, the type of travel trajectory also includes its course. This means whether and, if so, how many straight sections of the travel trajectory and / or curved sections of the travel trajectory exist and in which direction. In particular, the type of travel trajectory also includes its length. In particular, the location of the travel trajectory and / or the travel path is known. This allows this travel trajectory and / or the travel path to be assigned to other areas in the surrounding area. In particular, this also enables improved analysis of the location and thus the sub-area of ​​the travel trajectory and / or the travel path where a collision with the movable or moving object can or will occur.

[0023] In one embodiment, this determination and / or estimation is carried out depending on the current position of the object. In addition to or instead of this, this determination and / or estimation is carried out depending on how many lanes a roadway on which the vehicle and / or the object are located has. In addition to or instead of this, the determination and / or estimation can be carried out depending on which lanes the vehicle and / or the object are located in. In addition to or instead of this, the determination and / or estimation can be carried out depending on which lane the travel trajectory and / or the travel path extend over, in particular at least partially into. This also enables an even more detailed analysis of the overall situation and, if necessary, further improves the planning of the collision avoidance strategy.

[0024] In one embodiment, at least one delay time is determined as the collision avoidance strategy, by which the start of the maneuvering maneuver is delayed. In addition to or instead of this, the collision avoidance strategy can determine when and / or where the vehicle stops as an intermediate stop along the travel trajectory if the maneuvering maneuver is started at a time at which it is determined that a collision could occur if no such intermediate stop of the vehicle were carried out during the maneuvering maneuver. It is precisely these parameters that characterize a collision avoidance strategy that allow for very flexible and diverse scenarios in order to be able to carry out a safe maneuvering maneuver, on the other hand to be able to avoid undesirable traffic situations and, depending on the current situation, to still be able to carry out the maneuvering maneuver efficiently and quickly.

[0025] In one embodiment, after determining that a collision is potentially possible, the object is observed at least at discrete time intervals, in particular continuously. This can be done, for example, using at least one detection unit of the vehicle. In particular, relevant information is provided and evaluated. It is also possible for such information observing the object to be transmitted from a traffic control system to the vehicle. In addition to or instead of this, corresponding information can also be transmitted to the ego vehicle, for example, from another vehicle that is neither the ego vehicle nor the object.

[0026] This means that a change in the state of the object can be detected dynamically in a very needs-based manner and taken into account when planning the collision avoidance strategy. In one embodiment, depending on influencing criteria, the collision strategy can be adapted at least once if necessary, in particular adapted dynamically. Influencing criteria can be one or more of the concrete parameters mentioned above. It is also particularly advantageous that, when a movable or moving object is detected and this object potentially crosses the travel trajectory and / or the travel path in the future, a check is also carried out when planning the collision avoidance strategy to determine whether the maneuvering maneuver can be started and whether at least a partial section of the maneuvering maneuver can already be driven through, in particular whether the vehicle should stop temporarily after driving through the partial section.

[0027] A further aspect of the invention relates to a method, in particular a computer-implemented method, for determining a collision avoidance strategy for a vehicle during a maneuver. In particular, this method comprises the following steps:

[0028] In particular, providing a travel trajectory and / or a travel path for the maneuvering maneuver of the vehicle to a computing unit;

[0029] Providing environmental information of the surroundings of the vehicle to the computing unit, in particular evaluating the recorded information by the computing unit to determine whether an at least movable or moving object is present at a distance from the travel trajectory and / or at a distance from the travel path;

[0030] In particular, if a movable or moving object is present, the computing unit analyses whether the object will cross the travel trajectory and / or the travel path in the future; and

[0031] In particular, planning a collision avoidance strategy to avoid a collision between the vehicle and the object using the computing unit. This advantageously enables the computing unit to generate very specific output information, namely such a defined and situation-adapted collision avoidance strategy, using information that is specific and characteristic for planning a collision avoidance strategy.

[0032] In advantageous embodiments, the embodiments of the above-mentioned first aspect relating to the method can also be advantageous embodiments of the computer-implemented method. In this context, the specifically mentioned information is provided to the computing unit to be taken into account when planning the collision avoidance strategy.

