Method of assisting a driver of a motor vehicle, output device, controller and motor vehicle

Abstract

The invention proposes a method for assisting a driver of a vehicle (10), the method comprising a learning phase in which a driving maneuver is carried out, at which the driver manually steers the vehicle, wherein the vehicle (10) is brought from a first starting position (20) along a first trajectory (45) into a target position (30), wherein information about the first trajectory (45) is stored, characterized in that during the learning phase the current steering angle of the vehicle (10) is regularly sensed and compared with a predetermined steering angle limit value, wherein if the difference between the current steering angle and the limit steering angle is below a predetermined limit value, a notification is output to the driver of the vehicle (10), and wherein if the current steering angle reaches or exceeds the limit steering angle, the learning phase is interrupted or the learning phase is restarted and / or the first trajectory (45) is adapted and / or the starting position (20) is adapted. The invention also relates to an output device, a controller and a motor vehicle.

Description

TECHNICAL FIELD

[0001] The invention relates to a method for assisting a driver of a motor vehicle when carrying out a driving maneuver. The invention also relates to a computer program product which can carry out such a method. The invention also relates to a controller which can carry out a method for assisting a driver of a motor vehicle, and to a motor vehicle comprising such a controller. BACKGROUND

[0002] Semi-automatic parking systems have been in series production for several years: the driver drives the vehicle along a parking space, the parking system recognizes a free parking space with the aid of side-mounted sensors (e.g. ultrasonic sensors). The driver parks and engages reverse gear, the parking system takes over the control of the steering wheel and controls the vehicle into the parking space. The driver must himself press the accelerator and the brake. An extension of this principle is a system in which the driver is no longer obliged to press the accelerator and the brake himself. The parking system can also take this over, for example by directly intervening in the longitudinal guidance actuation means (brakes, engine control) of the vehicle. The vehicle is fully automatically controlled into the parking space.

[0003] Furthermore, systems are known in which it is learned only once where a certain parking space is located, for example a domestic garage. Following the learning process, the driver must bring the vehicle to the vicinity of the previously learned parking position or target position. The parking system recognizes that there is a learned trajectory to the target parking space in the memory. If the driver activates the parking function, the system autonomously recognizes the current position relative to the target position and moves the vehicle from the current position fully automatically or partially automatically to the learned parking position or target position. Such systems are also known in the prior art under the term "automatic garage parking" or "home area".

[0004] DE 10 2012 008 858 A1 thus describes a method for carrying out an autonomous parking process of a motor vehicle, wherein there is a communication connection between an operator located outside the motor vehicle and the motor vehicle, by means of which at least one instruction for activating an autonomous parking process of the motor vehicle can be transmitted, wherein the target position and / or the last traveled trajectory of the motor vehicle are stored in a suitable device therefor before the start of the automated parking process of the motor vehicle, and after the first activation of the autonomous parking process the motor vehicle carries out the parking process autonomously from the starting position on the basis of the data stored in the device. The determination of the target position by the occupant of the motor vehicle can be implemented in an advantageous manner, for example by the driver first driving to the target position and the target position being saved in the system.

[0005] In order to implement this function, an attempt is made during the driving through of the previously stored trajectory to follow the stored trajectory as precisely as possible by means of the steering actuator, for example in that the stored steering angle is set by the automatic steering device. If very large steering angles or the maximum possible steering angle have been used by the driver during the learning phase, problems can arise here in the form of a large adjustment deviation. This can occur, in particular, when only a small amount of space is available for at least part of the driving maneuver, so that large steering angles are required. For precise adjustment, it must be possible to implement not only smaller but also larger steering angles relative to the target steering angle. However, this is not possible if the maximum steering angle or a very large steering angle has been stored as the target steering angle. A consequence of this can be an adjustment deviation, so that the stored trajectory cannot be driven through precisely and the assisted driving maneuver has to be interrupted.

