Method and driver assistance device for adapting the driving speed during a manoeuvre

Abstract

The invention relates to a driver assistance device for automated manoeuvring, the driver assistance device comprising at least one function for adapting the driving speed of a motor vehicle during travel along a driving trajectory. The driver assistance device is designed to automatically guide the motor vehicle longitudinally along the driving trajectory at a standard speed, and to temporarily reduce the driving speed from the standard speed to a reduced driving speed at a particular intermediate position on the driving trajectory. The driver assistance device is also designed to determine whether an obstacle situation, in which an obstacle is located in or adjacent to the driving corridor ahead of the motor vehicle, follows the particular intermediate position on the driving trajectory, and, if it is determined that an obstacle situation follows the particular intermediate position, to ensure that the motor vehicle, as it continues to travel along the driving trajectory, is guided further towards the obstacle situation, and that the motor vehicle is not re-accelerated to the standard speed.

Description

[0001] Method and driver assistance device for adapting the

[0002] Driving speed during a shunting maneuver

[0003] The invention relates to a method and a corresponding driver assistance device designed to automatically adjust the driving speed of a vehicle when performing a shunting maneuver.

[0004] A vehicle can have a driver assistance device that is designed to automatically guide the vehicle longitudinally and / or transversely during a maneuvering maneuver. For example, the vehicle can be automatically parked in a parking space (by a parking assistant). Alternatively or additionally, the vehicle can be automatically guided longitudinally and / or transversely along a previously recorded and / or calculated driving trajectory (by a replay function), e.g., to park the vehicle in a garage. During the maneuvering maneuver, the longitudinal guidance of the vehicle can be automated by the driver assistance device. On the one hand, the vehicle should have the highest possible driving speed in order to shorten the duration of the maneuvering maneuver. On the other hand, an excessive driving speed can be prevented by the user, in particular by the driver and / or another user (e.g.,, by a user located in the immediate vicinity of the vehicle, for example in the case of a vehicle operated in accordance with SAE Level 4), the vehicle may be perceived as unpleasant.

[0005] This document deals with the technical task of achieving the most comfortable and rapid automated maneuvering of a vehicle possible.

[0006] The problem is solved by each of the independent claims. Advantageous embodiments are described, among other things, in the dependent claims. It should be noted that additional features of a patent claim dependent on an independent patent claim can form a separate invention, independent of the combination of all features of the independent patent claim, without the features of the independent patent claim or only in combination with a subset of the features of the independent patent claim, which invention can be made the subject of an independent claim, a divisional application, or a subsequent application. This applies equally to technical teachings described in the description, which can form an invention independent of the features of the independent patent claims.

[0007] According to one aspect, a driver assistance device for automated maneuvering is described, having at least one function for adjusting the driving speed of a motor vehicle during a journey (with automated longitudinal and / or lateral guidance) along a travel trajectory. The travel trajectory can extend from an initial position to an end position, wherein the end position can be located in a parking space, in particular a parking space, for the motor vehicle. The driver assistance device can thus be configured to perform a maneuvering maneuver, in particular a parking maneuver, of the motor vehicle (with automated longitudinal and / or lateral guidance).

[0008] The driver assistance device can be configured to determine the driving trajectory based on sensor data from one or more environmental sensors (e.g., one or more cameras, one or more radar sensors, one or more lidar sensors, and / or one or more ultrasonic sensors) of the motor vehicle. Alternatively or additionally, the driving trajectory can be determined based on trajectory data for a trajectory recorded during a previous first trip. The maneuvering maneuver can be a one-time maneuver or a repetition of a previously recorded maneuver.

[0009] The driver assistance device is configured to automatically guide the motor vehicle longitudinally along the travel trajectory at a standard speed. If necessary, the lateral guidance of the motor vehicle can also be automated. The standard speed can be used if and / or as long as the motor vehicle, while traveling along the travel trajectory, has a sufficiently large (lateral) distance from one or more objects located adjacent to the travel trajectory (outside the travel path of the motor vehicle). Alternatively or additionally, the standard speed can be used if and / or as long as the travel trajectory has a curvature that is equal to or less than a specific curvature threshold. The standard speed can alternatively be referred to as the initial speed.The standard speed can generally be the speed that the motor vehicle has before reaching a certain intermediate position of the travel trajectory, at which (e.g. due to an object and / or due to an increased curvature), the driving speed is reduced in order to ensure a safe and comfortable automated passing of the certain intermediate position.

[0010] The driver assistance device can be configured to detect one or more intermediate positions of the travel trajectory during travel along the travel trajectory, at each of which the driving speed of the motor vehicle is to be reduced (to pass one or more objects and / or to pass a passage of the travel trajectory with a relatively large curvature). The driver assistance device can, for example, be configured to detect (based on the sensor data of the one or more environmental sensors) an object arranged adjacent to the travel trajectory, in particular an object that has a lateral distance from the travel trajectory and / or from the travel path of the motor vehicle that is equal to or smaller than a (predefined) lateral distance threshold.Furthermore, the driver assistance device can be configured to determine an intermediate position of the travel trajectory at which the detected object is located (and at which the driving speed of the motor vehicle is to be reduced). In other words, the driver assistance device can be configured to determine an intermediate position of the travel trajectory based on the detected object, in particular based on the position of the detected object.

