Advanced highway assist scenario

A method for providing a multi-lane scenario driving support for an ego vehicle in a traffic situation in which an ego lane is partly or fully obstructed by other traffic participants, the method comprising:

• measuring traffic surroundings by an environment sensor system,
• wherein the traffic surroundings include data about traffic and free space within the ego lane of the ego vehicle and at least one adjacent lane, and data about front proximity area and rear proximity area of the ego vehicle;
• evaluating, by a decision device the measured traffic surroundings together with the speed of the ego vehicle and deciding a driving operation to be executed by the ego vehicle based on at least one strategy,
• wherein in the decision device a cost function is used for choosing one of at least six strategies, the cost function being based on at least a core priority, whereby the core priority is to avoid collision of the ego vehicle and not cause collision of the ego vehicle with a third party vehicle, whereby the decision device by the cost function chooses one selected from the group consisting of at least the following six strategies:
• braking in the ego lane, to combine braking and steering within the ego lane of the ego vehicle, steering within the ego lane of the ego vehicle to avoid an obstacle, to full-brake in the ego lane of the ego vehicle, to combine braking and steering towards or when entering temporarily the adjacent lane and steering towards or when entering temporarily the adjacent lane;
• wherein the cost function is used in mathematical optimization and decision theory for mapping an event, finding a real number representing a cost associated with the event, and choosing the one of the at least six strategies with a lowest cost;
• and
• wherein the decision device by the cost function chooses the strategies in the following order:
• braking in the ego lane,
• to combine braking and steering within the ego lane of the ego vehicle,
• steering within the ego lane of the ego vehicle to avoid the obstacle,
• to full-brake in the ego lane of the ego vehicle,
• to combine braking and steering towards or when entering temporarily the adjacent lane, and
• steering towards or when entering temporarily the adjacent lane.