	US 11,993,257 B2
	Method for operating a vehicle assistance system, device for executing the method, and vehicle
Christoph Gustav Keller, Stuttgart (DE); and Holger Mielenz, Ostfildern (DE)
Assigned to Daimler AG, Stuttgart (DE); and Robert Bosch GmbH, Stuttgart (DE)
Appl. No. 17/290,324
Filed by Daimler AG, Stuttgart (DE); and Robert Bosch GmbH, Stuttgart (DE)
PCT Filed Oct. 15, 2019, PCT No. PCT/EP2019/077847 § 371(c)(1), (2) Date Apr. 30, 2021, PCT Pub. No. WO2020/088926, PCT Pub. Date May 7, 2020.
Claims priority of application No. 10 2018 127 061.5 (DE), filed on Oct. 30, 2018.
Prior Publication US 2021/0370930 A1, Dec. 2, 2021
Int. Cl. B60W 30/09 (2012.01); B60W 10/18 (2012.01); B60W 30/095 (2012.01); B60W 60/00 (2020.01); G06V 20/58 (2022.01)

CPC B60W 30/09 (2013.01) [B60W 10/18 (2013.01); B60W 30/0956 (2013.01); B60W 60/0011 (2020.02); B60W 60/0015 (2020.02); B60W 2554/4023 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4044 (2020.02); G06V 20/58 (2022.01)]

11 Claims

1. A method for operating the assistance system of a vehicle, wherein in an autonomous driving mode of the vehicle, passage under an obstacle having a passage height that has been determined to be sufficiently high is prevented by a control unit, wherein the control unit determines if the obstacle is a working machine carrying a movable load unit, the control unit also determines whether the movable load unit protrudes into the driving route or is moving into the driving route of the vehicle, and wherein the control unit is configured to predict a hazard potential to the vehicle resulting from the movable load unit protruding into or moving into the driving route of the vehicle and to prevent passage under the obstacle only if the predicted hazard potential is at or above a predetermined level.