[0011] Alternatively or additionally, the driver assistance device can be configured to determine an intermediate position of the travel trajectory at which the travel trajectory has a curvature that is equal to or greater than a specific curvature threshold. The driver assistance device can, in particular, be configured to identify a section of the travel trajectory in which the travel trajectory has a curvature that is equal to or greater than the curvature threshold. The intermediate position of the travel trajectory can then be determined depending on the identified section of the travel trajectory. Accordingly, one or more intermediate positions along the travel trajectory can be detected, at each of which the driving speed of the motor vehicle is to be reduced (due to an object and / or due to the curvature of the travel trajectory).

[0012] The driver assistance device can further be configured to temporarily reduce the driving speed of the motor vehicle from the standard speed to a reduced driving speed at the one or more detected intermediate positions of the driving trajectory, in each case for passing the respective intermediate position, and (in a standard case), in particular after passing the respective intermediate position (for example, after passing the respective object and / or after passing the respectively identified section with increased curvature), to increase it back to the standard speed. The reduced speed can, for example, be 10% or more below the standard speed.

[0013] By temporarily reducing the driving speed to pass one or more objects and / or to pass a relatively sharply curved section or portion of the driving trajectory, a shunting maneuver can be carried out that offers an optimized compromise between safety, speed and comfort.

[0014] In a corresponding manner, at a specific intermediate position of the travel trajectory, the driving speed can also be temporarily reduced from the standard speed to the reduced driving speed, in particular for passing the specific intermediate position (e.g. for passing the respective object and / or for passing the respective section of the travel trajectory). The specific intermediate position can be any of the one or more detected intermediate positions. The driver assistance device is configured to determine (based on the sensor data of the one or more environmental sensors) whether the specific intermediate position of the travel trajectory is (immediately) followed by an obstacle situation in which an obstacle is located in or on the preceding travel path of the motor vehicle, in particular within the preceding travel path. The obstacle situation can be located at the end position of the travel trajectory.In particular, the obstacle can be located behind the parking space and / or behind the final position for the motor vehicle in the direction of travel of the motor vehicle. It can be detected (based on the sensor data from one or more environmental sensors) that there is no further intermediate position between the determined intermediate position and the (possible) obstacle situation (at which the driving speed must be reduced (due to an object and / or due to the curvature of the driving trajectory).

[0015] The driver assistance device can be configured to check (based on the sensor data from the one or more environmental sensors) whether one or more situational conditions are met. The one or more situational conditions can include a condition such that an obstacle is located in or on the travel path of the vehicle, in particular within the travel path, on the travel trajectory or in the direction of travel behind the end position of the travel trajectory. It can be determined that an obstacle situation exists if the one or more situational conditions are met.

[0016] The one or more situational conditions (required for an obstacle situation to be detected) may include a condition that the obstacle is located at a temporal and / or distance-related distance along the travel trajectory that is equal to or less than a predefined distance threshold. The temporal and / or distance-related distance can be considered based on the determined intermediate position and / or based on the respective current position of the motor vehicle.

[0017] The driver assistance device can be configured to check at a decision position along the travel trajectory whether an obstacle situation follows the specific intermediate position of the travel trajectory. The decision position can correspond to the specific intermediate position. Alternatively, the decision position can be located downstream of the specific intermediate position along the travel trajectory. For example, the decision position can be the position on the travel trajectory at which (after passing the respective object and / or the respective section with increased curvature) the motor vehicle typically accelerates again from the reduced speed.

[0018] The one or more situation conditions may include a condition that the obstacle is located at a temporal and / or distance-related distance along the travel trajectory from the decision position that is equal to or less than the predefined distance threshold.

[0019] It can therefore be a prerequisite for the existence of an obstacle situation that the obstacle is located relatively close behind the specific intermediate position along the direction of travel.

[0020] The obstacle of the obstacle situation can be arranged at a distance, e.g. from the specific intermediate position or from the decision position, which is so high that, in particular after passing the specific intermediate position (e.g. after passing the respective object and / or the respective identified section), an acceleration of the motor vehicle to the standard speed would still be possible (without causing a collision of the motor vehicle with the obstacle and / or without causing an automated emergency braking of the motor vehicle).

[0021] Alternatively or additionally, the obstacle in the obstacle situation can be located so far along the travel trajectory (from the specified intermediate position, from the decision position, and / or from the position of the motor vehicle) that the motor vehicle can accelerate to the standard speed after passing the specified intermediate position (in particular after passing the respective object and / or the respective identified section) and then decelerate to a standstill before reaching the obstacle without triggering automated emergency braking of the motor vehicle. Thus, safe acceleration up to the standard speed is fundamentally possible.

[0022] Alternatively or additionally, the one or more situational conditions (required for an obstacle situation to be detected) may include a condition that the obstacle is visible (e.g., starting from the specific intermediate position and / or starting from the decision position and / or starting from the position of the motor vehicle), in particular visible to the driver of the motor vehicle. This can be detected based on the sensor data from one or more environmental sensors of the motor vehicle. Thus, a prerequisite for the existence of an obstacle situation may be that the obstacle is visible to the driver starting from the specific intermediate position.

