US 11,866,050 B2
Method and device for operating a vehicle assistance system
Christoph Gustav Keller, Stuttgart (DE); and Holger Mielenz, Ostfildern (DE)
Assigned to Daimler AG, Stuttgart (DE); and Robert Bosch GmbH, Stuttgart (DE)
Appl. No. 17/290,288
Filed by Daimler AG, Stuttgart (DE); and Robert Bosch GmbH, Stuttgart (DE)
PCT Filed Sep. 19, 2019, PCT No. PCT/EP2019/075150
§ 371(c)(1), (2) Date Apr. 30, 2021,
PCT Pub. No. WO2020/088841, PCT Pub. Date May 7, 2020.
Claims priority of application No. 10 2018 127 342.8 (DE), filed on Nov. 1, 2018.
Prior Publication US 2021/0380103 A1, Dec. 9, 2021
Int. Cl. B60W 60/00 (2020.01); B60W 30/095 (2012.01); B60W 30/10 (2006.01); B60W 30/165 (2020.01); G06V 20/56 (2022.01); B60W 40/06 (2012.01)
CPC B60W 40/06 (2013.01) [B60W 30/0956 (2013.01); B60W 30/10 (2013.01); B60W 30/165 (2013.01); B60W 60/0011 (2020.02); G06V 20/56 (2022.01); G06V 20/588 (2022.01); B60W 2420/42 (2013.01); B60W 2510/1005 (2013.01); B60W 2520/10 (2013.01); B60W 2520/12 (2013.01); B60W 2555/20 (2020.02)] 7 Claims
OG exemplary drawing
 
1. A method for operating an assistance system of a vehicle, a surrounding area of the vehicle being determined via captured signals of a surrounding area sensor, comprising:
determining whether a roadway ahead of a vehicle traveling in an automated driving mode is covered with snow and comprises tire tracks, wherein:
if tire tracks are present, the course thereof is determined, and
it is decided, depending on the determined course of the tire tracks, whether traveling along said tire tracks is critical,
wherein for the case that traveling along the tire tracks is critical, a trajectory spaced apart from said tire tracks and through undriven snow is determined,
wherein said determined trajectory then becomes the basis for automated guiding for control of the vehicle,
wherein traveling along the tire tracks is determined to be critical when a course and a shape of the tire tracks is an indicator of the presence of a slippery road surface such that the tire tracks indicate they were created by a drifting motion, fishtailing motion, or slipping motion.