[0006] Furthermore, a new type of automated parking system based on the "train and reproduce" concept is used as an actuator, usually an electric power steering device in particular. The electric power steering device (EPS) provides the requested (desired) steering (steering wheel) angle during the automated parking process. The requested steering angle is essentially dependent on the steering angle set by the driver during the learning phase (training). In order to ensure the reproducibility of the maneuver trained by the driver, it must be ensured during the training that the driver only uses reproducible steering angles. It is known to limit this using a so-called "limit mode", which outputs a signal to the driver by setting a counter-torque on the steering wheel: namely to reach or soon reach the maximum steering angle with which the system is used.

[0007] DE 10 2004 054 437 B4 discloses how the steering angle changes during a parking maneuver in the context of implementing a fully automated or semi-automated parking process. In particular, in the context of a semi-automated parking process in which the driver implements steering wheel movements, the driver is informed by haptic, visual or acoustic information: how he should move the steering wheel in order to enter from the actually present actual steering angle into the direction of the desired steering angle.

[0008] DE 10 2018 130 937 A1 discloses, in particular in the context of a learning process for a parking process, that steering movements implemented by the driver during a steering process are not advisable or should be avoided as far as possible during an automated driving operation. SUMMARY

[0009] According to the invention, it is proposed that, during a learning phase, in particular for a driving maneuver or a parking maneuver, which is used as a basis for a subsequent partially automated or fully automated driving maneuver, a signal is output to the driver by means of an acoustic, haptic or visual display about the "current set steering angle approaching a predefined critical steering angle". If the steering angle remains critical or continues to approach the limit, the learning phase is interrupted. The described method is used in particular to achieve an improved result in the subsequent partially automated or fully automated driving maneuver, which is implemented on the basis of the steering angles stored during the learning phase, in that there is always still sufficient "margin" in terms of steering angle in order to be able to compensate for factors which did not occur during the learning phase if necessary.

[0010] A method for assisting a driver of a vehicle is proposed, which comprises a learning phase in which a driving maneuver is carried out by the driver, for example after activation of the learning phase by the driver, in which the vehicle is brought from a first starting position manually along a first trajectory into a target position. Here, information about the first starting position and information about the first trajectory are stored. According to the invention, the current steering angle of the vehicle is sensed periodically during the learning phase and compared with a predetermined steering angle limit value. If the current steering angle is less than a certain distance from the steering angle limit value, a notification is output to the driver of the vehicle. If the current steering angle reaches or exceeds the steering angle limit value, the learning phase is interrupted or restarted and / or the stored first trajectory is adapted and / or the starting position is adapted. Here, a separate steering angle limit value can be predefined for each steering direction. The magnitude of the right steering angle limit value can be the same as or different from the magnitude of the left steering angle limit value. In the case of a steering to the left, a comparison is made with the left steering angle limit value; in the case of a steering to the right, a comparison is made with the right steering angle limit value. Here, the steering angle is understood in particular as the angle which can be set by the driver on the steering wheel, which is also referred to as the steering wheel angle or steering wheel steering angle.

[0011] The invention can be used, for example, in a so-called home-zone parking system or in a reversing aid system which assists a so-called undo maneuver In a home-zone parking system, repetitive parking maneuvers, for example parking into a domestic garage, can be carried out partially automatically or fully automatically by means of the system. In an undo maneuver, a previously carried out driving maneuver is partially automatically or fully automatically undone.

[0012] The invention also relates to an electronic control device for a vehicle, which comprises a storage device and a control device, which is connected to other components of the vehicle, wherein the control device is designed to carry out the method according to the invention.

[0013] The application further relates to an output device for a vehicle, which is configured for outputting a notification to a driver of the vehicle in accordance with the method of the application, and which has in particular means for outputting an acoustic signal and / or means for outputting a visual signal and / or means for outputting a haptic signal.

[0014] The application further relates to a vehicle, which comprises an output device of the application and a controller of the kind of the application.

