Driver assistance system with narrow passage assistance function

Abstract

The invention relates to a driver assistance system for a vehicle, comprising an environmental sensor system (12; 14; 16; 18) and an electronic evaluation and control unit (10) in which driver assistance functions are implemented, wherein one of the driver assistance functions is a narrow passage assistance function for supporting a driver when approaching a narrow passage (64), the narrow passage assistance function being designed: to determine restriction information (22) characterising the narrow passage; to determine a target vehicle orientation (30), which comprises a target specification for the orientation of the vehicle (60) when the narrow passage (64) is reached; to determine at least one approach trajectory (38) for reaching the target vehicle orientation (30) when the narrow passage (64) is reached; and to output a signal (44) if, for each of the at least one approach trajectories (38), the narrow passage (64) is assessed as not being passable by the vehicle (60).

Description

[0001] Description

[0002] title

[0003] Driver assistance system with bottleneck assistance function

[0004] The invention relates to a driver assistance system for a vehicle, comprising an environmental sensor system and an electronic evaluation and control unit in which driver assistance functions are implemented.

[0005] State of the art

[0006] Motor vehicles are often equipped with a driver assistance system with environmental sensors, which may include, for example, a radar sensor and ultrasonic sensors. The driver assistance system provides various driver assistance functions, such as cruise control and distance control, blind spot monitoring, and / or emergency braking. Modern vehicles already incorporate many types of environmental sensors that are used to provide information and warnings about current driving conditions.

[0007] DE 10 2005 052 634 A1 describes a device for driver assistance when motor vehicles drive through a narrow passage. The passage width between two boundaries of a narrow passage is determined, and support measures are provided to the driver during and / or before driving through the narrow passage. The measures depend on the driver's behavior and abilities. In one example, the width of the narrow passage is determined from sensor signals before and / or during driving through the narrow passage and compared with a stored vehicle width. The driver is informed whether or not a passage is possible.

[0008] DE 10 2004 015 749 A1 describes a device for determining whether a vehicle can pass obstacles. A clearance width and / or clearance height determined by an evaluation unit is compared with a vehicle width and / or vehicle height in such a way that a warning is issued if the determined clearance height and / or the determined clearance width do not allow the vehicle to pass the obstacles.

[0009] DE 10 2017 221 932 A1 describes a motor vehicle with a bottleneck assistant. Based on data characterizing the dimensions of a bottleneck, a check is carried out to determine whether at least one trajectory for driving through the bottleneck with the motor vehicle can be determined. If no trajectory for driving through the bottleneck without collision can be determined, a warning message is issued. If at least one trajectory for driving through the bottleneck without collision has been determined, a signal is issued that the bottleneck is passable. In this case, a target driving path is displayed on a display device of the motor vehicle according to the determined trajectory. In one example, a steering angle of the motor vehicle can be detected, and an actual driving path corresponding to the steering angle can be displayed on the display device.

[0010] DE 10 2019 004482 A1 describes a method for assisting a driver of a vehicle combination when negotiating a curve, in which the space occupied by the vehicle combination is predicted as a drag curve and a warning is issued to the driver in the event of a detected, impending collision with a detected object located to the side of the vehicle.

[0011] In some situations, for example when driving a larger vehicle or when driving a vehicle with a trailer attached, it may be necessary to approach a narrow section correctly in order to negotiate it safely and safely. Particularly with a longer vehicle, a vehicle with a long wheelbase, or a vehicle with a second vehicle section that is movably connected to a main part of the vehicle, it may be necessary to approach a narrow section correctly in order to negotiate the narrow section safely and safely with the entire length of the vehicle or vehicle combination. Conventional driver assistance systems cannot provide assistance here.

[0012] The object of the invention is to improve the functionality of a driver assistance system with a bottleneck assistance function.