[0033] Not only in this context, providing means receiving information by the processing unit, for example. It is also possible that providing means the processing unit itself retrieves the relevant information, for example, from one or more memories. Thus, this information is only provided to the processing unit in such units, such as memories.

[0034] In particular, the method for performing the driving maneuver provides that a control unit of the vehicle is configured to generate control signals for at least one functional unit of a vehicle, depending on information, in particular the at least one detour trajectory and / or the at least one approach trajectory, in order to drive through the subsection. In particular, these control signals are generated by the control unit. The computing unit can be a component of the vehicle. However, it can also be arranged externally. For example, it can be located in a data center or in another vehicle.

[0035] The driving maneuver is, in particular, a maneuvering maneuver. In particular, this means that the vehicle's speed is less than or equal to 40 km / h, in particular less than or equal to 30 km / h, over the entire distance of the maneuver. A functional unit can be a vehicle's braking system, a vehicle's steering system, a vehicle's assistance system, a vehicle's drive system, etc.

[0036] A further aspect of the invention relates to an electronic vehicle guidance system with at least one computing unit and at least one detection unit. The vehicle guidance system is designed to carry out a method according to the above-mentioned aspect or an advantageous embodiment thereof. In particular, this method is carried out with the electronic vehicle guidance system.

[0037] A detection unit can be, for example, a camera, a lidar sensor, a radar sensor, an ultrasonic sensor, or the like. The detection unit can be a vehicle-mounted detection unit.

[0038] A further aspect of the invention relates to a vehicle with such an electronic vehicle guidance system. The vehicle may be a motor vehicle. It may, for example, be a passenger car or a truck.

[0039] A further aspect of the invention relates to a computer program or a computer program product, comprising instructions which, when the program is executed by a computer, such as a computing unit, cause the computer to carry out the method according to an above-mentioned aspect or an advantageous embodiment, in particular in at least partial steps thereof.

[0040] A further aspect of the invention relates to a control device for a vehicle, which is configured to generate control signals for at least one functional unit of a vehicle depending on information generated by a method according to the above-mentioned aspect or an advantageous embodiment thereof, in order to carry out the method at least along the travel trajectory.

[0041] Embodiments of the invention are explained in more detail below with reference to a schematic drawing.

[0042] The single figure shows a schematic plan view of a traffic situation in which an embodiment of a vehicle according to the invention with an embodiment of an electronic vehicle guidance system according to the invention, in particular an electronic shunting system, is shown.

[0043] Fig. 1 shows a schematic representation of a vehicle 1. This can also be referred to as an ego vehicle. The vehicle 1 has an electronic vehicle guidance system 2. This is configured to carry out and control maneuvers of the vehicle 1 at least semi-autonomously, in particular fully autonomously. In the exemplary embodiment, the vehicle 1 has at least one computing unit 3. However, in another exemplary embodiment, the computing unit 3 can also be arranged externally to the vehicle 1. For example, the computing unit 3 can then also be arranged in a data center. This computing unit 3 can then also be part of a traffic control system.

[0044] The vehicle 1 preferably also has an environment detection system 4. This environment detection system 4 has at least one detection unit 4a. This detection unit 4a or this detection device can be, for example, a camera and / or an ultrasonic sensor and / or a lidar sensor and / or a radar sensor or the like.

[0045] Furthermore, the vehicle 1 has a control unit 5. The control unit 5 is configured, in particular, to generate control signals for at least one functional unit of the vehicle 1 in order to carry out the method during the maneuvering maneuver, in particular at least semi-autonomously, preferably fully autonomously.

[0046] The maneuvering maneuver can be a parking maneuver, as further explained in the exemplary embodiment shown in Fig. 1. However, it is also possible for the maneuvering maneuver to be a maneuver to navigate a narrow passage. For example, this could be the case when driving through a city gate or other narrow roadway. Other maneuvers are also possible.

[0047] The vehicle 1 may have a computer program and / or a computer-readable data carrier.

