Driving Assistance System and Driving Assistance Method for the Automated Driving of a Vehicle

Patent metadata

Field	Value
Publication number	US-2023211803-A1
Application number	US-202118008485-A
Country	US
Kind code	A1
Filing date	May 5, 2021
Priority date	Jun 18, 2020
Publication date	Jul 6, 2023
Grant date	—

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

1 .- 11 . (canceled)

12 . A driving assistance system for automated driving of a vehicle, comprising:
at least one processor unit, which, when the driving assistance system is performing a maneuver of turning into a road, is configured to:
determine, based on the environment data of an environment sensor system of the vehicle, whether another, oncoming road user is blocking a lane of the road that corresponds to the vehicle; and
when it is determined that the other road user is blocking the lane of the road that corresponds to the vehicle, perform a situation assessment in order to determine whether the vehicle should reverse in order to allow the other road user to exit the road, or whether the other road user should be prompted by the vehicle to clear the lane by reversing.

13 . The driving assistance system according to claim 12 , wherein the at least one processor unit is further configured to:
determine, after the vehicle has at least partially driven into the road, whether the other road user is blocking the lane of the road that corresponds to the vehicle.

14 . The driving assistance system according to claim 12 , wherein the at least one processor unit is further configured to:
perform the situation assessment based on at least one of: a number of other road users blocking the lane of the road that corresponds to the vehicle; a number of parked vehicles; a position of the other road user who is blocking the lane of the road that corresponds to the vehicle; a distance that the other road user must travel when reversing in order to clear the lane for the vehicle; a reverse course that the vehicle must travel in order to allow the other road user to exit the road; at least one traffic rule; a violation of at least one traffic rule when the vehicle is reversed in order to allow the other road user to exit the road; a cooperative behavior of the other road user; a traffic volume on an origin road from which the vehicle turns into the road; or a traffic volume on a pedestrian path and/or cycle path in a vicinity of the vehicle.

15 . The driving assistance system according to claim 12 , wherein the at least one processor unit is further configured to:
perform the situation assessment via a cost calculation for the vehicle and the other road user.

16 . The driving assistance system according to claim 15 , wherein
the at least one processor unit is further configured to calculate first costs for the vehicle and second costs for the other road user, the first costs are determined in relation to a reversing of the vehicle in order to allow the other road user to exit; and the second costs are determined in relation to a reversing of the other road user to clear the lane.

17 . The driving assistance system according to claim 16 , wherein the at least one processor unit is further configured to:
Determine, based on a comparison of the first costs and the second costs, whether the vehicle should reverse in order to allow the other road user to exit the road, or whether the other road user should be prompted to clear the lane by reversing.

18 . The driving assistance system according to claim 12 , wherein, in order to prompt the other road user, the at least one processor unit is further configured to:
actuate at least one vehicle function such that:
the vehicle actively approaches the other road user, and/or
visual and/or acoustic information is output to the other road user.

19 . The driving assistance system according to claim 12 , wherein the at least one processor unit is further configured to:
determine whether at least one traffic rule would be violated in reversing the vehicle in order to allow the other road user to exit the road; and communicate with an external unit in order to obtain an authorization for a reversing that violates the at least one traffic rule.

20 . A vehicle comprising the driving assistance system according to claim 12 .

21 . A driving assistance method for automated driving of a vehicle, comprising:
sensing that a driving assistance system is performing a maneuver of turning into a road; determining, based on environment data of an environmental sensor system of the vehicle, whether another, oncoming, road user is blocking a lane of the road that corresponds to the vehicle; and when it is determined that the other road user is blocking the lane of the road that corresponds to the vehicle, and based on a situation assessment:
reversing the vehicle in order to allow the other road user to exit the road, or
prompting the other road user to clear the lane by reversing.

22 . A computer product comprising a computer readable medium having stored thereon program code which, when executed by at least one processing unit, carries out the acts of:
sensing that a driving assistance system is performing a maneuver of turning into a road; determining, based on environment data of an environmental sensor system of the vehicle, whether another, oncoming, road user is blocking a lane of the road that corresponds to the vehicle; and when it is determined that the other road user is blocking the lane of the road that corresponds to the vehicle, and based on a situation assessment:
reversing the vehicle in order to allow the other road user to exit the road, or
prompting the other road user to clear the lane by reversing.

Assignees

• Bayerische Motoren Werke Ag

Inventors

• Klanner Felix
• Kloeden Horst

Classifications

• B60W2554/80

  Spatial relation or speed relative to objects · CPC title

• B60W60/0011 Primary

  involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles · CPC title

• B60W2554/4041

  Position · CPC title

• B60W30/18036 Primary

  Reversing · CPC title

• B60W2555/60

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