Method for determining a target trajectory for a motor vehicle operated in at least semi-automated fashion on a single-lane road, computer-readable medium, and assistance system

A non-transitory computer-readable medium storing program code that, when processed by an electronic computing device, causes the electronic computing device to:

• capture an environment of a motor vehicle with a single-lane roadway and with a lateral boundary marker of the single-lane roadway by way of a capturing device of an assistance system;
• obtain swarm data about a potentially drivable trajectory on the single-lane roadway;
• determine a target trajectory by shifting the potentially drivable trajectory such that a preset minimum distance to the lateral boundary marker is complied with by the target trajectory;
• in response to determining that the motor vehicle transitions from a two-lane roadway with potential oncoming traffic to the single-lane roadway with potential oncoming traffic, adapt a current trajectory to the target trajectory after exceeding a minimum length of the single-lane roadway and/or after a minimum time of travel on the single-lane roadway;
• and
• drive the motor vehicle based on the target trajectory in at least partially automated manner.

An assistance system for determining a target trajectory of a motor vehicle operated in at least partially automated manner on a single-lane roadway with potential oncoming traffic, the assistance system comprising:

• at least one capturing device;
• at least one processor;
• and
• a computer-readable medium storing program code that, when processed by the at least one processor, causes the assistance system to:
• capture an environment of the motor vehicle with the single-lane roadway and with a lateral boundary marker of the single-lane roadway by way of the at least one capturing device;
• obtain swarm data about a potentially drivable trajectory on the single-lane roadway;
• determine the target trajectory by shifting the potentially drivable trajectory such that a preset minimum distance to the lateral boundary marker is complied with by the target trajectory;
• in response to determining that the motor vehicle transitions from a two-lane roadway with potential oncoming traffic to the single-lane roadway with potential oncoming traffic, adapt a current trajectory to the target trajectory after exceeding a minimum length of the single-lane roadway and/or after a minimum time of travel on the single-lane roadway;
• and
• drive the motor vehicle based on the target trajectory in at least partially automated manner.