Method for carrying out a correction of the driving direction by means of a driver assistance system in a motor vehicle and control device therefor

Abstract

The present invention relates to a method for performing correction of the driving direction (12) by means of a driver assistance system (18) in a motor vehicle (10). The invention is configured to identify the need for correction of the driving direction (12) by means of the control device (20) of the driver assistance system (10) so that the motor vehicle (10) continues to operate within the current driving lane (14), output at least one display symbol (34) by means of an output device (36) for displaying the correction to be performed and the correction already performed to the driving direction (12), and perform the correction of the driving direction (12) by controlling the steering of the motor vehicle (10).

Description

Technical Field

[0001] The invention relates to a method for carrying out a correction of a driving direction by a driver assistance system in a motor vehicle and also to a control device therefor. Background Art

[0002] Driver assistance systems in motor vehicles are designed to assist in controlling the motor vehicle while the motor vehicle is rolling. For this purpose, the driver assistance system comprises, for example, a lane keeping aid, so-called lane assist (LA), in order to steer the motor vehicle in accordance with the course of at least one lane identified by means of detected surrounding features. In this regard, information from the driver assistance system can be displayed, i.e. output, by means of an output device, in particular an output device based on augmented reality (AR), and / or a display in the field of vision of the motor vehicle driver, such as a head-up screen (head-up display or HUD), in order to indicate the current activity of the driver assistance system in a signaled manner.

[0003] US 9 987 926 B2 discloses a control method for an electronic device for displaying driving-related guidance of a vehicle, in particular guidance when leaving a lane (lane departure guidance) or guidance when changing lanes (lane change guidance). In order to assist the guidance, an indicator is acquired by using generated information such as lane information, and the acquired indicator is displayed by overlaying it on a specific area of ​​a road guidance screen. For example, a lane change to be performed or a lane departure can be displayed by means of the displayed indicator.

[0004] US 10 181 266 B2 describes a system for providing driving assistance for a vehicle, with an electronic control unit for controlling an imaging device, such as an augmented reality head-up display (AR-HUD). Based on one or more detected vehicle actions, such as changing lanes for overtaking or changing the steering angle for turning, and based on one or more road surface characteristics, such as lane markings, the imaging device is activated or deactivated. With the aid of the imaging device, information about the current traffic situation can be provided to the driver controlling the vehicle, in particular when driving on a curve with a restricted field of view.

[0005] Furthermore, WO 2017 / 162278 A1 and US 2015 / 0204687 A1 each describe a method for assisting lane change, in which lane change information is displayed with the aid of an augmented reality tool.

[0006] A disadvantage of the above-described method is that the driving behavior must also be corrected by intervention by the motor vehicle driver, in particular steering correction to keep the lane or change lanes, as a response to the information output by the driver assistance system to the driver by means of the output device.

[0007] US 2019 / 0031027 A1 discloses a driver assistance system, which can also be configured as a lane keeping assistant and can control the vehicle at least partially automatically. To increase driving comfort, the driver can set a so-called trust mode, in which detected obstacles and lanes can be displayed as AR information during automatic control.

[0008] WO 2019 / 071 212 A1 discloses a driver assistance system for detecting a curve, wherein the curve is known with the aid of visual data and its parameters can be determined. In combination with lane recognition based thereon, a driver assistance system (ADAS) can, for example, detect a deviation from the lane and output a warning signal or use an automated driving system when planning a path.

[0009] In addition, DE 10 2017 212 367 A1 describes a method for displaying the course of a track ahead of a vehicle in a grid form. This course can be displayed virtually on an actual real environment and used, for example, to implement a HUD-based navigation display.

[0010] In the event of an automated intervention, there is a risk that the driver would be startled and intervene in the automated driving operation and thereby overcontrol or impede the automated driving operation. Summary of the invention

[0011] The object of the present invention is to carry out a correction of the driving direction of a motor vehicle by a driver assistance system in a particularly user-friendly manner when driving in a lane.

[0012] This object is achieved by the subject matter of the independent patent claims. Advantageous embodiments with expedient and important developments of the invention are described in the dependent claims, the following description and the drawings.