[0013] This object is achieved according to the invention by a driver assistance system for a vehicle, having an environmental sensor system and an electronic evaluation and control unit in which driver assistance functions are implemented, wherein one of the driver assistance functions is a bottleneck assistance function for supporting a driver when approaching a bottleneck, wherein the bottleneck assistance function is configured to determine restriction information characterizing the bottleneck; to determine a target vehicle orientation comprising a target specification for the orientation of the vehicle upon reaching the bottleneck; to determine at least one approach trajectory for reaching the target vehicle orientation upon reaching the bottleneck; and to output a signal if, for each of the at least one approach trajectory, the bottleneck is assessed as being impassable by the vehicle.

[0014] By determining the target vehicle orientation to be achieved, it can be determined in advance whether the bottleneck can be passed by approaching it “correctly”. A signal is output if, for each of the at least one approach trajectory, the bottleneck is assessed as impassable by the vehicle, i.e., the bottleneck is assessed as impassable when following the approach trajectory. The approach trajectory describes, in particular, a continuation of the route that links to the current route and is linked to the current position and attitude of the vehicle. By determining the target vehicle orientation and determining the at least one approach trajectory based thereon, the approach trajectory is determined such that, when approaching according to the approach trajectory, a suitable orientation of the vehicle or vehicle combination is specifically brought about.

[0015] Thus, when assessing whether a bottleneck is passable or impassable for the vehicle, it can be taken into account that in some situations, for example when driving a larger vehicle or a vehicle with a trailer attached, it may be necessary to approach a bottleneck "correctly," i.e., to approach it according to a suitable target vehicle orientation in order to pass the bottleneck safely and without danger. The invention thus makes it possible to warn the driver with the signal if, even if the bottleneck is approached "correctly," the bottleneck is assessed as impassable. Such assistance is not provided by conventional driver assistance systems.For example, in the case of a narrow passage located diagonally in front of the vehicle, it may not be sufficient to simply determine a steering angle to approach the narrow passage at this steering angle if, when approaching the narrow passage with this constant steering angle, a suitable vehicle orientation does not result upon reaching the narrow passage. The approach trajectory for reaching the previously determined target vehicle orientation can therefore be crucial in certain situations, particularly in very narrow narrow passages or with a very long vehicle, in order to estimate the actual negotiability of the narrow passage as reliably as possible.

[0016] An assessment of the bottleneck can be made by evaluating sensor data from sensors already installed in the vehicle.

[0017] Approaching the bottleneck can also be referred to as navigating to the bottleneck.

[0018] The driver assistance system can in particular be a driver assistance system for a motor vehicle.

[0019] The approach trajectory can be determined, in particular, based on the restriction information and the vehicle's steering behavior. The assessment of the bottleneck for an approach trajectory as passable or impassable by the vehicle (i.e., possibly including a second vehicle part or trailer) is equivalent to assessing it as passable or impassable. The bottleneck can, for example, be a narrowed section of roadway.

[0020] The bottleneck assistance function can have one or more of the following features. Further embodiments emerge from the dependent claims. In embodiments, the target vehicle orientation comprises a target specification for the orientation of the vehicle and, if present, the orientation of a movable second vehicle part or trailer when the vehicle reaches the bottleneck. The movable second vehicle part can, in particular, be a second vehicle part movably connected to a main part or steered first vehicle part (e.g., a towing vehicle).

[0021] In embodiments, the bottleneck assistance function is configured to determine the restriction information characterizing the bottleneck based on data from the environmental sensors. In embodiments, the bottleneck assistance function is configured, in particular, to estimate the passability of a bottleneck in the course of the vehicle's travel, wherein the passability is estimated as a function of a current trajectory (e.g., the approach trajectory) of the vehicle, at least one piece of restriction information about the bottleneck detected by at least one vehicle sensor in the environment of the vehicle, the target vehicle orientation, and at least one piece of information characterizing the vehicle (e.g., vehicle parameters). Depending on the estimation result, an acoustic and / or visual signal can be output to the driver of the vehicle.

