A prediction method and apparatus for an autonomous driving manual takeover, and a system are provided. One example method includes: A first vehicle sends a first message to a second vehicle when detecting that the first vehicle has a manual takeover requirement, where the first message includes information about a first location of the first vehicle, and the information about the first location is used to indicate a location of the first vehicle when the first vehicle detects that the first vehicle has the manual takeover requirement.

A prediction method and apparatus for an autonomous driving manual takeover, and a system are provided. One example method includes: A first vehicle sends a first message to a second vehicle when detecting that the first vehicle has a manual takeover requirement, where the first message includes information about a first location of the first vehicle, and the information about the first location is used to indicate a location of the first vehicle when the first vehicle detects that the first vehicle has the manual takeover requirement.

The present disclosure relates to a method for predicting a behavior of a target vehicle in a maneuvering space, in which a plurality of maneuvers which can be executed in the future are provided for the target vehicle, in the maneuvering space, the target vehicle located in the maneuvering space being observed by a plurality of observation vehicles, for each maneuver of the target vehicle that can be executed in the future, a single probability distribution for the relevant maneuver that can be executed in the future being determined, on the basis of an observation performed by a relevant observation vehicle, for each maneuver of the target vehicle that can be executed in the future, a total probability distribution for the relevant maneuver of the target vehicle that can be executed in the future being established from a plurality of single probability distributions.

The present disclosure relates to a method for predicting a behavior of a target vehicle in a maneuvering space, in which a plurality of maneuvers which can be executed in the future are provided for the target vehicle, in the maneuvering space, the target vehicle located in the maneuvering space being observed by a plurality of observation vehicles, for each maneuver of the target vehicle that can be executed in the future, a single probability distribution for the relevant maneuver that can be executed in the future being determined, on the basis of an observation performed by a relevant observation vehicle, for each maneuver of the target vehicle that can be executed in the future, a total probability distribution for the relevant maneuver of the target vehicle that can be executed in the future being established from a plurality of single probability distributions.

A method for operating a first vehicle (100) with a parking assistance system (110) is proposed, comprising: a) sensing an obstructing parked position (BP) of the first vehicle (100) by means of the parking assistance system (110), wherein the obstructing parked position (BP) is a parked position which adjoins a parking space (PP) occupied by a parked second vehicle (150), b) reception of a sensor signal, acquired by a sensor apparatus (120, 130) of the vehicle (100), by means of the parking assistance system (110), c) detecting a request to exit a parking space of the parked second vehicle (150) in accordance with the received sensor signal by means of the parking assistance system (110), and d) autonomously driving the first vehicle (100) from the obstructing parked position (BP) into a position which is different from the obstructing parked position (BP) in accordance with the detected request to exit a parking space by means of the parking assistance system (110).

A method for acquiring the surrounding environment of a motor vehicle. The motor vehicle has at least one ultrasound sensor. The ultrasound sensor includes an ultrasound transducer for sending, the ultrasound sensor receiving acoustic environmental signals, in particular audible environmental signals, in that the ultrasound sensor is controlled in its evaluation in such a way that sound waves having frequencies below a resonant frequency of the ultrasound transducer, in particular audible sound waves, of an environmental signal are acquired and evaluated. Environmental signals are understood as acoustic signals that are not produced by the ultrasound transducer itself, but rather by an external sound source that in particular differs from the motor vehicle. This can be for example the siren of a rescue vehicle or emergency vehicle, or the horn of some other motor vehicle.

A method for acquiring the surrounding environment of a motor vehicle. The motor vehicle has at least one ultrasound sensor. The ultrasound sensor includes an ultrasound transducer for sending, the ultrasound sensor receiving acoustic environmental signals, in particular audible environmental signals, in that the ultrasound sensor is controlled in its evaluation in such a way that sound waves having frequencies below a resonant frequency of the ultrasound transducer, in particular audible sound waves, of an environmental signal are acquired and evaluated. Environmental signals are understood as acoustic signals that are not produced by the ultrasound transducer itself, but rather by an external sound source that in particular differs from the motor vehicle. This can be for example the siren of a rescue vehicle or emergency vehicle, or the horn of some other motor vehicle.

Systems and methods are disclosed for monitoring or affecting movement of a vehicle using a traffic device. An event data source may have a processor and/or a transceiver. The event data source may transmit, via the transceiver and to a vehicle and infrastructure computing device, information indicative of an event affecting a portion of road. The vehicle and infrastructure computing device may comprise a vehicle and infrastructure control computer. The vehicle and infrastructure computing device may receive, from the event data source, the information indicative of the event affecting the portion of road. The computing device may determine one or more traffic devices associated with the portion of road and configured to control traffic for the portion of road. Based on the information indicative of the event affecting the portion of road, the computing device may send, to the one or more traffic devices associated with the portion of road, instructions to change one or more characteristics of the one or more traffic devices.

Systems and methods are disclosed for monitoring or affecting movement of a vehicle using a traffic device. An event data source may have a processor and/or a transceiver. The event data source may transmit, via the transceiver and to a vehicle and infrastructure computing device, information indicative of an event affecting a portion of road. The vehicle and infrastructure computing device may comprise a vehicle and infrastructure control computer. The vehicle and infrastructure computing device may receive, from the event data source, the information indicative of the event affecting the portion of road. The computing device may determine one or more traffic devices associated with the portion of road and configured to control traffic for the portion of road. Based on the information indicative of the event affecting the portion of road, the computing device may send, to the one or more traffic devices associated with the portion of road, instructions to change one or more characteristics of the one or more traffic devices.

Mobile wireless terminals, such as vehicles in traffic, can determine the relative positions of other vehicles with improved precision by arranging to acquire GNSS (global navigational satellite system) signals simultaneously, and then analyzing the various data sets differentially. Simultaneous acquisition can cancel many important errors such as motional errors of the vehicles, atmospheric distortions, and satellite timebase errors. Differential analysis to determine the relative positions of vehicles (as opposed to their overall geographical coordinates) can reduce errors related to satellite ephemeris and velocity, as well as roundoff errors. Localization with a precision of less than 1 meter can greatly improve collision avoidance while discriminating near-miss scenarios from imminent collisions, according to some embodiments. Messaging examples, in 5G and 6G, to manage the simultaneous acquisition and differential analysis, are provided in examples. Many other aspects are disclosed.