[0013] According to the method for performing a correction of the driving direction by a driver assistance system in a motor vehicle, the method is performed by a control device of the driver assistance system when the motor vehicle is traveling in the driving direction in the lane in which it is currently traveling. If the need to correct the driving direction is detected so that the motor vehicle continues to operate in the lane in which it is currently traveling, at least one display symbol is output by means of an output device of the motor vehicle, wherein the at least one display symbol displays the correction to be performed on the driving direction. The correction of the driving direction displayed by means of the at least one display symbol is then performed, wherein the steering of the motor vehicle is controlled and the at least one display symbol is further output. This means that the steering of the motor vehicle is actively influenced, i.e. controlled, by means of the control device of the driver assistance system. If it is detected that the steering of the motor vehicle should be intervened so that the motor vehicle continues to travel in the lane, i.e. rolls, the driver assistance system intervenes. In this case, the intervention of the driver assistance system in the control or lateral guidance of the motor vehicle is outputted, i.e. displayed, in advance in time before the correction of the driving direction is performed, by means of the at least one display symbol, such as an optical graphic element. The at least one display symbol is visually displayed to the vehicle occupant, in particular the vehicle occupant who is operating the motor vehicle, by means of an output device, such as a screen. The subsequent intervention of the driver assistance system is carried out without active action by the vehicle occupant, but the vehicle occupant is informed of the execution of the correction of the driving direction of the motor vehicle in advance, i.e. before the intervention is carried out, and during, i.e. when the correction of the driving direction is carried out, by means of the at least one displayed display symbol. For example, the method can be carried out in a driving situation in which the motor vehicle is traveling in a lane and approaches the boundary of the lane slowly (i.e. not directly perceptible to the vehicle occupant). In this case, the driver assistance system recognizes, for example, by means of a camera, that a correction of the driving direction is required so that the motor vehicle continues to travel in the lane and does not cross the lane boundary. In order to make the vehicle occupant aware of the correction of the driving direction to be carried out by the driver assistance system, i.e. the upcoming correction, the intervention carried out at a later time in terms of time is displayed by means of the at least one display symbol. Subsequently, the control device carries out the correction of the driving direction by steering the motor vehicle. The at least one display symbol displayed by means of the display device continues to be output during the execution of the correction.

[0014] Advantageously, the correction of the direction of travel is independent of an action, i.e. an action of a vehicle occupant, such as an operation of the steering wheel of the motor vehicle by a vehicle occupant operating the motor vehicle, and is triggered and executed by the driver assistance system when necessary. The vehicle occupant who is informed in advance can therefore be prepared for the intervention of the driver assistance system or can easily understand the intervention of the driver assistance system because he knows about the correction of the direction of travel in advance. It is thus possible to prevent the vehicle occupant from taking counter-control measures in response to the correction of the direction of travel performed by the driver assistance system, such as suddenly operating the steering wheel in the opposite direction. In addition, the possibility is reduced that the vehicle occupant inadvertently strengthens the correction performed by the driver assistance system by operating the steering wheel because the vehicle occupant is unaware of the intervention of the driver assistance system. Since the vehicle occupant is informed about the intervention of the driver assistance system, safety during the operation of the motor vehicle can be improved.

[0015] The invention is based on the recognition that by outputting the at least one display symbol, the behavior of the driver assistance system is displayed to the vehicle occupant and thus the vehicle occupant understands the intervention of the driver assistance system. In addition, information characterizing the correction of the driving direction can be output to the vehicle occupant at the right time, i.e., when and during the preparation for the correction of the driving direction.

[0016] One embodiment provides that the output device includes a screen for augmented reality display, so-called augmented reality (AR). The correction to be performed and / or performed on the driving direction is output to the vehicle occupants via the screen in such a way that the at least one display symbol is at least partially superimposed on the vehicle surroundings. The screen is in particular a head-up screen, a so-called head-up display (HUD), arranged in the field of vision of the vehicle occupants operating the motor vehicle. This means that the vehicle surroundings can be seen through the at least one display symbol that is partially transparent. The vehicle occupants can thus obtain the vehicle surroundings without a partial area of ​​the vehicle surroundings being completely covered by the at least one display symbol. For example, the boundary of the lane is displayed by the at least one display symbol, wherein the surface of the lane covered, i.e. superimposed, by the at least one display symbol is still visible. The amount of information for the vehicle occupants can thereby be increased, because both the vehicle surroundings and the at least one display symbol representing the correction to the driving direction are displayed.