[0022] The restriction information can, in particular, comprise at least information that defines a free width (also referred to as a clearance width) between a left boundary of the bottleneck and a right boundary of the bottleneck. The restriction information can, in particular, comprise information about a clearance width of the bottleneck. In embodiments, the restriction information comprises at least information about a clearance width and information about an orientation of the bottleneck (e.g., a lane direction at the bottleneck). The restriction information can also comprise information about a lane curvature. The restriction information can also comprise information about a clearance height.

[0023] In embodiments, the driver assistance system comprises a determination module configured to determine restriction information characterizing the bottleneck, in particular the aforementioned restriction information, based on data from the environmental sensor system (i.e., based on data acquired by the environmental sensor system). The bottleneck assistance function or the determination module is configured to determine the restriction information already at a distance from the bottleneck.

[0024] The bottleneck assistance function is configured to determine the target vehicle orientation that the vehicle (and possibly the second vehicle part or trailer) should have upon reaching the bottleneck. The bottleneck assistance function can, for example, be configured to determine the target vehicle orientation based on the determined restriction information, for example based on an orientation or lane direction of the bottleneck. The target vehicle orientation can comprise a value range, wherein the vehicle (and possibly the second vehicle part or trailer) should adopt an orientation from the value range of the target vehicle orientation upon reaching the bottleneck. The bottleneck assistance function is configured to determine at least one approach trajectory for reaching the target vehicle orientation upon reaching the bottleneck. The approach trajectory describes a continuation of the vehicle's travel path to approach the bottleneck.The target vehicle orientation is a desired vehicle orientation. In particular, the bottleneck assistance function is configured to estimate the passability of the bottleneck for at least one of the at least one approach trajectory.

[0025] In embodiments, the at least one approach trajectory comprises a section in which the steering angle is increased and a section in which the steering angle is decreased. In other words, the approach trajectory comprises a section with a positive steering angle change and a section with a negative steering angle change. The approach trajectory thus deviates from an approach with a constant steering angle.

[0026] In embodiments, the bottleneck assistance function is configured to determine at least one sweep curve for a respective approach trajectory, wherein the at least one sweep curve specifies a space required by the vehicle. In embodiments, the bottleneck assistance function is configured to estimate the passability of the bottleneck for a respective approach trajectory based on the at least one sweep curve.

[0027] The towing curve is a towing curve assigned to the vehicle. The towing curve can be determined, for example, from vehicle dimensions and a vehicle trajectory, where the vehicle trajectory includes the relevant approach trajectory. This can, for example, take into account a current towing configuration or vehicle attitude, or the vehicle trajectory can include a section that led to the current position and attitude of the vehicle.

[0028] By taking at least one towing curve into account, the space required by the vehicle can be determined much more precisely, taking into account the towing behavior of the vehicle, than when only the vehicle width is taken into account. This is because when cornering, the wheels of a rear vehicle axle follow different curve paths than the wheels of a front, steered vehicle axle. The respective towing curve can be determined, for example, for at least one front vehicle section and at least one rear vehicle section. In embodiments, the driver assistance system comprises a display module, wherein the bottleneck assistance function is further configured to display steering instructions and / or an ideal line according to at least one approach trajectory, which is an approach trajectory (e.g. an ideal approach trajectory) for achieving the target vehicle orientation upon reaching the bottleneck.

[0029] This can assist the driver in approaching the bottleneck following a suitable approach trajectory, with the vehicle aligned to guide the vehicle into the bottleneck. This can increase road safety, especially for drivers who rarely drive large vehicles or trailers. The bottleneck assistance function can also be configured to provide acoustic steering instructions.