[0015] In a preferred embodiment of the method, the method further comprises an implementation phase, in which, if it is identified that the vehicle is located at a second starting position, which can be different from the first starting position but is still located in a region close to the first starting position, the driver is provided with the possibility of activating an assistance function. After activation of the assistance function, an assisted, in particular partially automated or fully automated, driving maneuver along a second trajectory from the second starting position to the target position is implemented on the basis of the information stored during the learning phase. Preferably, here, an offset between the second starting position and the first starting position can be determined, and a correction which has to be made to the first trajectory can be calculated from the stored course of the first trajectory and the determined offset in order to determine the course of the second trajectory extending from the second starting position to the target position. For activation of the assisted driving maneuver, i.e. for triggering the implementation phase, it is not necessary for the vehicle to be precisely located at the first starting position at which the learning phase started. Instead, it is identified that the vehicle is located at a second starting position in the region of the first starting position, in other words, not more than, for example, about 2 m away from the stored first starting position. The identification can be made, for example, on the basis of sensing and comparing characteristic features in the surroundings data sensed by the surroundings sensor device and on the basis of a comparison with the stored information about the first starting position. Additionally, navigation data or satellite navigation data can advantageously be sensed and used for the localization of the vehicle.

[0016] The information about the first starting position and / or the second starting position can be sensed, for example, by means of a surroundings sensor device of the vehicle.

[0017] In a preferred embodiment of the method of the application, it is identified whether the vehicle is located in the region of the first starting position in such a way that characteristic features of the surroundings of the vehicle in the current position information are compared with the features in the stored information. Furthermore, the information about the first and second starting positions of the vehicle and / or the information about the current position can also comprise navigation data, which is based in particular on data of a satellite navigation system (GNSS), for example GPS, GLONASS and / or Galileo.

[0018] For example, vehicle reactions, in particular collision-avoiding vehicle reactions, can be implemented on the basis of the surrounding environment data sensed during the assisted driving maneuver. In other words, the environment sensing can be active permanently during the implementation phase and sense objects, in particular moving objects, that intersect the vehicle's lane and can cause a collision. If such an object is identified, the fully or partially automated driving maneuver can be interrupted, for example, until it is identified by the environment sensor system that there is no longer a collision danger.

[0019] For example, the target position can be a parking space. It can be provided, for example, that, in the event that the original target position is identified by the environment sensor system during the implementation phase as being inaccessible (for example because the corresponding parking space is occupied), an alternative parking space in the vicinity of the target position is identified by the environment sensor system and the driving maneuver is completed on the basis of the surrounding environment information sensed by the vehicle's environment sensor system in such a way that parking into the alternative parking space is effected.

[0020] However, the method according to the application is not limited to parking processes. Driving maneuvers that can also be envisaged include driving through a narrow point, for example in a driveway or a courtyard, or a turning maneuver in an obscured surrounding environment or a driving maneuver that was implemented before a U-turn. The person skilled in the art can easily apply the principles of the application to a large number of other driving situations.

[0021] The application therefore provides, in particular, a method for assisted implementation of a driving maneuver from a starting position to a target position, for example a method for assisted implementation of a parking maneuver of a vehicle into a predefined parking space. Here, the target position is predefined by the driver in that, during a learning phase, the trajectory curve between the predefined starting position and the target position is driven through once manually.

[0022] During the implementation phase, the steering angle change process to be assumed by the vehicle during the driving through the second trajectory can be automatically set by means of a steering actuator on the basis of the steering angle change process actually selected by the vehicle's steering wheel during the driving through the first trajectory. Here, a "partially automated driving maneuver" is understood to mean that the vehicle itself assumes the steering, i.e. the lateral adjustment, while the driver only accelerates and brakes, i.e. implements the longitudinal adjustment, in accordance with the predefined. In a fully automated driving maneuver, both the longitudinal adjustment and the lateral adjustment of the vehicle are implemented automatically. Vehicles having this functionality are sufficiently known from the prior art and should not be described in any greater detail here.