[0017] In this regard, another embodiment provides that the output device includes a vibration element arranged at the steering wheel of the motor vehicle for outputting a tactile signal. By means of the vibration element, the correction to the driving direction to be performed and / or performed is output to the vehicle occupant operating the motor vehicle at least partially simultaneously with the at least one displayed display symbol. Therefore, the correction to the driving direction optically displayed by the at least one display symbol is at least partially emphasized to the vehicle occupant by means of a tactile signal, that is, it is enhanced by the tactile signal. Alternatively or additionally, it can be provided that the at least one display symbol and the tactile signal are output synchronously. If, for example, the at least one displayed display symbol is constructed to be similar to the vehicle surroundings and in particular has a color similarity, it may be perceived by the vehicle occupant only with increased difficulty. That is, the vehicle occupant may have difficulty distinguishing the at least one display symbol from the vehicle surroundings. If the vehicle occupant does not see or ignores the at least one display symbol, the correction to the driving direction to be performed and / or performed can also be perceived by the tactile signal.

[0018] Another embodiment provides that the at least one display symbol is arranged in a perspective alignment and along the direction of travel within two boundaries of the current driving lane, and / or one of the two boundaries of the lane is displayed graphically. This means that the vehicle surroundings of the motor vehicle are available outside the lane without restriction, i.e. completely, and that the at least one display symbol is only arranged within the boundaries of the lane that is closed outwards. The boundaries of the lane are, for example, lane markings and / or physical boundaries, such as curbs. If the motor vehicle is running in the lane, the direction of the lane is displayed to the vehicle occupants by means of a perspective alignment display. The at least one display symbol can thus be intuitively associated with the vehicle surroundings. In addition, due to the completely visible boundaries, it can be perceived that the lane is restricted outwards even when a correction to the driving direction is output by means of the at least one display symbol.

[0019] In this regard, another embodiment provides that the at least one display symbol includes at least one dynamic display symbol, by which the correction of the driving direction can be displayed in a time-variable manner. This means that the at least one dynamic display symbol changes. The at least one dynamic display symbol is, for example, a dynamic graphic element arranged parallel to one of the lane boundaries, by which the correction of the driving direction is schematically displayed. In this way, in particular, the time trend and / or degree of the correction of the driving direction can be output optically. In this way, for example, it can be shown to the vehicle occupants whether the correction has just been started or whether the correction has been largely completed. In addition, it can be displayed whether the correction of the driving direction is greater than or less than or equal to a predetermined correction factor, such as a steering angle. Advantageously, the vehicle occupants can recognize the correction of the driving direction particularly easily through the at least one dynamic display symbol, and can adapt themselves to the intervention of the driver assistance system.

[0020] Another embodiment provides that the at least one display symbol comprises at least one static display symbol, by which at least one of the two boundaries of the lane is constantly displayed in time, wherein the at least one dynamic display symbol is arranged at one of the two boundaries and is arranged directly at the at least one static display symbol so as to optically form a common output area with the at least one static display symbol. Therefore, the output of the two display symbols is mutually related in position. This means that the at least one dynamic display symbol and the at least one static display symbol of the vehicle occupant form a common unit. Here, the partial area of ​​the output area covered by the at least one dynamic display symbol is perceived as variable, that is, variable, and the partial area of ​​the output area covered by the at least one static display symbol is perceived as stable, that is, not variable in time. The at least one static display symbol is, for example, a static graphic element arranged directly at the at least one dynamic graphic element parallel to one of the lane boundaries, by which at least one boundary is schematically displayed. It is advantageous that the geometry of the lane is permanently displayed by the at least one static display symbol, in particular relative to the geometry of other lanes.

[0021] Another embodiment provides that the output of the at least one display symbol includes a plurality of output stages that are sequential in time. At least one output parameter of the at least one display symbol changes according to the corresponding output stage, wherein the at least one output parameter includes output intensity and / or output color and / or output duration. This means that the output of the at least one display symbol is performed in a plurality of steps, i.e., a plurality of output stages. In the corresponding output stage, the at least one output parameter of the display symbol is changed, for example, increased or decreased, in order to set the appearance and / or characteristics of the at least one display symbol. For example, at the beginning of the correction of the driving direction, the at least one display symbol is particularly conspicuously output to the vehicle occupant. The output intensity of the at least one display symbol is high, the output color includes a bright signal color, and the output duration is long. If the correction of the driving direction has been mostly performed, the output intensity is low, the output color includes a soft signal color, and the output duration is short. Alternatively or additionally, it can be provided that before the correction of the driving direction is performed, the at least one display symbol is output to the vehicle occupant less conspicuously than when the correction is performed, so that the vehicle occupant is prepared for the intervention to be performed without scaring him. The vehicle occupant can therefore carry out an assessment as to whether and to what extent a correction of the driving direction by the driver assistance system should be carried out and / or has been carried out.

