CONTROL SYSTEM AND CONTROL METHOD FOR DETERMINING A LIKELIHOOD OF A LANE CHANGE BY A PRECEDING VEHICLE

Abstract

A control system that is suitable for use in a host motor vehicle (10) Is configured and intended for detecting (S100) another motor vehicle (20), using the road, located in front of the host motor vehicle (10) by means of the at least one surroundings sensor, determining (S106) a lateral movement of the other motor vehicle (20) relative to a lane (12, 16) in which the other motor vehicle (20) or the host motor vehicle (10) is present, and computing (S108) a movement-based likelihood of a lane change by the other motor vehicle (20), based on the determined lateral movement of the other motor vehicle (20). In addition, the control system is configured and intended for determining (S110, S112, S114) an instantaneous traffic situation in accordance with the surroundings data obtained by means of the surroundings sensor, computing (S116) a traffic situation-based likelihood of a lane change by the other motor vehicle (20), based on the determined instantaneous traffic situation, and computing (S118) an overall likelihood of a lane change by the other motor vehicle (20), based on the movement-based likelihood and the traffic situation-based likelihood.

Claims

1. A control system which for use in a host motor vehicle (10) is configured and intended for recognizing, based on surroundings data obtained from at least one surroundings sensor associated with the host motor vehicle (10), preceding motor vehicles and preferably stationary objects situated ahead, wherein the at least one surroundings sensor is configured for providing an electronic controller of the control system with surroundings data that represent an area in front of the host motor vehicle (10), and the control system is at least configured and intended for detecting (S100) another motor vehicle (20), using the road, located in front of the host motor vehicle (10) by means of the at least one surroundings sensor, determining (S106) a lateral movement of the other motor vehicle (20) relative to a lane (12, 16) in which the other motor vehicle (20) or the host motor vehicle (10) is present, computing (S108) a movement-based likelihood of a lane change by the other motor vehicle (20), based on the determined lateral movement of the other motor vehicle (20), determining (S110, S112, S114) an instantaneous traffic situation in accordance with the surroundings data obtained by means of the surroundings sensor, computing (S116) a traffic situation-based likelihood of a lane change by the other motor vehicle (20), based on the determined instantaneous traffic situation, and computing (S118) an overall likelihood of a lane change by the other motor vehicle (20), based on the movement-based likelihood and the traffic situation-based likelihood.

2. The control system according to claim 1, which is further configured and intended for outputting (S122) a signal that in accordance with the computed overall likelihood is suitable for warning a driver of the host motor vehicle (10) of a likely lane change by the other motor vehicle (20) and/or carrying out an autonomous speed adaptation by the host motor vehicle (10) and/or carrying out an autonomous driving maneuver by the host motor vehicle (10).

3. The control system according to claim 1, which is further configured and intended for ascertaining (S204) a host lane (12) in which the host motor vehicle (10) is present, ascertaining (S206) an additional lane (16) in which a motor vehicle in the area in front of the host motor vehicle (10) is present, and determining (S210) that the motor vehicle in the area in front of the host motor vehicle (10) is the other motor vehicle (20) that is to be detected, when the additional lane (16) is adjacent to the host lane (12).

4. The control system according to claim 1, which is further configured and intended for detecting, over a predetermined time period or continuously, the other motor vehicle (20) using the road, by means of the at least one surroundings sensor, in order to determine the lateral movement of the other motor vehicle (20).

5. The control system according to claim 4, which for determining the lateral movement of the other motor vehicle (20) is further configured and intended for determining, during the predetermined time period or continuously, a change in a distance (d.sub.lateral) between a longitudinal axis (L) of the other motor vehicle (20) and a centerline (18), at least one lane boundary, or at least one lane marker of the lane in which the other motor vehicle (20) or the host motor vehicle (10) is present.

6. The central system according to claim 1, which for determining the instantaneous traffic situation is further configured and intended for detecting other motor vehicles (22, 24) using the road and/or objects in front of the host motor vehicle (10), by means of the at least one surroundings sensor.

7. The control system according to claim 6, which for determining the instantaneous traffic situation is further configured and intended for determining (S110) a distance (d.sub.front) between the other motor vehicle (20) and an additional motor vehicle (22) or object located in front of the other motor vehicle, as well as a speed difference (v.sub.front) between the other motor vehicle (20) and the additional motor vehicle (22) or object located in front of the other motor vehicle, wherein the other motor vehicle (20) and the additional motor vehicle (22) or object located in front of the other motor vehicle are present in the same lane.

