US 12,080,169 B2
Method for the automatic merging of a vehicle
Yildirim Dülgar, Sindelfingen (DE); and Hubert Rehborn, Sindelfingen (DE)
Assigned to MERCEDES-BENZ GROUP AG, Stuttgart (DE)
Appl. No. 17/632,069
Filed by DAIMLER AG, Stuttgart (DE)
PCT Filed Jul. 27, 2020, PCT No. PCT/EP2020/071136
§ 371(c)(1), (2) Date Feb. 1, 2022,
PCT Pub. No. WO2021/023549, PCT Pub. Date Feb. 11, 2021.
Claims priority of application No. 10 2019 005 446.6 (DE), filed on Aug. 2, 2019.
Prior Publication US 2022/0254256 A1, Aug. 11, 2022
Int. Cl. G08G 1/16 (2006.01); G06V 20/17 (2022.01); G06V 20/54 (2022.01); G08G 1/01 (2006.01); G08G 1/0967 (2006.01)
CPC G08G 1/167 (2013.01) [G06V 20/17 (2022.01); G06V 20/54 (2022.01); G08G 1/012 (2013.01); G08G 1/0129 (2013.01); G08G 1/0145 (2013.01); G08G 1/096725 (2013.01); G08G 1/164 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A method for an automatic merging of a vehicle from a slip road into a lane of traffic, the method comprising: predetermining a primary merging position at which the vehicle is to undertake a lane change from the slip road to the lane of traffic when the lane of traffic is clear; controlling the vehicle in such a way that the lane change is performed in proximity to the primary merging position when the lane change does not lead to road users in the lane of traffic being obstructed by the vehicle; and controlling the vehicle in such a way that the lane change is performed in proximity to a secondary merging position when the lane change in proximity to the primary merging position would lead to an obstruction to the road users in the lane of traffic, wherein the secondary merging position is determined depending on detected clearances between the road users in the lane of traffic, wherein the primary merging position is predetermined based on data of a traffic observation, and wherein the data of the traffic observation includes observed merging positions of other road users, and the primary merging position is predetermined based on a frequency analysis of the observed merging positions of the other road users.