[0022] In this regard, another embodiment is provided that at least one first display symbol is output in a first output phase of a plurality of output phases, and at least one second display symbol is output in a second output phase after the first output phase, wherein the first output intensity of the first display symbol is greater than the second output intensity of the second display symbol. This means that the corresponding output intensity decreases with the time course of the correction performed on the driving direction. For example, at least a first display symbol can clearly show the intervention of the driver assistance system on the steering to the vehicle occupant, and the at least first display symbol is output at the beginning of the correction, and its output intensity is higher than the output intensity of at least one second display symbol. At this time, it is advantageous that at least the first display symbol is particularly clearly output to the vehicle occupant and the vehicle occupant is informed thereby. On the contrary, if the correction of the driving direction has been performed, the at least second display symbol with a relatively low output intensity informs the vehicle occupant who has been informed by means of at least the first display symbol. Alternatively or additionally, it can be provided that in an output phase that is temporally before the first output phase, namely the so-called lead-in output phase, at least one other display symbol is output, whose output intensity is less than the first output intensity, so as to prepare the vehicle occupant for the output of the at least one first display symbol.

[0023] Furthermore, it is provided that the relative position of the motor vehicle with respect to the lane in which the vehicle is currently travelling is detected. With the aid of the detected relative position of the motor vehicle, the distance of the motor vehicle from at least one of the two boundaries of the lane in which the vehicle is currently travelling is determined. If the determined distance is less than a minimum distance, it is detected that a correction of the direction of travel is required. The relative position of the motor vehicle and the lane in which the vehicle is currently travelling, in particular at least one boundary, is determined, for example, with the aid of a sensor device of the motor vehicle (for example a camera), and / or by a global satellite navigation system of the motor vehicle, and / or by an external device connected to the motor vehicle via a communication connection, such as a server and / or at least one other vehicle and / or a measuring station at the roadside. With the aid of the detected relative position of the motor vehicle and at least one of the two detected boundaries of the lane, it is determined whether a preset minimum distance between the motor vehicle and at least one boundary, in particular stored in a storage device of the control device, is not exceeded. If the minimum distance is not exceeded, the driver assistance system can initiate and perform a correction of the direction of travel by steering the motor vehicle. Advantageously, the need for a correction is detected by the driver assistance system based on the detected relative position with respect to the lane, rather than based on a possibly inadequate or erroneous assessment by the vehicle occupants. The safety of the vehicle occupants and / or other road users can thus be increased.

[0024] The control device for a driver assistance system for a motor vehicle according to the invention has a processor device that is configured to execute a method for correcting the direction of travel by means of a driver assistance system. To this end, the processor device can have at least one microprocessor and / or at least one microcontroller and / or at least one FPGA (field programmable gate array) and / or at least one DSP (digital signal processor). In addition, the processor device can have a program code that is configured to execute the method according to the invention by the processor device during execution. The program code can be stored in a data memory of the processor device.

[0025] The invention also includes a modification of the control device according to the invention of a motor vehicle, which has the features as it has already been described in conjunction with the modification of the method according to the invention. For this reason, the corresponding modification of the control device according to the invention is not described again here.

[0026] The invention also includes combinations of features of the described embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The embodiments of the present invention are described below.

[0028] Figure 1shows a schematic flow chart of a method for carrying out a correction of a driving direction by a driver assistance system in a motor vehicle; and

[0029] Figure 2 The sketch shows a view in the direction of travel with a viewing direction from the interior of the motor vehicle. DETAILED DESCRIPTION

[0030] The embodiment explained below is a preferred embodiment of the present invention. In this embodiment, the described components of the embodiment respectively present the individual features of the present invention that should be examined independently of each other, and the features also improve the present invention independently of each other, and therefore should also be considered as a component of the present invention individually or in a combination different from the combination shown. In addition, the described embodiment can also be supplemented by other features of the present invention that have already been described.