8. The control system according to claim 6, which for determining the instantaneous traffic situation is further configured and intended for determining a distance (d.sub.front,offset) between the other motor vehicle (20) and a motor vehicle (24) or object that is offset in front of the other motor vehicle, as well as a speed difference (v.sub.front,offset) between the other motor vehicle (20) and the motor vehicle (24) or object that is offset in front of the other motor vehicle, wherein the other motor vehicle (20) and the motor vehicle (24) or object that is offset in front of the other motor vehicle are in different lanes.

9. The control system according to claim 6, which for determining the instantaneous traffic situation is further configured and Intended for determining a distance (d.sub.behind,offset) between the other motor vehicle (20) and a motor vehicle that Is located behind the other motor vehicle, as well as a speed difference (v.sub.behind,offset) between the other motor vehicle (20) and the motor vehicle that is located behind the other motor vehicle, wherein the other motor vehicle (20) and the motor vehicle that is located behind the other motor vehicle are in different lanes.

10. The control system according to claim 9, which is further configured and Intended for determining whether an additional motor vehicle is present between the other motor vehicle (20) and the host motor vehicle (10), and determining the host motor vehicle (10) to be the rear motor vehicle when no other motor vehicle is present between the other motor vehicle (20) and the host motor vehicle (10).

11. A control method, which in a host motor vehicle (10), based on surroundings data obtained from at least one surroundings sensor associated with the host motor vehicle (10), recognizes preceding motor vehicles and preferably stationary objects situated ahead, wherein the control method is carried out in particular by means of a control system according to one of the preceding claims, and the control method includes the following steps: providing surroundings data to an electronic controller of the control system, the surroundings data representing an area in front of the host motor vehicle (10). detecting another motor vehicle (20), using the road, located in front of the host motor vehicle (10) by means of the at least one surroundings sensor, determining a lateral movement of the other motor vehicle (20) relative to a lane (12, 16) in which the other motor vehicle (20) or the host motor vehicle (10) is present, computing a movement-based likelihood of a lane change by the other motor vehicle (20), based on the determined lateral movement of the other motor vehicle, determining an instantaneous traffic situation in accordance with the surroundings data obtained by means of the surroundings sensor, computing a traffic situation-based likelihood of a lane change by the other motor vehicle (20), based on the determined instantaneous traffic situation, and computing an overall likelihood of a lane change by the other motor vehicle (20), based on the movement-based likelihood and the traffic situation-based likelihood.

12. The control method according to claim 11, including the following additional step: outputting a signal in order to warn a driver of the host motor vehicle (10) of a likely lane change by the other motor vehicle (20) and/or carry out an autonomous speed adaptation by the host motor vehicle (10) and/or carry out an autonomous driving maneuver by the host motor vehicle (10), in accordance with the computed overall likelihood.

13. The control method according to claim 11, including the following additional step; ascertaining a host lane (12) in which the host motor vehicle (10) is present, ascertaining an additional lane in which a motor vehicle in the area in front of the host motor vehicle is present, and determining that the motor vehicle in the area in front of the host motor vehicle (10) is the other motor vehicle (20) that is to be detected, when the additional lane is adjacent to the host lane.

14. The control method according to claim 11, wherein the other motor vehicle (20) using the road is detected, over a predetermined time period or continuously, by means of the at least one surroundings sensor in order to determine the lateral movement of the other motor vehicle (20), wherein, preferably for determining the lateral movement of the other motor vehicle (20), a change in a distance (d.sub.lateral) between a longitudinal axis (L) of the other motor vehicle (20) and a centerline (18), at least one lane boundary, or at least one lane marker of the lane (12, 16) in which the other motor vehicle (20) or the host motor vehicle (10) is present is determined during the predetermined time period or continuously.