[0023] It can thus be checked whether the specific intermediate position (at which the driving speed of the motor vehicle is reduced, in particular to pass the specific intermediate position) is directly followed by an obstacle situation which could lead to the user, in particular the driver, of the motor vehicle being unsettled due to (excessive) acceleration of the motor vehicle after passing the specific intermediate position. If it is determined that an obstacle situation follows the specific intermediate position, the driver assistance device is further configured to cause the motor vehicle, in particular after passing the specific intermediate position, to be guided further along the travel trajectory towards the obstacle situation or the obstacle, and in doing so the motor vehicle is not accelerated back to the standard speed and / or back to the standard speed when continuing to drive.In particular, it can be arranged that the motor vehicle, particularly after passing the specific intermediate position, continues driving (permanently) along the travel trajectory at the reduced speed (used to pass the specific intermediate position) toward the obstacle situation or the obstacle, and / or that the motor vehicle is not accelerated again until the obstacle situation or the obstacle is reached. Furthermore, it can be arranged that the vehicle automatically comes to a stop before the obstacle situation, particularly before the obstacle.

[0024] The driver assistance device can further be configured, if it is determined that no obstacle situation follows the specific intermediate position, to cause the motor vehicle to be guided further along the travel trajectory, in particular after passing the specific intermediate position (for example after passing the respective object and / or the respective identified section), and in the process the motor vehicle is accelerated back to or back to the standard speed.

[0025] A driver assistance device is thus described which is designed to carry out a maneuvering maneuver of the motor vehicle and, in doing so, to at least automatically effect the longitudinal guidance of the motor vehicle. The longitudinal speed of the motor vehicle can be set to a standard speed, wherein a temporary reduction in the driving speed can be effected in order to pass one or more objects and / or to pass one or more sub-areas or sections of the driving trajectory with a relatively high curvature. The acceleration of the motor vehicle after passing an object and / or a sub-area orA section with a relatively steep curvature can be prevented or at least reduced if a relatively close obstacle is detected ahead (but still sufficiently far away to allow safe acceleration to the standard speed). This reliably prevents the driver from becoming unsettled by (excessive) acceleration of the vehicle toward an obstacle. As a result, the comfort of the automated maneuvering process can be increased.

[0026] The driver assistance device can be configured to determine one or more properties of the obstacle situation. The one or more properties can include the distance of the obstacle (along the travel trajectory), such as the distance of the obstacle from the determined intermediate position and / or from the decision position and / or from the motor vehicle, and / or a property, in particular the size and / or type (e.g., pedestrian, vehicle, wall, etc.) of the obstacle.

[0027] A situational speed can be determined depending on one or more properties. The situational speed is typically lower than the standard speed. Furthermore, the situational speed is typically equal to or greater than the reduced speed of the motor vehicle at the specific intermediate position.

[0028] If it is determined that an obstacle situation exists subsequent to the determined intermediate position, the driver assistance device can be configured to cause the motor vehicle, in particular after passing the determined intermediate position, to continue driving along the travel trajectory at the situation speed toward the obstacle situation and / or the obstacle. This can cause the motor vehicle to accelerate from the reduced speed to the situation speed.

[0029] By determining a situational speed for approaching an obstacle in or on the driving path ahead, in particular within the driving path ahead, of the motor vehicle, a particularly comfortable and rapid execution of a manoeuvre can be achieved.

[0030] The user, in particular the driver, of the motor vehicle can be enabled to activate or deactivate the consideration of an obstacle situation when performing a maneuver (e.g., via a user setting). If consideration of an obstacle situation is activated, the acceleration of the motor vehicle after passing a certain intermediate position can be reduced or avoided upon detection of an obstacle situation (as described). If, on the other hand, consideration of an obstacle situation is deactivated, the vehicle can be accelerated to the standard speed after passing a certain intermediate position, even if an obstacle situation exists.

[0031] In other words, the driver assistance device can be configured to determine (e.g., based on a user setting) whether or not a detected obstacle situation should be taken into account when traveling along the travel trajectory. Furthermore, the driver assistance device can be configured to cause the motor vehicle, for example after passing the specific intermediate position, to be guided further along the travel trajectory toward the obstacle situation and / or toward the obstacle (and to be automatically decelerated to a standstill before reaching the obstacle), and in doing so, the motor vehicle is not accelerated back to the standard speed or not back to the standard speed if it is determined that a detected obstacle situation should be taken into account when traveling along the travel trajectory.On the other hand, the driver assistance device can be configured to cause the motor vehicle, in particular after passing the specific intermediate position, to be guided further along the travel trajectory towards the obstacle situation or towards the obstacle (and to be automatically decelerated to a standstill before reaching the obstacle), and in the process the motor vehicle is accelerated back up to the standard speed or back up to the standard speed if it is determined that a detected obstacle situation should not be taken into account when traveling along the travel trajectory.

[0032] In this way, the execution of a shunting maneuver can be adapted to different types of vehicle users in order to further increase comfort.

[0033] According to a further aspect, a further driver assistance device for automated maneuvering is described, having at least one function for adjusting the driving speed of a motor vehicle when traveling along a travel trajectory toward a target position (in particular toward an end position of the travel trajectory). The features described with reference to a driver assistance device are also applicable to this driver assistance device, individually or in combination.

[0034] The driver assistance device is configured to automatically guide the motor vehicle longitudinally along the travel trajectory at a standard speed. Furthermore, the driver assistance device is configured to temporarily reduce the driving speed from the standard speed to a reduced driving speed at a specific intermediate position of the travel trajectory, in particular for passing the specific intermediate position. The specific intermediate position can be determined based on an object located along the travel trajectory and / or based on a section of the travel trajectory with increased curvature.

[0035] The driver assistance device is further configured to determine route information relating to the remaining distance (e.g., from the determined intermediate position or from a decision position or from the current position of the motor vehicle) to the target position of the travel trajectory. The route information may, in particular, indicate the length of the remaining distance. The route information may be determined based on the travel trajectory.