[0031] In the figures, elements with the same function are respectively provided with the same reference symbols.

[0032] Figure 1The schematic sequence of a method comprising a plurality of method steps S1 to S5 is shown. In a first preparatory method step S1, a motor vehicle 10 with a vehicle occupant 11, in particular a vehicle occupant 11 operating the motor vehicle 10, is driven in a driving direction 12 in a lane 14 of a vehicle surrounding 16 in which the vehicle is currently traveling. The motor vehicle 10 comprises a driver assistance system 18, wherein a control device 20 of the driver assistance system 18 executes corresponding method steps S1 to S5 by means of a processor device 21 of the control device 20, wherein the steering of the motor vehicle 10 is activated in order to correct the driving direction 12. The lane 14 is delimited outwardly by two boundaries 22, 24, which are designed as lane markings. When the motor vehicle 10 is optimally driven in the lane 14 in which the vehicle is currently traveling, a longitudinal axis 26 of the motor vehicle 10 extends substantially parallel to the two boundaries 22, 24. In order to detect a relative position 28 of the motor vehicle 10, which is schematically indicated by a cross, relative to the current lane 14, in particular to its boundaries 22, 24, the motor vehicle 10 has a sensor device, such as a camera or a speedometer and a global satellite navigation system. Based on the detected relative position 28 of the motor vehicle 10, in a second method step S2, the distance 30 of the motor vehicle 10 from at least one of the two boundaries 22, 24 is determined by means of the processor device 21. If the determined distance 30 of the motor vehicle 10 is less than the stored minimum distance 32, then in a third method step S3, the need to correct the driving direction 12 is detected so that the motor vehicle 10 continues to travel in the lane 14 in which it is currently traveling. When the driving direction 12 is corrected by steering the motor vehicle 10, the driving direction 12 is to be converted, i.e. adjusted, to a corrected driving direction 33. In a fourth method step S4, at least one display symbol 34 is output by means of an output device 36 of the motor vehicle 10, wherein the at least one display symbol 34 indicates that the driving direction 12 is to be corrected to the corrected driving direction 33. Subsequently, in a fifth method step S5, the driving direction 12 is corrected, wherein the steering of the motor vehicle 10 is controlled by means of the control device 20 of the driver assistance system 18. In this case, the at least one display symbol 34 is displayed by means of an output device 36 for outputting the correction carried out to the driving direction 12 .

[0033] The output device 36 comprises a screen 38 for an augmented reality display of the at least one display symbol 34 designed as an optical graphic element, so-called augmented reality (AR), and a vibration element 42 arranged on a steering wheel 40 of the motor vehicle 10 for outputting a tactile signal. By means of the outputted at least one display symbol 34, in particular in combination with the at least partially simultaneously outputted tactile signal, a correction to be carried out and / or carried out of the driving direction 12 is displayed to the vehicle occupant 11, in particular the vehicle occupant 11 operating the motor vehicle 10. When the at least one display symbol 34 is outputted, the at least one display symbol 34, which is designed to be partially transparent, is at least partially superimposed on the vehicle surroundings 16. The screen 38 is in particular a head-up screen, a so-called head-up display (HUD), arranged in the field of vision of the vehicle occupant 11 operating the motor vehicle 10.

[0034] Figure 2 In a perspective front view, the lane 14 to be driven is shown in the direction of travel 12 from the viewing direction in the interior of the motor vehicle 10 through the windshield of the motor vehicle 10. The motor vehicle 10 is traveling in the lane 14 currently being driven, next to which another lane 44 is arranged. The lane 14 is delimited to the outside by two boundaries 22, 24, wherein one of the boundaries 22 is designed as a lane marking and one of the boundaries 24 is designed as a curb. In addition, other traffic participants 46 moving in and against the direction of travel 12 and components of the vehicle surroundings 16 are shown, such as at least one traffic sign 48, a lane lighting element 50 and a short-distance traffic infrastructure 52 designed as a parking area. In the viewing direction of the vehicle occupant 11 operating the motor vehicle 10, a screen 38 designed as a head-up screen is arranged, which outputs the at least one display symbol 34 partially transparently superimposed on the vehicle surroundings 16. The at least one display symbol 34 is perspectively aligned and arranged within the two boundaries 22, 24 of the lane 14 currently being driven. Here, the at least one display symbol 34 includes: at least one dynamic display symbol 54 for displaying a correction to be performed or performed on the lane 14 in a time-variable manner; and at least one static display symbol 56 for displaying at least one of the two boundaries 22, 24 of the lane 14 currently being traveled in a stable, i.e., time-constant manner. The at least one dynamic display symbol 54 is arranged at one of the two boundaries 22, 24 and directly at the at least one static display symbol 56, that is, the at least one dynamic display symbol 54 is shown between one of the two boundaries 22, 24 and the at least one static display symbol 56. The at least one dynamic display symbol 54 and the at least one static display symbol 56 form a common output area 58.

