Driving assistance system and driving assistance method for the automated driving of a vehicle

Patent metadata

Field	Value
Publication number	US-12291235-B2
Application number	US-202118008485-A
Country	US
Kind code	B2
Filing date	May 5, 2021
Priority date	Jun 18, 2020
Publication date	May 6, 2025
Grant date	May 6, 2025

Abstract

A driving assistance system for automated driving of a vehicle includes at least one processor unit, which is designed to perform the following when the driving assistance system is carrying out a maneuver of turning onto a street: to determine, on the basis of environment data of an environment sensor system of the vehicle, whether another, on-coming road user is blocking a lane of the street which corresponds to the vehicle; and when it is determined that the other road user is blocking the lane of the street which corresponds to the vehicle to carry out a situation evaluation in order to determine whether the vehicle should back up in order to allow the other road user to exit the street or whether the other road user should be requested to clear the lane by backing up.

First claim

The invention claimed is:

1. A driving assistance system, comprising:
at least one processor configured to:
control a vehicle to turn onto a road via an automated driving function;
detect, when turning onto the road, that an oncoming road user is blocking a lane of the road so as to create a deadlock situation;
calculate, in response to the detection, a cost to the vehicle for reversing to allow the oncoming road user to exit the road, and a cost to the oncoming road user to clear the lane by reversing;
select, based on the calculation, one of the following responsive maneuvers for execution by the driving assistance system: reverse the vehicle to allow the oncoming road user to exit the road, and prompt the oncoming road user to clear the lane by reversing; and
control the vehicle to execute the selected responsive maneuver via the automated driving function.

2. The driving assistance system of claim 1 , wherein the detection is made after the vehicle has at least partially driven onto the road.

3. The driving assistance system of claim 1 , wherein the at least one processor is further configured to calculate the respective costs based on at least one of:
a number of other road users blocking the lane;
a number of parked vehicles;
a position of the oncoming road user;
a distance that the oncoming road user must reverse to clear the lane;
a reverse course that the vehicle must travel to allow the oncoming road user to exit the road;
at least one traffic rule;
an anticipated violation of at least one traffic rule by the vehicle reversing to allow the other road user to exit the road;
a cooperative behavior of the oncoming road user;
a traffic volume on an origin road from which the vehicle is turning onto the road; and
a traffic volume on a pedestrian path and/or cycle path in a vicinity of the vehicle.

4. The driving assistance system of claim 1 , the at least one processor is further configured to:
compare the respective costs and make the selection based on the comparison.

5. The driving assistance system of claim 1 , wherein the at least one processor is further configured to:
prompt the oncoming road user by causing the vehicle to: actively approach the oncoming road user and/or output visual and/or acoustic information to the other road user.

6. The driving assistance system of claim 1 , wherein the at least one processor is further configured to:
determine that a traffic rule would be violated by reversing the vehicle to allow the oncoming road user to exit the road; and
obtain, from an external unit, authorization to reverse the vehicle in violation of the traffic rule.

7. A vehicle comprising the driving assistance system of claim 1 .

8. A driving assistance method, comprising:
controlling a vehicle to turn on a road via an automated driving function of a driving assistance system;
detecting, when turning onto the road, that an oncoming road user is blocking a lane of the road so as to create a deadlock situation;
calculating, in response to the detection, a cost to the vehicle for reversing to allow the oncoming road user to exit the road, and a cost to the oncoming road user to clear the lane by reversing;
selecting, based on the calculation, one of the following responsive maneuvers for execution by the driving assistance system: reverse the vehicle to allow the oncoming road user to exit the road, prompt the oncoming road user to clear the lane by reversing; and
controlling the vehicle to execute the selected responsive maneuver via the automated driving function.

9. A computer product comprising a non-transitory computer readable medium having stored thereon program code that, when executed by at least one processing unit, carries out the driving assistance method of claim 8 .

Assignees

• Bayerische Motoren Werke Ag

Inventors

• Klanner Felix
• Kloeden Horst

Classifications

• B60W30/18036 Primary

  Reversing · CPC title

• B60W2554/80

  Spatial relation or speed relative to objects · CPC title

• B60W2555/60

  Traffic rules, e.g. speed limits or right of way · CPC title

• B60W2554/4041

  Position · CPC title

• B60W2556/65

  Data transmitted between vehicles · CPC title