[0048] In the exemplary embodiment, vehicle 1 is located on a roadway 6. Roadway 6 has a first lane 7. Vehicle 1 is located on this lane 7. In addition, roadway 6 has a further lane 8. In the exemplary embodiment, an object 9 is located in the vicinity of vehicle 1. Object 9 here is another vehicle 10. This further vehicle 10 is located in lane 8. This vehicle 10 is oriented in the direction of vehicle 1, i.e. with one front facing vehicle 1. In the exemplary embodiment, object 9 is a movable object. If vehicle 10 is currently moving, it is also currently an actually moving object.

[0049] The exemplary embodiment shows a traffic situation with an environment 11 that represents a parking area. In the exemplary embodiment, this parking area is configured with several parking zones, each of which is intended for parking a vehicle. In the exemplary embodiment, one parking zone 12 is free. The vehicle 1 wishes to park in this parking zone 12 by means of a maneuvering maneuver specified as a parking maneuver. In the situation shown, the vehicle 1 is, in particular, stationary. A linear driving trajectory 13 is defined as a maneuvering trajectory, which in this case is a parking trajectory. The parking trajectory is a two-move driving maneuver. In addition, a driving path 14 is defined, which represents the strip of land on which the vehicle 1 is located when it travels along the driving trajectory 13.As can be seen, the driving trajectory 13 and the driving tube 14 are designed and positioned so that it lies on both the lane 7 and the further lane 8.

[0050] As can also be seen in Fig. 1, the object 9, which here is the further vehicle 10, is located outside the driving path 14 and away from the driving trajectory 13.

[0051] In particular, the computing unit 3 can be used to perform a computer-implemented method to determine a collision avoidance strategy to prevent a collision of the vehicle 1 with the object 9. In particular, the following steps are carried out:

[0052] Providing the travel trajectory 13 and / or the travel path 14 for the maneuvering maneuver of the vehicle 1 to the computing unit 3;

[0053] Providing environmental information of the environment 11 of the vehicle 1 to the computing unit 3,

[0054] Evaluation of the recorded information by the computing unit 3 to determine whether an at least movable or moving object 9 is present at a distance from the travel trajectory 13 and / or at a distance from the travel path 14;

[0055] If a movable or moving object 9 is present, the computing unit 3 analyzes whether the object 9 will cross the travel trajectory 13 and / or the travel path 14 in the future; and plans a collision avoidance strategy to avoid a collision of the vehicle 1 with the object 9 with the computing unit 3.

[0056] This makes it possible for this computing unit 3 to determine a collision avoidance strategy adapted to the situation if necessary.

[0057] When performing a maneuvering maneuver of the vehicle 1, in one embodiment, in addition to determining the travel trajectory 13 and / or the travel path 14, a detection of the surroundings 11 is carried out, in particular with at least one detection unit 4a. This detected information is evaluated to determine whether at least one movable or currently moving object 9, here the vehicle 10, is present at a distance from the travel trajectory 13 and / or the travel path 14. In the exemplary embodiment, this is provided by this vehicle 10. Therefore, in such a constellation, it is analyzed whether this object 9, here the vehicle 10, will cross the travel trajectory 13 and / or the travel path 14 in the future. If this is the case, as will or could occur in the present example according to Fig. 1, a collision avoidance strategy is planned for the vehicle 1.

[0058] To assess whether such a collision can or will occur in the future, for example, the current orientation of the vehicle 10 and / or a direction of movement and / or the current speed of the vehicle 10 are detected and determined. In addition or instead, a future direction of movement and / or a future speed of the object 9 can be estimated.

[0059] During this analysis, it is particularly determined and / or estimated at what point in time this object 9 will or could cross the travel trajectory 13 and / or the travel path 14. In addition or instead of this, during the analysis it is determined and / or estimated at which position or at which point in the travel trajectory 13 and / or at which point in the travel path 14 the object 9, here the vehicle 10, will or could cross. In addition or instead of this, it can be provided that this determination and / or estimation is carried out depending on a point in time at which the maneuvering maneuver is started and / or depending on a type of travel trajectory 13 and / or independently of a type of travel path 14 and / or depending on an estimated duration of maneuvering of the vehicle 1 for at least a partial section of the travel trajectory 13. Due to the information shown in Fig.1, it can therefore be determined or estimated that the vehicle 10 will or could cross the travel trajectory 13 and / or the travel path 14 only in the area that extends into the lane 8. This dashed area 15 therefore signals a critical zone of the travel path 14 and / or a critical section of the travel trajectory 13.