[0030] In particular, in embodiments, the bottleneck assistance function is configured to determine a respective towing curve that specifies the space required by the vehicle and, if present, a movable second vehicle part or trailer. The at least one towing curve therefore takes into account a second vehicle part that is movable relative to the vehicle, for example a trailer, a semi-trailer, or a rear vehicle section of an articulated vehicle, e.g., an articulated bus. For longer vehicles or vehicle combinations, the respective towing curve depends heavily on the course of the vehicle trajectory. The gain in safety when approaching a bottleneck is therefore particularly high here.In embodiments, the bottleneck assistance function can be configured to determine a trajectory (vehicle trajectory) for the vehicle, which includes an approach trajectory for achieving the target vehicle orientation upon reaching the bottleneck. The approach trajectory includes a drag compensation curve to align a rear vehicle section, taking into account the vehicle's drag behavior, such that, upon further tracking of the trajectory, both a front vehicle section and the rear vehicle section are guided into the bottleneck. The rear vehicle section can be, for example, the second vehicle part or the trailer.

[0031] In embodiments, the bottleneck assistance function is configured to determine at least two alternative approach trajectories for reaching the target vehicle orientation upon reaching the bottleneck, wherein the at least two alternative approach trajectories describe alternative, different continuations of the vehicle's travel path; and to select one of the at least two alternative approach trajectories and output steering instructions and / or display an ideal line according to the selected approach trajectory if the bottleneck is assessed as being passable by the vehicle when following the selected approach trajectory.

[0032] The determination of the restriction information makes it possible to use the information to give the driver a kind of ideal line for approaching a bottleneck and, if necessary, through the bottleneck or to issue a warning if the vehicle and / or a trailer or second vehicle part connected to the vehicle are too wide, too long and / or too high for the conditions of the bottleneck.

[0033] In embodiments, the driver assistance system comprises a steering module configured to intervene in the steering of the vehicle. The bottleneck assistance function can be configured to intervene in the steering of the vehicle in order to steer the vehicle according to an approach trajectory if the bottleneck is assessed as passable while following the approach trajectory. In embodiments, the driver assistance system comprises an input module for inputting vehicle parameters that characterize at least one of a vehicle width, a vehicle length, and a wheelbase of the vehicle. This allows, for example, a guidance point of the vehicle that follows a vehicle trajectory to be defined.The input module can also be configured to input vehicle parameters that characterize a distance to an axle of a movable second vehicle part or trailer, for example a drawbar length of a second vehicle part or trailer and / or an axle distance of a second vehicle part or trailer.

[0034] In embodiments, the vehicle parameters can also characterize at least a height of the vehicle and / or, if present, a movable second vehicle part or trailer. In embodiments, the bottleneck assistance function is further configured to output a signal for retracting and / or folding movable, lateral attachments of the vehicle, in particular if the bottleneck is assessed as being passable (only) with the retracted or folded attachments when following an approach trajectory. Thus, for example, vehicle mirrors such as rear-view mirrors can be folded in automatically. The signal enables an application in which the exterior mirrors fold in automatically or an indication is given regarding the folding of the exterior mirrors.

[0035] In embodiments, the driver assistance system comprises a vehicle part module for determining vehicle parameters that characterize a movable second vehicle part of the vehicle or a trailer of the vehicle. For example, an input and / or detection can occur that a second vehicle part or a trailer is present. For example, the vehicle part module can be configured to determine vehicle parameters that characterize a second vehicle part of a vehicle combination in the case that the second vehicle part is a trailer, e.g., a semitrailer.

[0036] For example, the vehicle part module can be configured to determine vehicle parameters that characterize the movable second vehicle part of the vehicle or the trailer of the vehicle based on the data acquired by the environmental sensors.

[0037] In embodiments, the environmental sensor system comprises at least one of a radar sensor, a lidar sensor and a camera.

[0038] In embodiments, the environmental sensor system is configured to capture data from at least one of traffic signs, road markings, structural boundaries, and barriers. For example, traffic signs indicating a maximum height or width of the bottleneck can be interpreted based on the sensor data from, for example, a front video camera.

