# US 12,759,571 B2 · Method and driving device for performing an automated driving maneuver > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,759,571 B2 - Document ID: US12759571B2 - Status: Granted - Kind: B2 - Application number: 19/036,961 - Filed: 2025-01-24 - Published: 2025-07-31 - Granted: 2026-10-13 - Earliest claimed: 2024-01-26 - Assignees: Bayerische Motoren Werke Aktiengesellschaft - Applicants: Bayerische Motoren Werke Aktiengesellschaft - Inventors: Manfred Brandstetter - Web page: https://patentgrep.com/patent/US12759571B2 ## CPC - B60W 50/10: Interpretation of driver requests or demands - B60W 2510/1005: Transmission ratio engaged - B60W 2510/18: Braking system - B60W 2540/20: Direction indicator values - B60W 2720/24: Direction of travel - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT ## Abstract A driving device for performing an automated driving maneuver in a motor vehicle is disclosed. The driving device is configured to guide the motor vehicle along an original trajectory in an automated manner in order to perform the driving maneuver and, while performing the driving maneuver, to detect a user input which indicates that a change of direction of travel is to be performed. The driving device is further configured to cause a change of direction in response to the user input at an intermediate position and, starting from the intermediate position, to determine a trajectory for the driving maneuver adjusted with regard to the original trajectory, and to guide the motor vehicle in an automated manner along the adjusted trajectory to continue the driving maneuver. ## Claims ### Claim 1 A driving device for performing an automated parking maneuver of a motor vehicle, the driving device comprising: a computer implemented control unit configured to: guide the motor vehicle in an automated manner along an original trajectory to perform the parking maneuver at a desired parking location; detect a user input while performing the parking maneuver, which user input indicates that a change of direction of travel is to be performed; effect a change of direction in response to the user input at an intermediate position or on an approach to an intermediate position; determine an adjusted trajectory for the parking maneuver based on the intermediate position and adjusted to the original trajectory; and guide the motor vehicle along the adjusted trajectory in an automated manner to continue the parking maneuver, wherein the original trajectory leads to an end position of the parking maneuver at the desired parking location, the adjusted trajectory, starting from the intermediate position, leads to an adjusted end position of the parking maneuver at the desired parking location, and a distance between the adjusted end position of the parking maneuver of the adjusted trajectory and the end position of the parking maneuver of the original trajectory is at most a predefined distance threshold value. ### Claim 2 (depends on 1) The driving device of claim 1, wherein the control unit is further configured to: determine whether, starting from the intermediate position, an adjusted trajectory is determinable which leads to an adjusted end position which is at most the predefined distance threshold value away from the end position of the original trajectory and which includes at most a maximum permitted number of driving maneuvers; continue the driving maneuver along the adjusted trajectory when the adjusted trajectory starting from the intermediate position is determinable; and abort the driving maneuver and keep the motor vehicle at the intermediate position when no adjusted trajectory starting from the intermediate position is determinable. ### Claim 3 (depends on 1) The driving device of claim 1, wherein the control unit is further configured to: cause the motor vehicle to be decelerated in an automated manner to be stopped at the intermediate position in response to the user input, the motor vehicle being guided along the original trajectory to the intermediate position, wherein the intermediate position is arranged on the original trajectory. ### Claim 4 (depends on 1) The driving device of claim 1, wherein the control unit is further configured to: detect an actuation of a gear selection control element of the motor vehicle as the user input. ### Claim 5 (depends on 4) The driving device of claim 4, wherein the control unit is further configured to: detect a deflection of a moving component of the gear selection control element in a direction as the user input, which deflection is at least one of: (i) associated with a change of direction of travel in relation to a current direction of travel of the motor vehicle, (ii) associated with engaging a forward gear when the motor vehicle is traveling in the reverse direction, or (iii) associated with engaging a reverse gear when the motor vehicle is traveling in the forward direction. ### Claim 6 (depends on 4) The driving device of claim 4, wherein the control unit is further configured to: detect an actuation of a brake pedal of the motor vehicle in addition to an actuation of the gear selection control element of the motor vehicle as the user input. ### Claim 7 (depends on 1) The driving device of claim 1, wherein the control unit is further configured to: detect a subsequent user input following the user input, the subsequent user input comprising an actuation of an accelerator pedal of the motor vehicle; verify whether or not the subsequent user input was made within a predefined time window after the user input; and (i) abort the driving maneuver and hand over the vehicle control to a user of the motor vehicle if the subsequent user input has been made within the predefined time window after the user input, and/or (ii) abort the driving maneuver and stop the motor vehicle and/or hold the motor vehicle in position if the subsequent user input is made after the predefined time window following the user input. ### Claim 8 (depends on 1) The driving device of claim 1, wherein the control unit is further configured to: detect a user input while performing the driving maneuver, which confirms a current direction of travel of the motor vehicle, the user input comprising a deflection of a moving component of a gear selection control element of the motor vehicle in a direction, which is associated with the current direction of travel of the motor vehicle; and abort the driving maneuver in response thereto; and hand over the vehicle control to a user of the motor vehicle; and/or stop the motor vehicle and/or to hold the motor vehicle in position. ### Claim 9 (depends on 8) The driving device of claim 8, wherein the moving component is a lever, a rocker, and/or a button. ### Claim 10 A method for performing an automated driving maneuver of a motor vehicle, the method comprising: guiding the motor vehicle in an automated manner to perform the driving maneuver along an original trajectory; detecting, while performing the driving maneuver, a user input that indicates that a change of direction of travel is to be performed; effecting, in response to the user input, a change of direction at an intermediate position; determining, starting from the intermediate position, an adjusted trajectory for the driving maneuver adjusted to the original trajectory; and guiding the motor vehicle in an automated manner to continue the driving maneuver along the adjusted trajectory, wherein the original trajectory leads to an end position of the driving maneuver, the adjusted trajectory, starting from the intermediate position, leads to an adjusted end position, and a distance between the adjusted end position of the adjusted trajectory and the end position of the original trajectory is at most a predefined distance threshold value.