[0060] Due to this specific constellation in Fig. 1, when planning the collision avoidance strategy, it can be determined if necessary that the maneuvering maneuver can generally be started and thus the start does not have to be delayed by a specific delay time. Rather, it can be determined here that vehicle 1 can already perform the maneuver over a partial section or until the travel trajectory 13 and the travel path 14 branch off from lane 7 to lane 8. Therefore, in such a constellation, if a potential collision of the additional vehicle 10 is detected, the vehicle 1 can at least be moved to this aforementioned intermediate stop and stopped there until the additional vehicle 10 in the additional lane 8 has crossed this area 15 and has already left it again.Once this has been done and recognized accordingly, which can be communicated to vehicle 1, for example, by this environmental control system 4 and / or by information from other vehicles and / or by information from the traffic control system, the intermediate stop can be ended and vehicle 1 can continue the maneuvering maneuver and then enter area 15.

[0061] In particular, if at least one such intermediate stop is required and / or carried out during a commenced shunting maneuver due to a detected potential collision, in one exemplary embodiment the method explained can be carried out or repeated again during the intermediate stop and / or immediately before the end of the intermediate stop. This means that a reassessment of the surrounding situation can then be carried out depending on the location of the intermediate stop and / or the duration of the intermediate stop. The assessment of the surroundings can, for example, also take place continuously throughout the entire maneuver. This can be done to determine whether there is another object behind object 9 that is detected as a movable or moving object.In addition, or instead of this, it can also be detected whether, for example, yet another object is recognized as movable, here for example movable objects 16, 17, 18 designed as vehicles, and this object is set in motion or will be set in motion in the foreseeable future. These objects 16, 17, 18 are, for example, those that are positioned immediately adjacent to the free parking zone 12, are parked here, or are parked directly opposite. For example, it can then be evaluated here whether a user has entered one of these objects 16 to 18 and / or whether a drive unit of such an object 16 to 18 designed as a vehicle has already been started and / or whether lighting devices such as a headlight or a rear headlight or a reversing light or the like are activated.These scenarios are also intended only as examples and are intended to illustrate which timeliness checks may be advantageous during the stopover and / or before the end of the stopover. Even in such situations, repeating the procedure explained above may require a new assessment of the situation and a new analysis to determine whether the shunting maneuver can be continued and, if necessary, on what basis a further collision avoidance strategy is or must be planned and / or adapted.

[0062] In particular, it is provided that, in such a collision avoidance strategy, the type and / or position and / or length of the travel trajectory 13 and / or the travel path 14 are not changed. Thus, in one exemplary embodiment, the maneuvering maneuver as such is not to be changed with regard to direction, length, and location. Thus, the method also provides, in particular, that in the event of a potential collision, the maneuvering maneuver with its travel trajectory 13 and its travel path 14 is not to be changed, but rather, it is to remain unchanged as intended.Only the driving behavior of the vehicle 1 along this specific and unchanged driving trajectory 13 and / or the driving path 14 is adapted by this collision avoidance strategy, in particular in comparison to when no potential collision occurs with a potentially movable or moving object currently located outside the driving path 14 and / or remote from the driving trajectory 13.

[0063] As shown in Fig. 1, this scenario is particularly advantageous in a parking area, such as a parking garage. In this context, it is also possible for vehicle 1 to be driven to the position shown in Fig. 1 in an automated, in particular semi-autonomous or fully autonomous manner. Thus, vehicle 1 is moved at least semi-autonomously, in particular fully autonomously, even before reaching the starting position of the maneuvering maneuver and thus up to the starting point of the travel trajectory 13.