[0036] The driving speed of the motor vehicle after passing the specified intermediate position can be increased again to the standard speed or not increased again to the standard speed (for automated onward travel to the destination position) depending on the route information.

[0037] The driver assistance device can in particular be configured to increase the driving speed of the motor vehicle after passing the specific intermediate position (for automated onward travel to the target position) back to or back to the standard speed if the remaining distance (e.g. from the specific intermediate position or from the decision position or from the current position of the motor vehicle) to the target position of the travel trajectory is the same as or longer than a predefined distance threshold value. Alternatively or additionally, the driver assistance device can be configured not to increase the driving speed of the motor vehicle after passing the specific intermediate position (for automated onward travel to the target position) back to or back to the standard speed.not to increase back to the standard speed and in particular to maintain the reduced driving speed until reaching the target position (apart from the deceleration to stop at the target position) if the remaining driving distance (e.g. from the determined intermediate position or from the decision position or from the current position of the motor vehicle) to the target position of the driving trajectory is shorter than the predefined driving distance threshold.

[0038] The driver assistance device can, for example, be configured to increase the driving speed of the motor vehicle after passing the specified intermediate position (for automated onward travel to the target position) to a first speed, without exceeding the first speed until the target position is reached. The driving speed of the motor vehicle can thus be limited to a first speed for the onward travel to the target position. The first speed can be between the reduced speed and the standard speed.

[0039] The driver assistance device can be configured to determine the first driving speed as a function of the driving route information, in particular such that the first driving speed increases with increasing remaining driving distance (ie with increasing length of the remaining driving distance) up to the target position of the driving trajectory (and vice versa).

[0040] The increase in the vehicle's speed after passing an intermediate position can thus be prevented or at least limited depending on the remaining distance. This can increase the convenience of automated maneuvering.

[0041] According to a further aspect, a (road) motor vehicle (in particular a passenger car or a truck or a bus or a motorcycle) is described which comprises one or more of the (driver assistance) devices described in this document. According to a further aspect, a method for adapting the driving speed of a motor vehicle when driving (with automated longitudinal and / or lateral guidance) along a driving trajectory is described. The method comprises the automated longitudinal guidance of the motor vehicle at a standard speed along the driving trajectory, and the reduction, at a specific intermediate position of the driving trajectory, of the driving speed in order to pass the specific intermediate position (e.g. in order to pass an object and / or a partial area ora section of the travel trajectory with a relatively high curvature) temporarily from the standard speed to a reduced travel speed (where the reduced travel speed is, for example, 10% or more below the standard speed).

[0042] The method further comprises determining whether the specific intermediate position of the travel trajectory is (directly) followed by an obstacle situation in which an obstacle is located in or on the preceding travel path, in particular within the preceding travel path, of the motor vehicle. Furthermore, the method comprises causing, if it is determined that the specific intermediate position is followed by an obstacle situation, that the motor vehicle, after passing the specific intermediate position, is guided further along the travel trajectory toward the obstacle situation or the obstacle, and in doing so, the motor vehicle is not accelerated back to the standard speed (and is thus guided to the obstacle situation or the obstacle at a travel speed that is always lower than the standard speed, in particular that corresponds to the reduced speed).

[0043] According to a further aspect, a further method for adjusting the driving speed of a motor vehicle when traveling along a travel trajectory toward a target position is described. The method comprises the automated longitudinal guidance of the motor vehicle at a standard speed along the travel trajectory, as well as the temporary reduction of the driving speed from the standard speed to a reduced driving speed at a specific intermediate position of the travel trajectory, in particular for passing the specific intermediate position.

[0044] The method further comprises determining route information regarding the remaining distance (e.g., from the determined intermediate position, from the decision position, or from the current position of the motor vehicle) to the target position of the travel trajectory. The route information can be determined, for example, based on the travel trajectory and / or based on the sensor data from one or more environmental sensors of the motor vehicle.

[0045] Furthermore, the method comprises increasing the driving speed of the motor vehicle (for the remaining journey along the travel trajectory up to the target position) depending on the route information back to or back to the standard speed.

[0046] It should be noted that the aspects described in connection with a device, in particular the claims described in connection with a device, are also to be applied to the corresponding method as corresponding method features.

[0047] According to another aspect, a software (SW) program is described. The SW program can be configured to be executed on a processor (e.g., on a vehicle control unit) and thereby to perform one or more of the methods described in this document.

[0048] According to a further aspect, a storage medium is described.

[0049] Storage medium may comprise a software program configured to be executed on a processor and thereby to perform one or more of the methods described in this document.

[0050] It should be noted that the methods, devices, and systems described in this document can be used both alone and in combination with other methods, devices, and systems described in this document. Furthermore, any aspects of the methods, devices, and systems described in this document can be combined in a variety of ways. In particular, the features of the claims can be combined in a variety of ways. Furthermore, features listed in parentheses are to be understood as optional features.

[0051] The invention will be described in more detail below using exemplary embodiments.

[0052] Figure 1 shows exemplary components of a vehicle;

[0053] Figure 2 shows an exemplary trajectory for a shunting maneuver;

[0054] Figures 3a and 3b show exemplary curves of the driving speed along the driving trajectory of the shunting maneuver from Fig. 2; and

[0055] Figure 4 is a flowchart of an exemplary method for automatically adjusting the driving speed of a vehicle during a shunting maneuver.

