US 12,291,235 B2
Driving assistance system and driving assistance method for the automated driving of a vehicle
Felix Klanner, Munich (DE); and Horst Kloeden, Freiberg (DE)
Assigned to Bayerische Motoren Werke Aktiengesellschaft, Munich (DE)
Appl. No. 18/008,485
Filed by Bayerische Motoren Werke Aktiengesellschaft, Munich (DE)
PCT Filed May 5, 2021, PCT No. PCT/EP2021/061777
§ 371(c)(1), (2) Date Dec. 6, 2022,
PCT Pub. No. WO2021/254686, PCT Pub. Date Dec. 23, 2021.
Claims priority of application No. 10 2020 116 155.7 (DE), filed on Jun. 18, 2020.
Prior Publication US 2023/0211803 A1, Jul. 6, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 30/18 (2012.01)
CPC B60W 60/0011 (2020.02) [B60W 30/18036 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/80 (2020.02); B60W 2555/60 (2020.02)] 9 Claims
OG exemplary drawing
 
1. A driving assistance system, comprising:
at least one processor configured to:
control a vehicle to turn onto a road via an automated driving function;
detect, when turning onto the road, that an oncoming road user is blocking a lane of the road so as to create a deadlock situation;
calculate, in response to the detection, a cost to the vehicle for reversing to allow the oncoming road user to exit the road, and a cost to the oncoming road user to clear the lane by reversing;
select, based on the calculation, one of the following responsive maneuvers for execution by the driving assistance system: reverse the vehicle to allow the oncoming road user to exit the road, and prompt the oncoming road user to clear the lane by reversing; and
control the vehicle to execute the selected responsive maneuver via the automated driving function.