Claims

Patent claims 1 . Method for performing an at least semi-autonomous maneuver of a vehicle (1), comprising the following steps: Determining a travel trajectory (13) and / or a travel path (14) for the maneuvering maneuver of the vehicle (1); Detecting the surroundings (11) of the vehicle (1), Evaluating the acquired information to determine whether an at least movable or moving object (9) is present at a distance from the travel trajectory (13) and / or at a distance from the travel path (14); If a movable or moving object (9) is present, analyzing whether the object (9) will cross the travel trajectory (13) and / or the travel path (14) in the future; and Planning a collision avoidance strategy to avoid a future potential collision of the vehicle (1) with the object (9).

2. Method according to claim 1, wherein the current direction of movement and / or the current speed of the object (9) is determined and is determined depending on whether a potential crossing of the travel trajectory (13) and / or the travel path (14) by the object (9) occurs or could occur.

3. The method according to claim 1 or 2, wherein a future direction of movement and / or a future speed of the object (9) is estimated and is estimated depending on whether a future potential crossing of the travel trajectory (13) and / or the travel path (14) by the object (9) occurs or could occur.

4. Method according to one of the preceding claims, wherein during the analysis it is determined and / or estimated at which point in time the object (9) crosses the travel trajectory (13) and / or the travel tube (14) and / or during the analysis it is determined and / or estimated at which point in the travel trajectory (13) and / or at which point in the travel tube (14) the object (9) crosses.

5. Method according to claim 4, wherein this determining and / or estimating is dependent on a time when the maneuvering maneuver is or is to be started and / or dependent on a type of travel trajectory (13) and / or a type of travel path (14), and / or dependent on an estimated duration of maneuvering of the vehicle (1) for at least a section of the travel trajectory (13) is carried out.

6. The method according to claim 4 or 5, wherein this determining and / or estimating takes place as a function of the at least current position of the object (9) and / or as a function of how many lanes (7, 8) a roadway (6) has on which the vehicle (1) and / or the object (9) are located, and / or on which lanes (7, 8) the vehicle (1) and / or the object (9) are located and / or over which lane (7, 8) the travel trajectory (13) and / or the travel path (14) extend.

7. Method according to one of the preceding claims, wherein a delay time is determined as the collision avoidance strategy, with which the start of the maneuvering maneuver is delayed and / or the collision avoidance strategy is determined as to when and / or where the vehicle (1) stops as an intermediate stop along the travel trajectory (13) if the maneuvering maneuver is started at a time at which it is determined that a collision could occur if no such intermediate stop of the vehicle (1) were to be carried out.

8. Method according to one of the preceding claims, wherein after determining that a collision can potentially occur, the object (9) is observed at least at discrete time intervals, in particular continuously, and in particular information in this regard is provided and evaluated.

9. Method according to one of the preceding claims, wherein, depending on influencing criteria, the collision avoidance strategy is adapted at least once if necessary, in particular is adapted dynamically.

10. Method, in particular computer-implemented method, for determining a collision avoidance strategy for a vehicle (1) during a shunting maneuver, comprising the following steps: Providing a travel trajectory (13) and / or a travel path (14) for the maneuvering maneuver of the vehicle (1) to a computing unit (3); Providing environmental information of the environment (11) of the vehicle (1) to the computing unit (3), Evaluation of the acquired information by the computing unit (3) to determine whether an at least movable or moving object (9) is present at a distance from the travel trajectory (13) and / or at a distance from the travel path (14); If a movable or moving object (9) is present, analyzing by the computing unit (3) whether the object (9) will cross the travel trajectory (13) and / or the travel path (14) in the future; and Planning a collision avoidance strategy to avoid a collision of the vehicle (1) with the object (9) with the computing unit (3).

11. Electronic vehicle guidance system (2) with at least one computing unit (3) and with at least one detection unit (4, 4a), wherein the vehicle guidance system (2) is designed to carry out a method according to one of the preceding claims.

12. Vehicle (1) with a vehicle guidance system (2) according to claim 11.

13. A computer program comprising instructions which, when executed by a computer, cause the computer to carry out the method according to claim 10.

14. A computer-readable data carrier on which the computer program according to claim 13 is stored.

15. Control unit (4) for a vehicle (1), which is designed to generate control signals for at least one functional unit depending on information generated by a method according to one of the preceding claims 1 to 10 of a vehicle (1) in order to carry out the driving during the shunting maneuver.

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