[0056] As stated at the beginning, this document deals with the comfortable and speedy execution of a shunting manoeuvre of a vehicle.

[0057] Fig. 1 shows an exemplary vehicle 100 with one or more environmental sensors 102 (e.g., at least one camera, at least one radar sensor, at least one lidar sensor, etc.) and / or one or more vehicle sensors 103 (e.g., a steering sensor, a speed sensor, an inertial measurement unit (IMU), etc.). A (control) device 101 of the vehicle 100 can be configured to acquire trajectory data relating to the (first) trajectory traveled during the first trip based on the sensor data of the one or more environmental sensors 102 and / or based on the sensor data of one or more vehicle sensors 103 during a first trip (e.g., during a maneuvering maneuver) and to store it in a memory unit (not shown) of the vehicle 100. Thus, trajectory data relating to a specific driving maneuver can be recorded. The trajectory data can include:

[0058] • Coordinates (e.g. coordinates of a global navigation satellite system (GNSS)) for a large number of vehicle positions or waypoints along the travel trajectory;

[0059] • the orientation of the vehicle 100 relative to the travel trajectory; and / or

[0060] • Information relating to one or more reference objects in the vicinity of the travel trajectory 100 (which can be used by the vehicle 100 as orientation points).

[0061] The vehicle 100 may further comprise one or more longitudinal and / or lateral guidance actuators 104 configured to effect at least partially automated longitudinal and / or lateral guidance of the vehicle 100. Exemplary actuators 104 are a drive motor, a steering device, and / or a braking device. The (control) device 101 may be configured to control the one or more actuators 104 during a second journey (in particular, during a repetition of the previously recorded driving maneuver) depending on the trajectory data relating to the first journey in order to assist the driver of the vehicle 100 during the second journey.

[0062] The (control) device 101 of the vehicle 100 can thus be configured to perform a maneuvering maneuver based on trajectory data for a previously driven and recorded driving trajectory. The vehicle 100 can then be automatically guided along the previously recorded driving trajectory in order to perform the maneuvering maneuver again. Alternatively or additionally, the device 101 can be configured to redetermine the driving trajectory for a maneuvering maneuver specifically for this maneuvering maneuver, e.g., based on the sensor data from one or more environmental sensors 102 of the vehicle 100. For example, a driving trajectory can be determined specifically for a parking maneuver into a specific parking space. The vehicle 100 can then be automatically guided along the determined driving trajectory in order to park the vehicle 100 in the specific parking space.

[0063] Fig. 2 shows an exemplary trajectory 200 from a first position 201 or from a first parking space 211 to a second position 202 or to a second parking space 212. The trajectory 200 may have been recorded and stored during a first trip. Alternatively, the trajectory 200 may have been determined specifically for performing the maneuver. The trajectory 200 may extend along a (travel) direction 203 from the first position 201 (or from the first parking space 211) to the second position 202 (or to the second parking space 212).

[0064] One or more objects 205 can be arranged along the travel trajectory 200, which objects have been detected, for example, based on the sensor data of the one or more environmental sensors 102. The individual objects 205 can each be arranged at an intermediate position 207 on the trajectory 200. Furthermore, an obstacle 206 (e.g., a wall or another vehicle) can be arranged at the second position 202 (i.e., at the end position of the trajectory 200), which obstacle is arranged within (the extension of) the travel path or the travel trajectory 200 of the vehicle 100. The vehicle 100 can, for example, be parked in the second parking space 212 during the maneuvering maneuver such that the rear or the front of the vehicle 100 is adjacent to the obstacle 206.

[0065] The device 101 can be configured to automatically adjust the driving speed of the vehicle 100 while traveling along the travel trajectory 200. The driving speed can be adjusted along the travel trajectory 200 to the respective driving situation. The driving speed can be adjusted, in particular, depending on one or more respective situation parameters. Example situation parameters are:

[0066] • the curvature of the trajectory 200 at the respective position of the trajectory 200; and / or

[0067] • the distance 204 of the trajectory 200 to an object 205 at the respective position of the trajectory 200.

[0068] Fig. 3a shows an exemplary curve 311 of the driving speed 310 of the vehicle 100 while traveling along the trajectory 200. The vehicle 100 is accelerated from the first position 201 to a standard speed 312 and then guided at the standard speed 312 along the trajectory 200. The standard speed 312 is preferably as high as possible to ensure a rapid execution of the maneuver.

[0069] Along the trajectory 200, the vehicle 100 passes an object 205 at one or more intermediate positions 207. The trajectory 200 has a relatively small (lateral) distance 204 from the respective object 205 at each of the individual intermediate positions 207. The lateral distance 204 can, in particular, be smaller than a specific lateral distance threshold. If such a situation is detected, the device 101 can cause the driving speed 310 of the vehicle 100 to be reduced to a reduced speed 313 (compared to the standard speed) for passing the respective object 205. The driving speed 310 of the vehicle 100 can thus be reduced for driving through a partial area of ​​the trajectory 200 in which an object 205 is arranged in the vicinity of the trajectory 200 (or in which the driving trajectory 200 has a curvature that is greater than a curvature threshold value).After passing through the respective sub-area, the driving speed 310 can be increased again (to the standard speed 312). This allows for a quick and safe execution of a shunting maneuver. When approaching the second position 202 or the second parking space 212, the driving speed 310 of the vehicle 100 is reduced to decelerate the vehicle 100 to a standstill.