[0039] In embodiments, the driver assistance system comprises a map module for providing map information, wherein the bottleneck assistance function is further configured to use the map information to determine restriction information characterizing the bottleneck and / or the bottleneck assistance function is further configured to use the map information to determine at least one approach trajectory for reaching the target vehicle orientation upon reaching the bottleneck. For example, the environmental sensors and / or the map module can be used to detect a possible bottleneck and assess whether the bottleneck is relevant to the driver. The assessment can be made, for example, based on a current route in the vehicle's navigation device, based on a current vehicle speed, and / or based on identified options for selecting an alternative route.For example, the map information can be used to determine an approach trajectory and estimate the towing curve of the vehicle or vehicle combination. In particular, known dimensional data of the host vehicle and, if necessary, data from trailer detection and trailer estimation can be used, as described above.

[0040] The vehicle can be, for example, a passenger car, a commercial vehicle, a truck, or a bus, with or without an attached trailer or a second, attached or movable vehicle section, such as an articulated bus. Data from the installed sensors, such as cameras, lidar, or radar sensors, is used to assess a bottleneck. If a second vehicle section or trailer is present, the data from this vehicle section can also be used to determine an approach trajectory.

[0041] The following example is explained in more detail using the drawing. It shows:

[0042] Fig. 1 is a block diagram of the driver assistance system according to the invention; and

[0043] Fig. 2 shows a sketch of a vehicle with a second vehicle part approaching a bottleneck according to an approach trajectory. The driver assistance system shown in Fig. 1 comprises an electronic evaluation and control device 10 and an environmental sensor system formed by a camera 12, a lidar sensor 14, and two radar sensors 16, 18. The camera 12, the lidar sensor 14, and the radar sensor 16 are installed at the front of a vehicle and each monitor an area in front of the vehicle. The radar sensor 18 is installed at the rear of the vehicle and monitors an area directly behind the vehicle.

[0044] The evaluation and control device 10 contains a detection module 20 that further evaluates the digitized signals received from the forward-facing sensors of the environmental sensor system, i.e., from the camera 12, the lidar sensor 14, and the radar sensor 16, and calculates distances, relative speeds, azimuth angles, and preferably also elevation angles of various reflection points on one or more located objects. It determines location data from the fused sensor data and further analyzes this data. In particular, the detection module 20 searches for location data in a group of several located objects that can be assigned to a left boundary, a right boundary, and preferably also an upper boundary of a narrow section in front of the vehicle.If a bottleneck is detected in this way, the detection module 20 determines restriction information 22 that characterizes the bottleneck, in particular a clearance width and an orientation of the bottleneck. The orientation of the bottleneck can be specified, for example, as the lane direction at the location of the bottleneck.

[0045] To determine the restriction information, the recognition module

[0046] 20 may also access map information 26 provided by a map module 24 of the evaluation and control device 10. The map information may include, for example, the location and orientation of lanes or roadways and information on bottlenecks in the form of underpasses, tunnel entrances, or the like.

[0047] To determine the restriction information 22, the recognition module 20 can, for example, also access data from the camera 12 in order to read the content of traffic signs and / or to recognize road markings, structural boundaries and barriers that may form a bottleneck.

[0048] Based on the determined restriction information and on data (vehicle parameters 28) about the own vehicle, the recognition module 20 further determines a target vehicle orientation 30. This represents a target specification for the orientation of the own vehicle upon reaching the bottleneck.