[0023] According to the application, the current steering angle of the vehicle is sensed periodically during the learning phase and compared with a predetermined steering angle limit value. Here, for example, the difference between the magnitude of the current steering angle and the magnitude of the limit steering angle can be determined. In this case, the difference corresponds to the aforementioned distance.

[0024] Other measures for the distance are conceivable. Integral methods are particularly suitable, for example, the distance below the safety distance is accumulated over the distance traveled and compared with a predefined threshold value of the sum.

[0025] If the current steering angle is below the predetermined steering angle limit value by a certain distance, i.e. the distance is less than the predefined limit value, a notification is issued to the driver of the vehicle. If the current steering angle reaches or exceeds the steering angle limit value, the learning phase is interrupted. The steering angle limit value, for example, has a value of 5° to 20° less than the magnitude of the maximum steering angle. The maximum, manually adjustable steering angle varies depending on the vehicle type. Common values are approximately -580° to +580°.

[0026] The driver can be notified by outputting an acoustic signal and / or a visual signal and / or a haptic signal. In particular, the notification is made by means of a human-machine interface (HMI) of the vehicle.

[0027] The notification to the driver in particular comprises an acoustic signal which includes a continuous or discrete correspondence of the difference between the current steering angle and the limit steering angle to the repetition frequency and / or the tone height of a warning tone or a warning tone sequence. Here, for example, the acoustic notification can be made by means of a sound generator installed in the vehicle as a means for outputting an acoustic signal.

[0028] Alternatively or additionally, the notification to the driver comprises a visual signal which describes the difference between the current steering angle and the limit steering angle by means of the color and / or the intensity and / or the pulse frequency of a light signal. Such a visual notification can be made, for example, by means of a display element in the combination instrument, in the head-up display, in the center console as a means for outputting a visual signal or other displays in the vehicle as a means for outputting a visual signal. Other light sources located in the vehicle interior, for example, the background lighting of the keys on the multifunction steering wheel, the ambient light, etc., can also be used.

[0029] Alternatively or additionally, the visual signal describes the difference between the current steering angle and the limit steering angle by using symbols and / or pictograms and / or text. For example, a steering wheel symbol with a colored background can be shown on a display of the vehicle and / or a traffic light concept can be used, wherein green represents an acceptable steering angle, yellow represents a steering angle which is below a threshold value from the predetermined limit steering angle, and red represents a steering angle which is equal to or greater than the limit steering angle.

[0030] Alternatively or additionally, the notification to the driver includes a haptic signal which describes the difference between the current steering angle and the limit steering angle in a repetitive frequency and / or intensity of a vibration of the steering wheel and / or the driver's seat and / or a repetitive frequency and / or intensity with respect to a brake jerk, i.e. a short, non-dangerous brake for the following traffic of the vehicle. For this purpose, for example, corresponding means for outputting the haptic signal can be provided in the steering wheel and / or in the driver's seat and / or in the brake system.

[0031] Any combination of the described notifications is also possible. The limit for the warning and the limit for interrupting the learning phase, i.e. the limit steering angle and the threshold value of the distance between the current steering angle and the limit steering angle from which the notification is made, can basically be freely chosen and can be adapted to the physical limits of the vehicle or the participating systems, for example the EPS, and should be adapted to individual requirements, for example to facilitate the user experience.

[0032] By means of the method of the invention, a better precision of the position and orientation adjustment of the vehicle is achieved in an advantageous manner when driving automatically through a trajectory determined by the driver. In particular, when the driving maneuver is in a "narrow" situation which usually requires a large steering angle to be set. Just this high precision is forced in situations with little space for the driving maneuver, since a small deviation from the stored trajectory can already lead to a collision or an interruption of the assisted driving maneuver. Thus, the applicability of the function is improved overall by the configuration of the invention, since frequent interruptions or even collisions are avoided due to the improved precision.