[0070] In the example illustrated in Fig. 2, an object 205 is arranged at an intermediate position 207 of the trajectory 200 shortly before reaching the second position 202 (i.e., the end position) of the trajectory 200, which object (as illustrated in Fig. 3a) leads to a temporary reduction in the driving speed 310. After passing this obstacle 205, the driving speed 310 is increased again. This leads to a situation in which the vehicle 100 accelerates from the intermediate position 207 toward the end position 202, and in particular toward the obstacle 206 arranged at the end position 202. This may be perceived as uncomfortable by the user, in particular by the driver, of the vehicle 100.

[0071] The device 101 can be configured to detect such an obstacle situation when performing a maneuver. In particular, the device 101 can be configured to check one or more situational conditions. Examples of situational conditions are:

[0072] • a condition that the intermediate position 207 at which the driving speed 310 was reduced has a distance 302 (along the driving trajectory 200) from the subsequent second position (in particular the end position) 202 which is equal to or less than a distance threshold value 301 (see Fig. 3b);

[0073] • a condition that an obstacle 206 is arranged at the second position 202, which obstacle is arranged within the (possibly extrapolated) travel path of the vehicle 100; and / or

[0074] • a condition that the obstacle 206 is visible to the user of the vehicle 100 starting from the intermediate position 207 at which the driving speed 310 is reduced. If the one or more situation conditions are met, it can be determined that an obstacle situation exists. In response, it can be caused that the driving speed 310 is not increased (or at least not up to the standard speed 312) even after the vehicle 100 has passed the object 205 arranged next to the trajectory 200. This can cause the vehicle 100 to be guided longitudinally in a comfortable manner up to the second position 202.

[0075] Fig. 3b shows an exemplary curve 321 of the driving speed 310 (as a function of the positions 300 along the trajectory 200) for the maneuvering maneuver along the trajectory 200. It is detected (e.g., based on the sensor data of one or more environmental sensors 102) that an obstacle situation exists following the last object 205 before reaching the second position 202. As a result, the reduced speed 313 is maintained for the remaining distance from the intermediate position 207 (of the last object 205) to the final position 202 in order to ensure a particularly comfortable execution of the maneuver.

[0076] As already explained, the speed 310 of the vehicle 100 can be regulated and / or adjusted when traveling along a trajectory 200 depending on the (lateral) distance 204 to an object 205. If an object 205 is relatively close (e.g., to the side) of the vehicle 100, the speed 310 can be automatically reduced. After the vehicle 100 has passed the object 205, the speed 310 can be increased again in order to perform the maneuver as quickly as possible. If, in such a case, an obstacle 206 (e.g., another vehicle) is located in the travel path, e.g., in the middle of the travel path of the vehicle 100, the vehicle 100 would initially accelerate towards the obstacle 206 before decelerating again before reaching the obstacle 206. As already explained, such a situation can be perceived as unpleasant by the user of the vehicle 100.

[0077] Thus, if the speed 310 is reduced due to an object 205 located to the side of the vehicle 100, the reduced speed can be maintained even after passing the object 205 if it is detected and / or predicted that an obstacle 206 is located within a certain distance 301 in the (possibly extrapolated) travel path of the vehicle 100. Thus, the vehicle acts in a forward-looking manner and does not accelerate toward the obstacle 206.

[0078] Fig. 4 shows a flowchart of a (possibly computer-implemented) method 400 for adjusting the driving speed 310 of a motor vehicle 100 when traveling along a travel trajectory 200. The travel trajectory 200 can be used for a maneuvering maneuver of the motor vehicle 100, e.g., to guide the motor vehicle 100 from an initial position 201 to an end position 202, wherein the end position 202 can be located in a parking space 212, in particular in a parking space. The travel trajectory 200 can be determined specifically for the maneuvering maneuver (e.g., as part of a parking assistance function). Alternatively, the travel trajectory 200 can be determined based on trajectory data of a previously recorded trajectory (e.g., as part of a replay function). The method 400 can be carried out by a (driver assistance) device 101 of the motor vehicle 100.

[0079] The method 400 comprises the automated longitudinal guidance 401 of the motor vehicle 100 at a standard speed 312 along the travel trajectory 200. Preferably, the lateral guidance of the motor vehicle 100 can also be effected automatically.

[0080] Furthermore, the method 400 comprises reducing 402, at a specific intermediate position 207 of the travel trajectory 200, the travel speed 312 for passing the specific intermediate position 207 temporarily from the standard speed 312 to a reduced travel speed 313. For example, (based on the sensor data of the one or more environmental sensors 102 of the motor vehicle 100) an object 205 can be detected next to the travel trajectory 200, which is arranged at a relatively small lateral distance 204 from the travel trajectory 200. The object 205 can be arranged at the specific intermediate position 207 next to the travel trajectory 200. In order to effect a safer passing of the object 205, the travel speed 310 of the motor vehicle 100 can be temporarily reduced.Furthermore, in a standard case, the driving speed 310 can be increased again (to the standard speed 312) after passing the intermediate position 207 (in order to ensure that the shunting maneuver is carried out quickly).