15. The control method according to claim 11, including the following additional step: detecting additional motor vehicles (22, 24) using the road and/or objects located in front of the host motor vehicle (10) by means of the at least one surroundings sensor in order to determine the Instantaneous traffic situation, and wherein for determining the instantaneous traffic situation, the control method preferably includes one or more of the following additional steps; determining a distance (d.sub.front) between the other motor vehicle (20) and an additional motor vehicle (22) or object located in front of the other motor vehicle, as well as a speed difference (v.sub.front) between the other motor vehicle and the additional motor vehicle or object located in front of the other motor vehicle, wherein the other motor vehicle (20) and the additional motor vehicle (22) or object located in front of the other motor vehicle are present in the same lane, determining a distance (d.sub.front,offset) between the other motor vehicle (20) and a motor vehicle (24) or object that is offset in front of the other motor vehicle, as well as a speed difference (v.sub.front,offset) between the other motor vehicle and the motor vehicle or object that is offset in front of the other motor vehicle, wherein the other motor vehicle (20) and the motor vehicle (24) or object that is offset in front of the other motor vehicle are in different lanes, and determining a distance (d.sub.behind,offset) between the other motor vehicle (20) and a motor vehicle that is located behind the other motor vehicle, as well as a speed difference (v.sub.behind,offset) between the other motor vehicle and the motor vehicle that is located behind the other motor vehicle, wherein the other motor vehicle (20) and the motor vehicle that is located behind the other motor vehicle are in different lanes, and the motor vehicle that is located behind the other vehicle is preferably the host motor vehicle (10).

Description

BRIEF DESCRIPTION OF THE DRAWING

[0098] Further aims, features, advantages, and possible applications result from the following description of exemplary embodiments, which are not to be construed as limiting, with reference to the associated drawings. All features described and/or graphically illustrated, alone or in any combination, constitute the subject matter disclosed herein. The dimensions and proportions of the components shown in the figures are not to scale.

[0099] FIG. 1 schematically shows a host motor vehicle, which by means of a first control system detects an area in front of the host motor vehicle in order to compute an overall likelihood of a lane change by another motor vehicle.

[0100] FIG. 2 schematically shows the host motor vehicle, which by means of the first control system determines a lateral movement of the other motor vehicle and an instantaneous traffic situation in the area in front of the host motor vehicle.

[0101] FIG. 3 shows a schematic illustration of a flow chart for explaining the first control system, which is suitable for use in the host motor vehicle and is configured and intended for computing an overall likelihood of a lane change by another motor vehicle.

[0102] FIG. 4 shows a schematic illustration of a further flow chart for explaining the first control system.

[0103] FIG. 5 shows a schematic illustration of a further flow chart for explaining step S100 shown in FIG. 3.

[0104] FIG. 6 schematically shows the host motor vehicle which, by means of a second control system that plans a trajectory and generates associated control commands, drives around an obstacle.

[0105] FIG. 7 shows a schematic illustration of a diagram for explaining the second control system, which is suitable for use in the host motor vehicle and is configured and intended for simultaneously planning a trajectory and generating associated signals or control commands.

[0106] FIG. 8 schematically shows the host motor vehicle, which includes the second control system, in an instantaneous traffic environment.

[0107] FIG. 9 schematically shows the host motor vehicle, which includes the second control system, which generates a trajectory and associated signals or control commands for passing a preceding motor vehicle.

[0108] FIG. 10 schematically shows the host motor vehicle, which includes the second control system, which generates a trajectory and associated signals or control commands in order to not carry out a passing operation.

DETAILED DESCRIPTION OF THE DRAWINGS

[0109] FIG. 1 schematically shows a host motor vehicle 10 that is present in a passing lane 12 of a roadway 14. An additional lane 16 of the roadway 14 next to the passing lane 12 is apparent; the passing lane 12 and the additional lane 16 are separated from one another by a dashed-line roadway marker 18.

[0110] The host motor vehicle 10 has at least one surroundings sensor (not shown) that is associated with the host motor vehicle 10 and mounted thereon. The surroundings sensor may be designed, for example, in the form of a camera, although use of other known surroundings sensors is also possible. The at least one surroundings sensor is configured for detecting an area in front of the host motor vehicle 10, and providing the surroundings data that represent this area to an electronic controller (not shown) of a control system (not shown) installed in the host motor vehicle 10.

[0111] In the example shown in FIG. 1, a first control system detects another motor vehicle 20, which is present in the additional lane 16 adjacent to the passing lane 12, by means of the at least one surroundings sensor. In addition, by means of the at least one surroundings sensor the control system detects an additional motor vehicle 22 that is located in front of the other motor vehicle 20 and likewise present in the additional lane 16, as well as a motor vehicle 24 that is offset in front of the other motor vehicle 20 and present in the passing lane 12.

[0112] The motor vehicles 10, 24 traveling in the passing lane 12 each have a higher speed than the motor vehicles 20, 22 traveling in the additional lane 16. In addition, the other motor vehicle 20 is traveling at a speed that is higher than the speed of the additional motor vehicle 22, located in front of the other motor vehicle 20. For this reason, in the situation shown in FIG. 1 the other motor vehicle 20 makes a lane change from the additional lane 16 into the passing lane 12, along the trajectory 26.