[0033] Furthermore, the setting of a counter torque on the steering wheel when the steering angle threshold value is reached can be dispensed with. Alternatively, the counter torque or the actually limited settable steering angle can be realized in the learning phase.

[0034] Thus, the present application describes a method and a system for visually, acoustically or haptically informing a driver in a driver assistance system, which is based on driving over a previously learned trajectory. According to the present application, the driver is informed during the learning phase (training) that the currently set steering angle by him approaches an extreme value. The extreme values for the steering angle follow the maximum reproducible limit in the implementation phase, but can also be designed more critically. Compliance with these extreme values in the training is important for the success and the workability of the implementation phase. Here, this information can complement or replace (in the limit mode) the limitation of the steering angle by the EPS.

[0035] By this information it can be ensured that in the implementation phase the stored trajectory can be driven over with a high trajectory fidelity. Furthermore, the steering angle extreme values can be designed more critically than the physical limits of the EPS. Thereby, in the implementation phase in particular a greater margin of adjustment variables is available for use. The trajectory fidelity in the implementation phase is additionally improved thereby. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 The learning phase in the application of the method of the present application is schematically shown when parking;

[0037] Figure 2 The implementation phase of the method according to the present application is schematically shown;

[0038] Figure 3 A vehicle with a controller configured for implementing the method of the present application is shown;

[0039] Figure 4 An example of a visual notification in the context of a possible implementation of the present application is shown. DETAILED DESCRIPTION

[0040] Embodiments of the present application are described in detail in the following description with reference to the drawings.

[0041] In the following description of embodiments of the present application, identical elements are designated with identical reference numerals, wherein a repeated description of these elements is dispensed with, if necessary. The drawings only schematically show the content of the present application.

[0042] Embodiments of the method of the present application are shown in the drawings. In this example, the assisted driving maneuver is a parking process into a transversal parking space.

[0043] Figure 1A driving situation is shown schematically in a top view. A learning phase of the inventive method for assisting a driver of the shown vehicle 10 is shown. The vehicle 10 is located at a first starting position 20. The driver can now activate the learning phase and manually control the vehicle 10 along a trajectory 45 to a target position 30, i.e. in such a way that the driver himself takes over the longitudinal and lateral guidance of the vehicle. According to the invention, information about the starting position 20 is first sensed. For this purpose, the vehicle has in this example an environment sensor 12, which can be configured for example as an ultrasonic sensor or a camera system. The information about the first starting position 20 is sensed for example as image data and / or distance data and stored in a storage unit in a (not shown) controller of the vehicle. In addition or alternatively to the environmental information sensed by means of the environment sensor 12, also location information about the first starting position 20 can be sensed and stored, for example GPS coordinates of a corresponding positioning system arranged in the vehicle.

[0044] The executed driving maneuver, i.e. the trajectory 45, is sensed during the driving to the target position 30 and stored in a storage unit in a (not shown) controller of the vehicle. According to the invention, a notification is output to the driver of the vehicle if the currently manually set steering angle is at a certain distance from a steering angle extreme value. If the steering angle extreme value is reached or exceeded, the learning phase is interrupted. For example, a value of 5° to 20° less than the value of the maximum steering angle can be preset as the steering angle extreme value at which the learning phase is interrupted, respectively depending on the vehicle type concerned. If the steering angle currently set by the driver is a value less than a certain distance value from this steering angle extreme value, an output can be made for example on a display in the vehicle as a warning. For example, a symbol of different color can be presented to the driver, which is exemplarily shown in Figure 4 Alternatively or additionally, an acoustic signal and / or a further visual signal and / or a haptic signal can be output.

[0045] The implementation phase following the learning phase is shown in Figure 2 The vehicle 10 returns at a later point in time into the area of the first starting position 20 and is located at a second starting position 20', which has a lateral offset d with respect to the first starting position 20. By comparing the current environmental information sensed by the environment sensor 12 with the information stored about the first starting position 20, it is recognized that the vehicle 10 is located in the area of the first starting position 20, i.e. in the vicinity of the first starting position, i.e. within a vicinity of for example at most about 2 m. The driver is now offered the possibility to activate the assistance function for the driving maneuver.