[0035] The output of the at least one display symbol 34 comprises a plurality of output phases that follow one another in time, wherein Figure 1 Schematically, the fourth method step S4 represents a first output phase, and the fifth method step S5 represents a second output phase after the first output phase. At least one output parameter of the at least one display symbol 34, such as output intensity, output color and / or output duration, is changed according to the respective output phase. In the first output phase, at least one first display symbol 60 is output, and in the second output phase, at least one second display symbol 62 is output, wherein the first output intensity of the at least one first display symbol 60 is greater than the second output intensity of the at least one second display symbol 62, in order to output the time course of the correction of the driving direction 12 differently, for example, and to display a plurality of sequential graphical output phases.

[0036] The driver assistance system 18 is designed to assist the motor vehicle 10 when driving in the lane 14 in which the vehicle is currently traveling. For example, by means of a correction of the driving direction 12, the vehicle occupant 11 is prevented from inadvertently leaving the lane 14 or is restored so that the motor vehicle 10 is traveling in the lane 14 again. Currently, only the operating mode of the driver assistance system 18 is output to the vehicle occupant 11, so that an active operating mode and an inactive operating mode are displayed. In order to inform the vehicle occupant 11 in detail about the correction to be performed and performed by the driver assistance system 18 of the driving direction 12, the intervention of the driver assistance system 18 can be output in an animated manner by means of the output of the at least one display symbol 34. In addition, the output color of the at least one output symbol 34 can be adjusted accordingly. In this case, the at least one output symbol 34 has a geometric shape that reflects, that is, presents, for example, the course of the lane 14, in particular its boundaries 22, 24, in a curved line. The informed vehicle occupant 11 can understand the behavior of the driver assistance system 18 in a simple manner while driving the motor vehicle 10. In particular, the synchronous output of the at least one optical display symbol 34 by means of the output device 36 together with the haptic signal by means of the vibration element 42 arranged on the steering wheel 40 can particularly clearly indicate a correction of the driving direction 12. In this respect, the relevant information is thus output to the vehicle occupant 11 at a suitable time at an output location suitable for the vehicle occupant 11 by means of the at least one display symbol 34.

[0037] The vehicle assistance system 18 is designed in particular for use in the motor vehicle 10 during so-called augmented driving, i.e. driving with augmented reality, wherein the motor vehicle 10 can have autonomy levels 1 to 5. Other applications include display devices 36, such as glasses with augmented reality (augmented reality glasses or AR glasses) and heads-up screens (head-up displays or HUDs) of mobile terminal devices or other devices for displaying augmented reality. Alternatively or additionally, virtual reality (Virtual Reality or VR) and mixed reality (Mixed Reality or MR) can be displayed. Alternatively or additionally, the vehicle assistance system 18 can be used in the following vehicles different from the motor vehicle 10: electric road vehicles, such as electric bicycles (e-bikes or pedelecs), scooters, electric scooters (e-Scooters), electric scooters or electric cars; aircraft, such as drones; rail vehicles, such as trains; and water vehicles, such as ships.

[0038] Overall, this example shows how the present invention can display to a vehicle occupant 11 a correction to be performed and / or already performed of a driving direction 12 by a driver assistance system 18 designed with the aid of augmented reality line assistance (AR-Line Assist).