[0113] To avoid via warning signals and/or automatic driving maneuvers a rear-end collision of the host motor vehicle 10 with the other motor vehicle 20 that is making the lane change, the first control system of the host motor vehicle 10 is configured for recognizing this lane change by the other motor vehicle 20 in a timely manner. For this purpose, the control system of the host motor vehicle 10 computes the likelihood of a lane change by the other motor vehicle 20 in accordance with the surroundings data obtained by means of the at least one surroundings sensor.

[0114] As schematically illustrated in FIG. 1, for computing the likelihood of a lane change by the other motor vehicle 20, the control system of the host motor vehicle 10 determines on the one hand a lateral movement of the other motor vehicle 20 relative to the additional lane 16, and on the other hand, an instantaneous traffic situation in the area in front of the host motor vehicle 10. In the illustrated example, the detection of the lateral movement of the other motor vehicle 20 is illustrated by the dash-dotted line 28, while the dashed line 30 illustrates the detection of the instantaneous traffic situation in the area in front of the host motor vehicle 10. However, it is understood that these lines 28, 30 are used merely to illustrate the functional principle of the control system disclosed herein, in which an overall likelihood of a lane change by the other motor vehicle 20 is computed by the control system in accordance with a movement-based likelihood and a traffic situation-based likelihood of a lane change by the other motor vehicle 20. More precisely, the control system computes a movement-based likelihood of a lane change by the other motor vehicle 20 based on the determined lateral movement of the other motor vehicle 20, and computes a traffic situation-based likelihood of a lane change by the other motor vehicle based on the determined instantaneous traffic situation, and combines these computed likelihoods in a suitable manner to form an overall likelihood of a lane change by the other motor vehicle 20. The respective detection of the lateral movement of the other motor vehicle 20 and of the instantaneous traffic situation is not limited to the areas enclosed by the lines 28, 30. Rather, by means of the at least one surroundings sensor the control system detects, for example, an overall area in front of the host motor vehicle 10 and determines from this overall area the lateral movement of the other motor vehicle 20 as well as the instantaneous traffic situation.

[0115] For ascertaining the lateral movement of the other motor vehicle 20, in the example shown the control system determines, based on detected roadway markers and/or roadway boundaries, a virtual centerline 32 of the additional lane 16 in which the other motor vehicle 20 is present. The lateral movement of the other motor vehicle 20 is ultimately ascertained via the change in a distance of a vehicle longitudinal axis from the virtual centerline 32 during a predetermined time period. It is understood that the lateral movement of the other motor vehicle 20 is also ascertainable directly via defected roadway markers and/or roadway boundaries without determining a virtual centerline beforehand. The ascertainment of the lateral movement of the other motor vehicle 20 is described in detail with reference to FIG. 2.

[0116] In addition, the control system of the host motor vehicle 10 assesses the instantaneous traffic situation in the area in front of the host motor vehicle 10 from the standpoint of the other motor vehicle 20. For this purpose, the control system of the host motor vehicle 10 determines whether a lane change on account of an additional motor vehicle or object in the additional lane 16 in front of the other motor vehicle 20, which is slower than the other motor vehicle 20, is necessary for the other motor vehicle 20, and whether such a lane change is achievable from the other motor vehicle's standpoint, taking into account vehicles and/or objects In the passing lane 12 (target lane) in an area in front of and behind the other motor vehicle 20. The ascertainment of the instantaneous traffic situation is described in detail with reference to FIG. 2.

[0117] By computing the overall likelihood in accordance with the computed movement-based likelihood and the computed traffic situation-based likelihood, the control system of the host motor vehicle 10 can recognize a lane change by the other motor vehicle 20 early and correctly evaluate it.

[0118] FIG. 2 schematically shows how the control system associated with the host motor vehicle 10 determines the lateral movement of the other motor vehicle 20 and the instantaneous traffic situation in the area in front of the host motor vehicle 10 from the standpoint of the other motor vehicle 20.

[0119] In the figures discussed below, identical and functionally equivalent features are provided with the same reference numerals as in the figures discussed above.