[0046] If the driver has activated the assistance function, the driving maneuvers previously stored in the learning phase for bringing the vehicle 10 into the target position 30 can be implemented automatically. For this purpose, the vehicle 10 is controlled partially automatically or completely automatically along a trajectory 45' from the second starting position 20', which is calculated on the basis of the trajectory 45 stored during the learning phase and the offset d between the first starting position 20 and the second starting position 20'. The vehicle 10 is guided along the trajectory 45'. Here, too, the steering angle can be adjusted to approach the steering angle extreme used in the learning phase more closely than the determined spacing value.

[0047] In Figure 3 a vehicle 10 configured as a passenger car is shown schematically in which the method according to the application is to be implemented. The vehicle shown has a plurality of different environmental sensors 12, which are configured, for example, as ultrasonic sensors and / or camera systems, and at least one sensing device 13 for sensing the current steering angle, for example a steering angle sensor. The vehicle 10 comprises a controller 60 with a storage device 70 and a control device 75, which is connected to other components of the vehicle 10, such as a steering device 90 and a drive train 80, and to an electronic power steering (EPS) system 95 of the vehicle 10. The vehicle also comprises means 82, 83, 84 for outputting acoustic, visual and haptic signals. The controller 60 receives the measurement data of the environmental sensors 12 and processes them to environmental information. During the learning phase, the steering angle set by the driver is sensed continuously by means of the steering angle sensor and compared with the limit steering angle saved in the storage device 70, and a spacing value, i.e. the difference between the magnitude of the current steering angle and the magnitude of the limit steering angle, is determined. If the spacing value is too small, i.e. less than a determined extreme value, the controller 60 is configured to actuate one or more of the means 82, 83, 84 so that the means output a notification to the driver of the vehicle. In addition, the steering angle set during the learning phase can be limited by means of the EPS system 95. The application can be used not only in vehicles with front-axle steering, but also in vehicles with rear-axle steering.

[0048] The first means 82 for outputting an acoustic signal, for example, comprises a loudspeaker in the interior of the vehicle 10. The second means 83 for outputting a visual signal, for example, comprises a display device, for example a screen or a head-up display, in the field of vision of the driver. Alternatively or additionally, the means 83 for outputting a visual signal can comprise one or more light-emitting devices in the interior of the vehicle and / or on the steering wheel. The third means 84 for outputting a haptic signal, for example, comprises an element which vibrates, for example integrated in the steering wheel and / or in the seat surface of the driver's seat.

[0049] Figure 4 A diagram showing a notification to the driver according to a preferred embodiment of the application.

[0050] Once the driver wants to start the learning phase and activates the function, for example by activating a menu, by selecting an HMI button or by manipulating a button, the notification by the HMI (Human Machine Interface) shown in Figure 4 If the driver has set the steering angle too large at the start, the learning phase cannot be realized and the driver gets a notification about "steering angle limit exceeded". If the steering angle is within the allowed range, i.e. if the current steering angle is smaller in magnitude than the limit steering angle, the learning phase can be started. For example, the driver trains a parking maneuver with the system and here (depending on the path to be driven) continuously changes the steering angle. If the steering angle now approaches the predefined steering angle limit, the system starts a notification about this approach. Here, the notification indicates that a further increase of the steering angle will lead to an interruption of the learning phase. If the driver reduces the steering angle below the critical value, the warning disappears again.