[0039] List of Reference Numerals

[0040] 10 Motor Vehicles

[0041] 11 Vehicle occupants

[0042] 12 Driving Direction

[0043] 14 lanes

[0044] 16 Vehicle Surroundings

[0045] 18 Driver Assistance Systems

[0046] 20 Control Equipment

[0047] 21 Processor device

[0048] 22 Boundary

[0049] 24 Boundary

[0050] 26 Vertical axis

[0051] 28 Relative Position

[0052] 30 Distance

[0053] 32 Minimum distance

[0054] 33 Driving Direction

[0055] 34 Display Symbols

[0056] 36 Display device

[0057] 38 Screen

[0058] 40 Steering Wheel

[0059] 42 Vibration element

[0060] 44 lanes

[0061] 46 Traffic Participants

[0062] 48 Traffic Signs

[0063] 50 Lane Lighting Elements

[0064] 52 Short-distance transport infrastructure

[0065] 54 Display Symbols

[0066] 56 Display Symbol

[0067] 58 Output area

[0068] 60 Display symbol

[0069] 62 Display symbol

[0070] S1 Step

[0071] S2 Step

[0072] S3 Steps

[0073] S4 Step

[0074] Step S5.

Claims

1. A method for correcting a driving direction (12) by means of a driver assistance system (18) in a motor vehicle (10) independently of an action of a vehicle occupant (11) operating the motor vehicle (10), wherein: The motor vehicle (10) is driven in the driving direction (12) in the lane (14) in which it is currently driving, and a control device (20) of the driver assistance system (10) performs the following steps: Detecting a relative position (28) of the motor vehicle (10) relative to the current lane (14) (S1); Using the detected relative position (28) of the motor vehicle (10), the distance (30) of the motor vehicle (10) from at least one of the two boundaries (22, 24) of the lane (14) in which the motor vehicle (10) is currently traveling is determined (S2); If the determined distance (30) is less than a minimum distance (32), a need to correct the driving direction (12) is identified in order to allow the motor vehicle (10) to continue to operate in the current driving lane (14) (S3); outputting at least one display symbol (34) via an output device (36) of the motor vehicle (10), wherein the at least one display symbol (34) displays a correction to be performed on the driving direction (12) before the correction is performed on the driving direction (12) (S4); and Without active action by a vehicle occupant (11) operating the motor vehicle (10), a correction of the driving direction (12) is performed, which is displayed by the at least one display symbol (34), wherein the steering of the motor vehicle (10) is controlled by the driver assistance system (18) and the at least one display symbol (34) is output in the process (S5), The at least one display symbol (34) comprises at least one dynamic display symbol (54), by which a correction to the driving direction (12) is displayed in a time-variable manner, The at least one display symbol (34) comprises at least one static display symbol (56), by means of which at least one of two boundaries (22, 24) of the lane (14) is displayed constantly in time, wherein the at least one dynamic display symbol (54) is arranged at one of the two boundaries (22, 24) and directly at the at least one static display symbol (56) in order to optically form a common output area (58) with the at least one static display symbol (56).

2. The method according to claim 1, wherein: The output device (36) comprises a screen (38) for an augmented reality display of the vehicle surroundings (16), via which a correction to be performed and / or performed on the driving direction (12) is output to the vehicle occupant (11), in particular a vehicle occupant (11) operating the motor vehicle (10), by at least partially superimposing the at least one display symbol (34) on the vehicle surroundings (16).

3. The method according to claim 2, wherein: The output device (36) comprises a vibration element (42) arranged at the steering wheel (40) of the motor vehicle (10) for outputting a tactile signal, by means of which a correction to be performed and / or performed on the driving direction (12) is output to a vehicle occupant (11) operating the motor vehicle (10) at least partially simultaneously with the displayed at least one display symbol (34).

4. A method according to any one of the preceding claims, wherein: The at least one display symbol (34) is arranged perspectively and in the driving direction (12) within two boundaries (22, 24) of the lane (14) currently being traveled, and graphically displays at least one of the two boundaries (22, 24) of the lane (14) and / or the correction.

5. A method according to any one of the preceding claims, wherein: The output of the at least one display symbol (34) includes a plurality of output stages that follow one another in time, and at least one output parameter of the at least one display symbol (34) changes according to the corresponding output stages, wherein the at least one output parameter includes output intensity and / or output color and / or output duration.

6. A method according to any one of the preceding claims, wherein: At least one first display symbol (60) is output in a first output stage among the plurality of output stages, and at least one second display symbol (62) is output in a second output stage after the first output stage, wherein a first output intensity of the first display symbol is greater than a second output intensity of the second display symbol.

7. A control device (20) for a driver assistance system (18) of a motor vehicle (10), wherein: The control device (20) has a processor device (21) which is designed to carry out the method according to one of the preceding claims.

Images