[0081] The method 400 further includes determining 403 whether the determined intermediate position 207 of the travel trajectory 200 is followed by an obstacle situation in which an obstacle 206 is located in or on the preceding travel path, in particular within the preceding travel path, of the motor vehicle 100. The obstacle 206 can be, for example, a wall or another vehicle. The obstacle 206 can be located, for example, in the direction of travel 203 of the motor vehicle 100 (directly and / or immediately) behind the end position 202 of the travel trajectory 200. The presence of an obstacle situation can be detected based on the sensor data of the one or more environmental sensors 102 of the motor vehicle 100.

[0082] Furthermore, the method 400 includes causing 404, if it is determined that an obstacle situation follows the specific intermediate position 207, that the motor vehicle 100 is guided further along the travel trajectory 200 toward the obstacle situation or toward the obstacle 206, and in doing so, the motor vehicle 100 is not accelerated back up to or back to the standard speed 312 upon further travel (deviating from the standard case). On the other hand, if it is determined that no obstacle situation follows the specific intermediate position 207, the motor vehicle 100 can be guided further along the travel trajectory 200, and the motor vehicle 100 can be accelerated back up to or back to the standard speed 312 (according to the standard case).

[0083] The measures described in this document enable a particularly convenient and rapid execution of a shunting maneuver. The present invention is not limited to the exemplary embodiments shown. In particular, it should be noted that the description and the figures are intended only to illustrate the principle of the proposed methods, devices, and systems by way of example.