[0051] In the example shown in Figure 4 At the beginning of the trajectory 45, the steering angle is not critical and the system for the notification does not output a warning or gives the driver a message that everything is OK (for example by displaying a green steering wheel symbol 17). In the further course of the now more strongly curved trajectory 45, the steering angle set by the driver increases and the system starts a first warning (orange steering wheel symbol 17'). In the region of the sharp curve, the driver has to set a very large steering angle, the system now informs the driver that "a further increase of the steering angle will lead to an interruption of the system" (red steering wheel symbol 17"). If the steering angle is not increased further, the training can continue and the warning disappears again (green steering wheel symbol 17) when the steering angle is reduced further.

Claims

1. A method for assisting a driver of a vehicle (10), the method comprising a learning phase in which a driving maneuver is performed, at which the driver manually steers the vehicle, wherein The vehicle (10) is brought from a first starting position (20) along a first trajectory (45) into a target position (30), wherein information about the first trajectory (45) is stored, characterized in that the current steering angle of the vehicle (10) is sensed periodically during the learning phase and compared to a predetermined steering angle limit value, wherein a notification is output to the driver of the vehicle (10) if the difference between the current steering angle and the predetermined steering angle limit value is below a predetermined value, and wherein the learning phase is interrupted or the learning phase is restarted and / or the first trajectory (45) is adapted and / or the first starting position (20) is adapted if the current steering angle reaches or exceeds the predetermined steering angle limit value.

2. The method of claim 1, wherein, A setting implementation phase is provided, wherein the driver is provided with the possibility to activate an assistance function if it is identified that the vehicle (10) is located in a second starting position (20') in the area of the first starting position (20), and after activation of the assistance function a at least partially automated driving maneuver from the second starting position (20') to the target position (30) along a second trajectory (45') is implemented based on the stored information.

3. The method according to claim 1 or 2, characterized in that, The vehicle has a maximum steering angle determined by the vehicle type of the vehicle, and the magnitude of the predetermined steering angle limit value is smaller than the magnitude of the maximum steering angle of the vehicle.

4. The method according to claim 1 or 2, characterized in that, The notification to the driver comprises an acoustic signal and / or a visual signal and / or a haptic signal.

5. The method of claim 3, wherein, The notification to the driver comprises an acoustic signal, which comprises a continuous or discrete correspondence of the difference between the current steering angle and the predetermined steering angle limit value to a repetition frequency and / or a tone height of a warning tone or a sequence of warning tones.

6. The method of claim 4, wherein, The notification to the driver comprises a visual signal, which describes the difference between the current steering angle and the predetermined steering angle limit value by a color and / or an intensity and / or a pulse frequency of a light signal.

7. The method of claim 4, wherein, The notification to the driver comprises a visual signal, which describes the difference between the current steering angle and the predetermined steering angle limit value by using a symbol (17, 17', 17") and / or a pictogram and / or a text.

8. The method of claim 4, wherein, The notification to the driver comprises a haptic signal, which describes the difference between the current steering angle and the predetermined steering angle limit value to a continuous or discrete correspondence of a repetition frequency and / or an intensity of a vibration of the steering wheel.

9. The method of claim 4, wherein, The notification to the driver comprises a haptic signal, which describes the difference between the current steering angle and the predetermined steering angle limit value to a continuous or discrete correspondence of a repetition frequency and / or an intensity of a brake jerk.

10. The method of claim 3, wherein, The magnitude of the predetermined steering angle limit value is at least 20° smaller than the magnitude of the maximum steering angle of the vehicle.

11. A controller (60) for a vehicle (10), the controller comprising a storage device (70) and a control device (75) and a sensing device (13) for sensing a current steering angle, the control device being connected to a steering system (90, 95) of the vehicle (10), wherein, The controller (60) is set up for implementing the method according to any one of claims 1 to 10.

12. An output device for a vehicle (10), which output device is configured for outputting a notification to a driver of the vehicle (10) in accordance with the method according to any one of claims 1 to 10, and which output device has means (82) for outputting an acoustic signal and / or means (83) for outputting a visual signal and / or means (84) for outputting a haptic signal.

13. A vehicle (10) comprising an output device according to claim 12, and comprising a controller (60) according to claim 11.

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