[0120] For determining the lateral movement of the other motor vehicle 20, the control system of the host motor vehicle 10 detects an average lateral distance d.sub.lateral of a longitudinal axis L of the other motor vehicle 20 from the virtual centerline 32 of the lane 16, and a lateral speed v.sub.lateral of the other motor vehicle 20. The control system of the host motor vehicle 10 defects this average lateral distance d.sub.lateral as well as the lateral speed v.sub.lateral over a predetermined time period. Based on the change in the average lateral distance d.sub.lateral and the lateral speed v.sub.lateral over the predetermined time period, the control system ultimately determines the lateral movement of the other motor vehicle 20 relative to the lane 16. On this basis, the control system computes a movement-based likelihood of a lane change by the other motor vehicle 20 by use of a support vector machine. It is understood that other mathematical methods are also possible for computing the movement-based likelihood of a lane change based on the determined lateral movement of the other motor vehicle 20. In addition, the control system may detect the lateral distance and the lateral speed of the other motor vehicle 20 relative to other features, for example roadway or lane markers or roadway or lane boundaries, and on this basis determine the lateral movement of the other motor vehicle 20 without determining a virtual centerline of the lane 16 beforehand. In addition, features of the other motor vehicle 20 other than the longitudinal axis L may be used by the control system as a reference for detecting the lateral distance and/or the lateral speed, such as vehicle body boundaries or certain components of the other motor vehicle 20.

[0121] For determining the instantaneous traffic situation, the control system of the host motor vehicle 10 determines a distance d.sub.front between the other motor vehicle 20 and the additional motor vehicle 22 located in front of the other motor vehicle 20, as well as a speed difference v.sub.front between the two vehicles. The other motor vehicle 20 and the additional motor vehicle 22 located in front of the other motor vehicle 20 are present in the same lane 16, which is adjacent to the passing lane 12 in which the host motor vehicle 10 is present. At the same time, the control system of the host motor vehicle 10 determines a distance d.sub.front,offset as well as a speed difference v.sub.front,offset between the other motor vehicle 20 and the motor vehicle 24 that is offset in front of the other motor vehicle 20. The offset motor vehicle 24 is in the passing lane 12 that is adjacent to the additional lane 16 in which the other motor vehicle 20 is present, whereby the lane of the offset motor vehicle 24 represents the target lane for a lane change by the other motor vehicle 20. Likewise at the same time, the control system of the host motor vehicle 10 determines a distance d.sub.behind,offset and a speed difference v.sub.behind,offset between the other motor vehicle 20 and the host motor vehicle 10 that is behind the other motor vehicle, which is present in the passing lane 12, and thus, the target lane for a lane change by the other motor vehicle 20.

[0122] The above discussion shows that the control system of the host motor vehicle 10 determines the instantaneous traffic situation from the standpoint of the other motor vehicle 20, which in the case of making a lane change represents a potential hazard for the host motor vehicle 10. Based on this determined instantaneous traffic situation in the surroundings of the other motor vehicle 20 and in front of the host motor vehicle 10, the control system of the host motor vehicle 10 can compute the traffic situation-based likelihood of a lane change by the other motor vehicle 20. The control system of the host motor vehicle 10 is thus already able, at an early point in time, to recognize a likely lane change by the other motor vehicle 20 and to take appropriate measures or prepare for appropriate measures, even if a driver of the other motor vehicle 20 initiates this lane change comparatively late. In addition, the movement-based likelihood of a lane change, computed at the same time by the control system of the host motor vehicle 10 in accordance with the determined lateral movement of the other motor vehicle 20, may be assessed taking into account the determined instantaneous traffic situation and the traffic situation-based likelihood. Thus, the control system may interpret, for example, even a small lateral movement of the other motor vehicle 20, with a very high traffic situation-based likelihood of a lane change, as an initiation of a lane change by the driver of the other motor vehicle 20, which is expressed in the computed overall likelihood.

[0123] FIG. 3 shows a schematic illustration of a flow chart for explaining the control system, which is suitable for use in the host motor vehicle (not shown in FIG. 3) and configured and intended for computing an overall likelihood of a lane change by another motor vehicle (not shown in FIG. 3). In step S100, the control system of the host motor vehicle detects by means of a surroundings sensor the area in front of the host motor vehicle or preceding motor vehicles and stationary objects situated ahead in this area. More precisely, in step S100 the control system detects the other motor vehicle S102 as well as additional motor vehicles and/or objects S104 in the area in front of the host motor vehicle. Step S100 is explained in greater detail with reference to FIG. 5.

[0124] In step S106, the control system determines a lateral movement of the other motor vehicle relative to the associated lane in which the other motor vehicle is present. For this purpose, the control system, for example during a predetermined time period or continuously, determines a change in a distance of the other motor vehicle from a real or virtual lane marker and/or lane boundary of the lane in which the other motor vehicle is present. It is understood that the control system may also determine a lateral movement of the other motor vehicle relative to a target lane in which the host motor vehicle, for example, is present. At the same time, this also represents a determination of a relative lateral movement of the other motor vehicle with respect to the lane in which the other motor vehicle is present.