[0049] The evaluation and control device 10 can, for example, comprise an input module 32 for inputting data 28 about the host vehicle in the form of vehicle parameters. The vehicle parameters can, for example, characterize a width of the vehicle, a length of the vehicle, and preferably an axle distance of the vehicle. The vehicle parameters can further comprise parameters that characterize a second vehicle part movably connected to a main part of the vehicle, such as a trailer. The evaluation and control unit 10 can further comprise a vehicle part module 34 that is configured to determine vehicle parameters that characterize a second vehicle part movably connected to a main part of the vehicle. The vehicle part module 34 can provide the recognition module 20 with further data 28' about the host vehicle in the form of these vehicle parameters.The vehicle part module 34 can, for example, access data acquired by the rearward-facing radar sensor 18 of the environment sensor system in order to detect the presence of a second attached vehicle part and / or to determine dimensions of a second attached vehicle part as vehicle parameters. The dimensions can, in particular, include a width and a height, and preferably a length, of a second attached vehicle part. The latter can, for example, be detected while cornering if the radar sensor 18 is attached to a rear corner of the vehicle. The evaluation and control unit 10 can further receive data 28 (vehicle parameters) about the vehicle itself from the vehicle's own sensor system 35. This data can, in particular, include the direction of travel, the yaw rate or yaw velocity, and the absolute speed of the vehicle.The evaluation and control unit 10 further comprises a starting module 36 for determining at least one approach trajectory 38 for reaching the target vehicle orientation 30 upon reaching the detected bottleneck. The starting module 36 is configured to determine several alternative approach trajectories 38 for the vehicle to approach the bottleneck, which, upon approaching the bottleneck according to the approach trajectory 38, result in the target vehicle orientation at the bottleneck.

[0050] The evaluation and control unit 10 further comprises a towing curve module 40, which calculates the vehicle's towing curves corresponding to a specific approach trajectory 38. The towing curves are calculated based on the data 28, 28' about the host vehicle. The calculation of towing curves for individual points or corners of the host vehicle and, if applicable, a second vehicle part is carried out in a conventional manner. A guide point located in the center of the steered axle of the vehicle is guided along the specific approach trajectory, and a left or right towing curve is calculated for a further axle located at an axle distance behind it. Towing curves for the points or corners of interest of the vehicle can then be calculated from the respective associated vehicle orientations.In the same way, towing curves for a towed vehicle part are calculated, with a towing point being selected as the guide point.

[0051] The approach module 36 estimates, based on the drag curves 42 determined for a respective approach trajectory 38 and the restriction information 22, whether the bottleneck for the approach trajectory 38 can be passed by the vehicle.

[0052] In the approach module 36, several alternative approach trajectories 38 are determined if necessary, and in each case, it is assessed whether the bottleneck is considered passable for the respective approach trajectory 38. If no approach trajectory can be determined for which the bottleneck is considered passable, the approach module 36 issues a warning signal 44.

[0053] If an approach trajectory 38 is found that is based on the current vehicle position and attitude and is assessed as passable for the bottleneck, the relevant approach trajectory 38 is output to a guidance module 46 of the evaluation and control unit 10. The guidance module 46 also receives the data 28" about the vehicle itself obtained from the vehicle's own sensor system 35 and outputs corresponding steering instructions 48 on a display (display module) 50 of the driver assistance system. These instructions support the driver in steering the vehicle according to the determined approach trajectory 38 in order to approach the bottleneck in the appropriate manner. The steering instructions can be displayed, for example, in the form of an ideal line.

[0054] The guidance module 46 can also be configured to output control commands 52 to a steering module 54 for intervening in the steering of the vehicle. Thus, the driver assistance function can provide even greater support to the driver in steering the vehicle according to the approach trajectory 38.

[0055] The guidance module 46 can be further configured to output a signal 56 for retracting and / or folding side mirrors or other movable, lateral attachments of the vehicle if this is deemed useful for reducing the vehicle width in order to pass the narrow passage more safely. The signal 56 can, for example, be output via a display and / or output to a control unit 58 for automatically retracting the attachments.

