US 11,919,519 B2
Method and device for operating an assistance system of a vehicle, and a vehicle
Andreas Spieker, Stuttgart (DE); Uli Kolbe, Engen (DE); Alexander Heckmann, Radolfzell (DE); and Raphael Raudenbusch, Tuningen (DE)
Assigned to MERCEDES-BENZ GROUP AG, Stuttgart (DE)
Appl. No. 17/273,527
Filed by DAIMLER AG, Stuttgart (DE)
PCT Filed Aug. 22, 2019, PCT No. PCT/EP2019/072452
§ 371(c)(1), (2) Date Mar. 4, 2021,
PCT Pub. No. WO2020/048782, PCT Pub. Date Mar. 12, 2020.
Claims priority of application No. 10 2018 007 022.1 (DE), filed on Sep. 5, 2018.
Prior Publication US 2021/0339748 A1, Nov. 4, 2021
Int. Cl. B60W 30/18 (2012.01); B60W 30/095 (2012.01)
CPC B60W 30/18163 (2013.01) [B60W 30/0956 (2013.01); B60W 2520/10 (2013.01); B60W 2552/05 (2020.02); B60W 2552/50 (2020.02); B60W 2552/53 (2020.02); B60W 2554/20 (2020.02); B60W 2554/4026 (2020.02); B60W 2554/4029 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/801 (2020.02)] 9 Claims
OG exemplary drawing
 
1. A method for a vehicle, the method comprising:
detecting, laterally static and laterally dynamic objects, which the vehicle is to drive past, as lateral boundary objects;
detecting a respective lateral distance of the vehicle from each detected lateral boundary objects;
determining a speed of the detected lateral boundary objects;
classifying, at least the detected laterally dynamic objects, according to a type of laterally dynamic object; and
controlling the vehicle based on a characteristic curve selected from a set of characteristic curves stored in the vehicle,
wherein each characteristic curve of the set of characteristic curves is assigned to an environmental situation predetermined depending on detected lateral boundary objects,
wherein each characteristic curve of the set of characteristic curves predetermines a maximum speed the vehicle is to drive past the detected boundary object at different lateral distances from the detected boundary object,
wherein characteristic curves of the set of characteristic curves for a current environmental situation on a left lane side and on a right lane side of the vehicle are selected, and a maximum speed and a lateral target position of the vehicle between two lateral boundary objects is controlled based on the selected characteristic curves, and
wherein the selected characteristic curves corresponding to the environmental situation on the left and right lane sides are added to form an overall characteristic curve that is used to control the vehicle.