[0125] Based on the lateral movement of the other motor vehicle determined in step S106, the control system of the host motor vehicle computes a movement-based likelihood of a lane change by the other motor vehicle in step S108.

[0126] Essentially in parallel with the operation described above, in step S110 the control system determines a distance as well as a speed difference between the other motor vehicle and an additional motor vehicle or object located in front of the other motor vehicle, whereby the other motor vehicle and the additional motor vehicle or object are in the same lane. In step S112, the control system of the host motor vehicle also determines a distance as well as a speed difference between the other motor vehicle and a motor vehicle or object offset in front of the other motor vehicle, whereby the other motor vehicle and the motor vehicle or object offset in front of the other motor vehicle are in adjacent lanes. In addition, in step S114 the control system determines a distance as well as a speed difference between the other motor vehicle and the host motor vehicle located behind the other motor vehicle, whereby the host motor vehicle and the other motor vehicle are in different lanes.

[0127] By use of the relationships determined in steps S110, S112, and S114, the control system determines an instantaneous traffic situation in accordance with the surroundings data obtained by means of the surroundings sensor, from the standpoint of the other motor vehicle.

[0128] Based on this determined instantaneous traffic situation, in step S116 the control system of the host motor vehicle computes a traffic situation-based likelihood of a lane change by the other motor vehicle.

[0129] Lastly, in step S118 the control system of the host motor vehicle computes an overall likelihood of a lane change by the other motor vehicle in accordance with the previously computed movement-based likelihood and traffic situation-based likelihood.

[0130] FIG. 4 shows a schematic illustration of a further flow chart for explaining the control system; the illustrated additional flow chart is a continuation of the flow chart shown in FIG. 3. In step S120 shown in FIG. 4, the overall likelihood previously computed in step S118 is compared to a predetermined threshold value that indicates a likely lane change by the other motor vehicle. This threshold value may be predetermined based on empirical values, for example, and stored in a memory of the control system. If the control system determines in step S120 that the computed overall likelihood exceeds the predetermined threshold value (Yes), the control system generates a signal in step S122 in order to warn a driver of the host motor vehicle of a likely lane change by the other motor vehicle and/or to carry out an autonomous speed adaptation by the host motor vehicle and/or to carry out an autonomous driving maneuver by the host motor vehicle. On the one hand, if the control system determines in step S120 that the computed overall likelihood does not exceed the predetermined threshold value (No), the control system begins anew with step S100. It is noted that the control system may also begin anew with step S100 after carrying out step S122 in order to also determine whether the other motor vehicle is making a lane change.

[0131] FIG. 5 shows a schematic illustration of a further flow chart for explaining step S100 shown in FIG. 3. As described above, in step S100 the control system of the host motor vehicle detects by means of a surroundings sensor the other motor vehicle S102 as well as additional motor vehicles and/or objects S104 in the area in front of the host motor vehicle. However, to distinguish between the other motor vehicle and the additional motor vehicles/objects, in another embodiment the control system may first carry out step S202, in which the control system recognizes preceding motor vehicles and objects traveling ahead, as well as surrounding features in the area in front of the host motor vehicle, without making distinctions between the other motor vehicle and additional motor vehicles/objects.

[0132] In step S204, the control system of the host motor vehicle subsequently determines a host lane in which the host motor vehicle is present, based on the surrounding features such as lane markers or lane boundaries. At the same time, in step S208 the control system determines, based on the surrounding features, an additional lane in which one of the motor vehicles in front of the host motor vehicle is present. More precisely, in this step the control system determines the lane in which the motor vehicle that is the closest distance from the host motor vehicle is present.

[0133] The control system of the host motor vehicle determines in step S208 whether the ascertained additional lane is adjacent to the ascertained host lane. If this is not the case (No), the control system returns to step S206 and carries out this step anew, but this time using another detected motor vehicle that is the next closest distance from the host motor vehicle. Alternatively, the control system terminates the control method when no additional motor vehicles have been detected, and begins anew with step S100 as soon as additional motor vehicles and/or objects are detected by means of the surroundings sensor.

[0134] However, if the control system of the host motor vehicle determines in step S208 that the ascertained additional lane is adjacent to the ascertained host lane (Yes), the control system skips to step S210 and determines the associated motor vehicle in the additional lane as the other motor vehicle, and continues with the steps shown in FIG. 3.