[0056] Fig. 2 shows a top view of a vehicle 60 with a second vehicle part in the form of a trailer 62 approaching a narrow section 64. An approach trajectory 38 determined by the driver assistance function and associated towing curves 42 are shown schematically. So that the vehicle 60, including the trailer 62, has a target vehicle orientation suitable for driving through the narrow section 64 upon reaching the narrow section 64, the approach trajectory 38 deliberately deviates from a driving route 66 with a constant steering angle that is unsuitable for approaching the narrow section 64. In particular, the approach trajectory 38 comprises a first section 68 with an increasing steering angle and a second section 70 with a decreasing steering angle.

Claims

Patent claims 1. A driver assistance system for a vehicle, comprising an environmental sensor system (12; 14; 16; 18) and an electronic evaluation and control unit (10) in which driver assistance functions are implemented, wherein one of the driver assistance functions is a bottleneck assistance function for supporting a driver when approaching a bottleneck (64), wherein the bottleneck assistance function is configured to determine restriction information (22) characterizing the bottleneck; to determine a target vehicle orientation (30) comprising a target specification for the orientation of the vehicle (60) upon reaching the bottleneck (64); to determine at least one approach trajectory (38) for reaching the target vehicle orientation (30) upon reaching the bottleneck (64); and to output a signal (44) if, for each of the at least one approach trajectory (38), the bottleneck (64) is assessed as impassable by the vehicle (60).

2. Driver assistance system according to claim 1, wherein the target vehicle orientation (30) comprises a target specification for the orientation of the vehicle (60) and, if present, the orientation of a movable second vehicle part or trailer (62) when the vehicle (60) reaches the narrow point (64).

3. Driver assistance system according to claim 1 or 2, wherein the bottleneck assistance function is set up, to determine at least one drag curve (42) for a respective approach trajectory (38), wherein the at least one drag curve (42) specifies a space required by the vehicle (60), and to estimate the passability of the bottleneck (64) for a respective approach trajectory (38) based on the at least one drag curve (42).

4. Driver assistance system according to one of the preceding claims, comprising a display module (50), wherein the bottleneck assistance function is further configured to display steering instructions (48) and / or an ideal line according to at least one approach trajectory (38), which is an approach trajectory (38) for reaching the target vehicle orientation (30) upon reaching the bottleneck (64).

5. Driver assistance system according to one of the preceding claims, wherein the bottleneck assistance function is configured to determine a respective towing curve (42) which specifies a space required by the vehicle (60) and, if present, a movable second vehicle part or trailer (62).

6. Driver assistance system according to one of the preceding claims, with a steering module (54) configured to intervene in the steering of the vehicle.

7. Driver assistance system according to one of the preceding claims, with an input module (32) for inputting vehicle parameters (28) which characterize at least one of a width of the vehicle, a length of the vehicle and an axle distance of the vehicle.

8. Driver assistance system according to one of the preceding claims, with a vehicle sub-module (34) for determining vehicle parameters (28'), which characterize a movable second vehicle part of the vehicle (60) or a trailer (62) of the vehicle (60).

9. Driver assistance system according to one of the preceding claims, wherein the bottleneck assistance function is further configured to output a signal (56) for retracting and / or folding movable, lateral attachments of the vehicle.

10. Driver assistance system according to one of the preceding claims, comprising a recognition module (20) which is configured to determine restriction information (22) characterizing the bottleneck (64) on the basis of the data detected by the environmental sensor system.

11. Driver assistance system according to one of the preceding claims, wherein the environmental sensor system comprises at least one of a radar sensor (16; 18), a Lidar sensor (14) and a camera (12).

12. Driver assistance system according to one of the preceding claims, wherein the environmental sensor system (12; 14; 16) is configured to detect data from at least one of traffic signs, road markings, structural boundaries and barriers.

13. Driver assistance system according to one of the preceding claims, with a map module (24) for providing map information (26), wherein the bottleneck assistance function is further configured to determine restriction information (22) characterizing the bottleneck (64) on the basis of the map information (26) and / or to determine at least one approach trajectory (38) for reaching the target vehicle orientation (30) upon reaching the bottleneck (64).

Images