Claims

Claims 1) Driver assistance device (101) for automated maneuvering with at least one function for adjusting a driving speed (310) of a motor vehicle (100) when traveling along a travel trajectory (200); wherein the driver assistance device (101) is configured - to automatically guide the motor vehicle (100) longitudinally at a standard speed (312) along the travel trajectory (200); - to temporarily reduce the driving speed (312) from the standard speed (312) to a reduced driving speed (313) at a specific intermediate position (207) of the driving trajectory (200); - to determine whether the determined intermediate position (207) of the travel trajectory (200) is followed by an obstacle situation in which an obstacle (206) is arranged in or on a preceding travel path of the motor vehicle (100); and - if it is determined that an obstacle situation follows the determined intermediate position (207), to cause the motor vehicle (100) to be guided further along the travel trajectory (200) towards the obstacle, and the motor vehicle (100) is not accelerated back to the standard speed (312) when driving on. 2) Driver assistance device (101) according to claim 1, wherein the driver assistance device (101) is configured to cause the motor vehicle (100) to continue driving - is fed to the obstacle at the reduced speed (313) along the travel trajectory (200); and / or - no acceleration is allowed until the obstacle is reached. 3) Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured - to check whether one or more situational conditions are met; wherein the one or more situational conditions include a condition to the effect that an obstacle (206) is arranged in or next to the travel path of the motor vehicle (100) on the travel trajectory (200) or in the direction of travel (203) behind an end position (202) of the travel trajectory (200); and - to determine that an obstacle situation exists when one or more situation conditions are met. 4) Driver assistance device (101) according to claim 3, wherein the one or more situational conditions comprise a condition such that the obstacle (206) is located at a time and / or distance-related distance (302) along the travel trajectory (200) from the motor vehicle (100) that is equal to or smaller than a predefined distance threshold value (301). 5) Driver assistance device (101) according to one of claims 3 to 4, wherein - the driver assistance device (101) is configured to determine at a decision position along the travel trajectory (200) whether an obstacle situation follows the determined intermediate position (207) of the travel trajectory (200); and - the one or more situation conditions comprise a condition that the obstacle (206) is located at a time and / or distance-related distance (302) along the travel trajectory (200) from the decision position that is equal to or less than a predefined distance threshold value (301). 6) Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured, when it is determined that no obstacle situation follows the specific intermediate position (207), to cause the motor vehicle (100) to Continue driving along the travel trajectory (200), and the motor vehicle (100) is accelerated back to the standard speed (312). 7) Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured - to detect an object (205) arranged next to the travel trajectory (200), in particular an object (205) which has a lateral distance (204) to the travel trajectory (200) and / or to the travel path of the motor vehicle (100) which is equal to or smaller than a lateral distance threshold value; - to determine the specific intermediate position (207) of the travel trajectory (200) as a function of the detected object (205), in particular as a function of a position of the detected object (205); and - at the determined intermediate position (207) of the travel trajectory (200), to temporarily reduce the travel speed (312) from the standard speed (312) to the reduced travel speed (313) for passing the object (205). 8) Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured - to identify a section of the travel trajectory (200) in which the travel trajectory (200) has a curvature that is equal to or greater than a curvature threshold; - to determine the specific intermediate position (207) of the travel trajectory (200) as a function of the identified section of the travel trajectory (200); and - at the determined intermediate position (207) of the travel trajectory (200), the travel speed (312) for passing through the identified section of the travel trajectory (200) is temporarily changed from the standard Speed (312) to the reduced driving speed (313). 9) Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured - to determine one or more properties of the obstacle situation; the one or more properties include in particular, - a time and / or distance-related distance (302) of the obstacle (206) from the motor vehicle (100); and / or - a property, in particular a size and / or a type, of the obstacle (206); and - to determine a situation speed depending on the one or more properties; wherein the situation speed is less than the standard speed (312); and wherein the situation speed is in particular equal to or greater than the reduced speed (313) of the motor vehicle (100) at the determined intermediate position (207); and - if it is determined that an obstacle situation exists subsequent to the determined intermediate position (207), to cause the motor vehicle (100) to be guided further along the travel trajectory (200) towards the obstacle when continuing to travel at the situation speed. 10) Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured - to determine the travel trajectory (200) on the basis of sensor data from one or more environmental sensors (102) of the motor vehicle (100); and / or - to determine the travel trajectory (200) on the basis of trajectory data for a trajectory recorded during a first trip. 11) Driver assistance device (101) according to one of the preceding claims, wherein - the travel trajectory (200) runs from an initial position (201) to an end position (202); and / or - the end position (202) is arranged on a parking space (212) for the motor vehicle (100); and / or - the obstacle (206) is arranged in the direction of travel (203) of the motor vehicle (100) behind the parking space (212) and / or behind the end position (202) for the motor vehicle (100). 12) Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured, while driving along the driving trajectory (200), - to detect one or more intermediate positions (207) of the travel trajectory (200) at each of which the driving speed (301) of the motor vehicle (100) is to be reduced; and - to temporarily reduce the driving speed (312) from the standard speed (312) to the reduced driving speed (313) at the one or more detected intermediate positions (207) of the driving trajectory (200) and to increase it back to the standard speed (312) after passing the respective intermediate position (207). 13) Driver assistance device (101) according to one of the preceding claims, wherein the driver assistance device (101) is configured - to determine whether or not a detected obstacle situation should be taken into account when traveling along the travel trajectory (200); - to cause the motor vehicle (100) to be guided further along the travel trajectory (200) towards the obstacle while continuing to travel, and in doing so the motor vehicle (100) is not accelerated back to the standard speed (312) if it is determined that a detected obstacle situation is to be taken into account when driving along the driving trajectory (200); and - to cause the motor vehicle (100) to be guided further along the travel trajectory (200) towards the obstacle as it continues to travel, and in the process to accelerate the motor vehicle (100) back to the standard speed (312) if it is determined that a detected obstacle situation should not be taken into account when traveling along the travel trajectory (200). 14) Driver assistance device (101) according to one of the preceding claims, wherein the obstacle (206) of the obstacle situation is so far away along the travel trajectory (200) from the determined intermediate position (207) that the motor vehicle (100) can accelerate to the standard speed (312) when continuing to travel and can then be decelerated to a standstill before reaching the obstacle (206) without triggering an automated emergency braking of the motor vehicle (100). 15) Driver assistance device (101) for automated maneuvering with at least one function for adjusting a driving speed (310) of a motor vehicle (100) when traveling along a travel trajectory (200) in the direction of a target position (202); wherein the driver assistance device (101) is configured - to automatically guide the motor vehicle (100) longitudinally at a standard speed (312) along the travel trajectory (200); - to temporarily reduce the driving speed (312) from the standard speed (312) to a reduced driving speed (313) at a specific intermediate position (207) of the driving trajectory (200); - to determine route information relating to a remaining route to the target position (202) of the travel trajectory (200); and - to increase the driving speed (312) of the motor vehicle (100) back to the standard speed (312) as it continues driving towards the target position (202) depending on the route information. 16) Driver assistance device (101) according to claim 15, wherein the driver assistance device (101) is configured - to increase the driving speed (312) of the motor vehicle (100) back to the standard speed (312) when continuing to drive if the remaining distance to the target position (202) of the driving trajectory (200) is equal to or longer than a distance threshold value; and / or - not to increase the driving speed (312) of the motor vehicle (100) back to the standard speed (312) when continuing to drive and in particular to maintain it at the reduced driving speed (313) until the target position (202) is reached if the remaining distance to the target position (202) of the driving trajectory (200) is shorter than the distance threshold value. 17) Driver assistance device (101) according to one of claims 15 to 16, wherein - the driver assistance device (101) is configured to increase the driving speed (312) of the motor vehicle (100) to a first driving speed as it continues driving, without exceeding the first driving speed until the target position (202) is reached; - the first driving speed lies between the reduced driving speed (313) and the standard speed (312); and - the driver assistance device (101) is arranged to determine the first driving speed as a function of the route information to be determined, in particular in such a way that the first driving speed increases with increasing remaining driving distance up to the target position (202) of the driving trajectory (200). 18) Method (400) for adapting a driving speed (310) of a motor vehicle (100) when traveling along a driving trajectory (200); wherein the method (400) comprises - automated longitudinal guidance (401) of the motor vehicle (100) at a standard speed (312) along the travel trajectory (200); - reducing (402), at a certain intermediate position (207) of the travel trajectory (200), the travel speed (312) temporarily from the standard speed (312) to a reduced travel speed (313); - determining (403) whether the determined intermediate position (207) of the travel trajectory (200) is followed by an obstacle situation in which an obstacle (206) is arranged in or on a preceding travel path of the motor vehicle (100); and - causing (404), if it is determined that an obstacle situation follows the specific intermediate position (207), that the motor vehicle (100) is guided further along the travel trajectory (200) towards the obstacle while continuing to travel, and in the process the motor vehicle (100) is not accelerated back to the standard speed (312). 19) Method for adapting a driving speed (310) of a motor vehicle (100) when traveling along a travel trajectory (200) in the direction of a target position (202); the method comprising - automated longitudinal guidance of the motor vehicle (100) at a standard speed (312) along the travel trajectory (200); - Reduce, at a certain intermediate position (207) of the travel trajectory (200), the travel speed (312) temporarily from the standard speed (312) to a reduced driving speed (313); - determining route information relating to a remaining route to the target position (202) of the travel trajectory (200); and - increasing, depending on the route information, the driving speed (312) of the motor vehicle (100) back to the standard speed (312) when driving further towards the target position (312).

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