[0135] FIG. 6 schematically shows the host motor vehicle 10, which is driving around an obstacle 34 with the aid of a second control system. More precisely, FIG. 6 shows the driving maneuver carried out by the host motor vehicle 10 in order to drive around the obstacle 34, at six different points in time t.sub.1 through t.sub.6. The host motor vehicle 10 and the obstacle 34 are illustrated in a highly simplified manner in FIG. 6 for reasons of clarity. In addition, the reference numerals in FIG. 6 are illustrated only in the situation at point in time t.sub.1 for reasons of clarity. However, the reference numerals correspondingly apply for the situations shown at points in time t.sub.2 through t.sub.6. The obstacle 34 may in particular be a motor vehicle that is traveling in front of the host motor vehicle 10. As is apparent from FIG. 6, not only the host motor vehicle 10, but also the obstacle 34 is moving in the example shown.

[0136] FIG. 6 shows a roadway 36 having a lane 38 in which both the host motor vehicle 10 and the obstacle 34 are present, and an oncoming lane 40. The lane 38 and the oncoming lane 40 are separated from one another by a dashed centerline 41. This means that a passing operation is basically allowed on the roadway 36 shown. It is understood that the discussion above and presented below similarly applies for a roadway having multiple lanes in the same travel direction, in which the host motor vehicle and an obstacle to be driven around are present.

[0137] Also illustrated In FIG. 6 is a trajectory 42, determined by the second control system of the host motor vehicle 10, which the host motor vehicle 10 is to follow for carrying out a driving maneuver. Similarly as for the position of the host motor vehicle 10 and of the obstacle 34, between the shown points in time t.sub.1 through t.sub.6 the trajectory 42 determined by the second control system also changes in accordance with the ascertained instantaneous driving situations of the host motor vehicle 10, the desired driving situation of the host motor vehicle 10, the driving dynamics of the host motor vehicle 10, and the surroundings data that have been detected by means of at least one surroundings sensor of the host motor vehicle 10. In other words, the second control system of the host motor vehicle 10 continuously determines a trajectory 42 at the instantaneous point in time, and the trajectory is adapted to the instantaneous driving and traffic situation of the host motor vehicle 10.

[0138] Based on the parameters described above that influence the trajectory determination, the second control system derives limits for the trajectory to be determined, which are indicated in visual form In FIG. 6 by way of example. Thus, dashed lines 44, 46 on the roadway boundary form assigned limits that must not be exceeded by the trajectory 42, i.e., by the host motor vehicle 10 following the trajectory 42, in order to ensure driving safety. Correspondingly, line 48 forms a limit that is assigned to the obstacle 34, which likewise must not be exceeded by the trajectory 42, i.e., by the host motor vehicle 10 following the trajectory 42, when driving around the obstacle 34.

[0139] Concurrently with the determination of the trajectory 42, the second control system of the host motor vehicle generates associated signals that assist the driver of the host motor vehicle 10 in controlling the host motor vehicle 10 in order to follow the trajectory 42, or generates associated control commands that cause the host motor vehicle 10 to autonomously follow the trajectory 42. This following of the trajectory 42 is illustrated in FIG. 6 by the position of the host motor vehicle 10, which changes between points in time t.sub.1 through t.sub.6, and the resulting movement pattern 50. As is apparent in particular from the situation shown at point in time t.sub.6, the movement pattern 50 of the host motor vehicle 10 at the end of the driving maneuver does not correspond to a mere addition of all trajectories 42 previously determined by the second control system. The reason is that in the course of the driving maneuver, these trajectories 42 are continuously adapted to the changing instantaneous situation of the host motor vehicle 10 and of the surroundings, and the host motor vehicle 10 always follows only a segment of each trajectory 42.

[0140] FIG. 7 shows a schematic illustration of a diagram for explaining the second control system of the host motor vehicle 10. This second control system comprises a single vehicle model 60, on the basis of which the trajectory (not shown here) is determined essentially simultaneously and in the same step, and associated signals 61 or control commands 61 are generated. In the exemplary embodiment shown, the single vehicle model 60 is implemented in the controller of the control system. The single vehicle model 60 determines/generates the trajectory and the associated signals or control commands in accordance with various parameters.

[0141] For this purpose, the at least one surroundings sensor 62 associated with the host motor vehicle 10 detects surroundings data 64 of the surroundings 66 as well as vehicle-specific data 68 of the host motor vehicle 10. The surroundings data 64 may include, for example, information concerning roadway boundaries, roadway markers, roadway condition, additional motor vehicles, objects, etc., in the area in front of, to the side of, and/or behind the host motor vehicle 10. The surroundings data thus represent the instantaneous situation in which the host motor vehicle 10 is present. The vehicle-specific data 68 concern, for example, the driving dynamics, the instantaneous speed, the Instantaneous position, etc., of the host motor vehicle 10.

[0142] The surroundings sensor 62 relays the detected surroundings data 64 and vehicle-specific data 68 in various forms to the single vehicle model 60. For example, in the embodiment shown here, data 70 concerning a movement and/or position of an obstacle traveling ahead, data 72 concerning the instantaneous position of the host motor vehicle 10, and data 74 concerning the instantaneous speed of the host motor vehicle 10 are relayed from the at least one surroundings sensor 62 to the single vehicle model 60, and are mapped and further processed therein in order to determine the trajectory and generate the associated signals/control commands. In addition, an external source (not shown) relays data 76 concerning a desired driving situation of the host motor vehicle 10, for example at the end of the trajectory, to the single vehicle model 60.

[0143] It is understood that the data transmissions shown in FIG. 7 are strictly by way of example and are not exhaustive. Rather, other parameters that are relevant for determining the trajectory and generating signals/control commands may be detected by the at least one surroundings sensor 62 and transmitted by same and/or by external sources to the second control system, which is the single vehicle model 60 of the control system.

[0144] The surroundings 66 in which the host motor vehicle 10 is instantaneously present may have effects on the host motor vehicle 10, as indicated by the arrow 78. These effects may likewise be important for determining the trajectory, in that the parameters described above are taken into account by the second control system or by use of the single vehicle model 60.

[0145] FIG. 8 schematically shows the host motor vehicle 10, which includes the second control system. In the example shown, the host motor vehicle 10 is in an instantaneous traffic situation on a multilane roadway 80, with a plurality of additional motor vehicles 62 present in an area In front of, to the side of, and behind the host motor vehicle 10. These additional motor vehicles 82 each follow an associated trajectory 84. For reasons of clarity, only one of the plurality of additional motor vehicles 82 is provided with a reference numeral.

[0146] To avoid an obstacle 34 traveling ahead of the host motor vehicle 10, in the present case a slower-moving motor vehicle 34, the second control system of the host motor vehicle determines the trajectory 42 based on a surroundings model generated from the surroundings data. This surroundings model represents a potential field of the instantaneous surroundings of the host motor vehicle 10, and allows the control system to ensure that a driving maneuver initiated by the signals/control commends associated with the trajectory is achievable and safe with regard to the instantaneous surroundings (roadway characteristics, traffic situation, etc.). The second control system of the host motor vehicle 10 hereby rejects planning of the trajectories 86, 88, for example, since following these trajectories 86, 88 would not be possible due to the instantaneous traffic situation, The second control system may additionally compare this surroundings model to external GFS data and traffic and roadway information. By generating such a surroundings model, the second control system of the host motor vehicle 10 can appropriately respond to practically any instantaneous traffic situation.

[0147] FIG. 9 schematically shows the host motor vehicle 10, which includes the second control system. In the illustrated example, the second control system determines the trajectory 42 and generates associated signals or control commands in order to assist the host motor vehicle 10 or to prompt passing of a preceding obstacle 34 in the form of a motor vehicle that is traveling more slowly. For this purpose, the control system determines, based on the surroundings data obtained by means of the at least one surroundings sensor (not shown), that no oncoming motor vehicle or obstacle is present in the oncoming lane 40. In addition, the control system here also determines that the entire roadway 36 is suitable for a passing maneuver with regard to other features, for example the width and course of the roadway. The control system then determines the appropriately adapted trajectory 42 for safely passing the obstacle 34, and generates the associated signals/control commands for following this trajectory 42.

[0148] In contrast to the example shown in FIG. 9, the second control system in FIG. 10 identifies an oncoming motor vehicle 90 in the oncoming lane 40. Since a passing operation by the host motor vehicle 10 would not be safe in the instantaneous situation due to this oncoming motor vehicle 90, in this example the control system determines a trajectory 42 that does not provide for a passing operation by the host motor vehicle 10.

[0149] It is understood that the exemplary embodiments explained above are not exhaustive, and do not limit the subject matter disclosed herein. In particular, if is apparent to those skilled in the art that they may combine the features of the various embodiments with one another and/or omit various features of the embodiments without thereby departing from the subject matter disclosed herein.