Method for generating a lane change recommendation, lane change assistance system, and motor vehicle

Abstract

The invention relates to a method for generating a lane change suggestion (24) for a motor vehicle from a starting lane (12) to a target lane (14), wherein the motor vehicle (10) changes lanes at its own speed (v E ) moves along a starting lane (12). A current own position of the motor vehicle (10) along the starting lane (12) is determined in a digital surroundings map. A known starting lane speed (vA) is stored in the digital surroundings map for the current own position along the starting lane (12). A lane change assistant (34) compares the own speed (vE) of the motor vehicle (10) with the starting lane speed (vA) and generates a lane change suggestion (24) as soon as a deviation between the own speed (vE) and the starting lane speed (vA) reaches a predetermined limit value.

Description

Technical Field

[0001] The present invention relates to a method for operating a driver assistance system for a motor vehicle, more precisely for operating a lane change assistance system, wherein a lane change suggestion for the motor vehicle is generated. The present invention also relates to such a lane change assistance system and a motor vehicle having a lane change assistance system. Background Art

[0002] Driver assistance systems for assisting vehicle drivers in carrying out desired, planned, or required driving maneuvers are well known. These systems also include known systems for assisting with lane changes. Known lane change assistance systems focus on monitoring the traffic surrounding the host vehicle (or ego vehicle, or ego-Fahrzeug). This monitoring can be achieved using sensors in the host vehicle or through communication between the host vehicle and surrounding traffic participants. When surrounding traffic participants are other motor vehicles (passing cars), known lane change assistance systems rely on vehicle-to-vehicle communication between the host vehicle and the other traffic participants.

[0003] Therefore, US 2018 / 0061236 A1 describes a vehicle-to-vehicle communication for ensuring lane changes. Here, this communication takes place between the relevant road users in the immediate temporal preparation phase of the lane change and is intended to increase its safety.

[0004] US 2020 / 0189598 A1 and US 2015 / 0194055 A1 are dedicated to observing the flow of traffic in order to suggest a lane change operation or a lane change action. In this case, in particular, the vacancies that appear and / or move in the current traffic situation around the vehicle are observed.

[0005] What is common to all of the described lane change assistance systems is that they rely on currently observing traffic events and / or on real-time communication with motor vehicles in the respective vehicle's vicinity. This results in several disadvantages: On the one hand, the long-term observation of surrounding traffic events and / or the more or less constant real-time communication with other road users requires increased processing power for the data accumulated within the vehicle. In other words, a considerable amount of computing power must be reserved for processing the observation results and / or for handling the communication flows within the vehicle. On the other hand, known methods of behavior only allow an estimate of the chances of success of a traffic maneuver once the vehicle is already in a traffic situation where the maneuver has an impact on other road users. Without other road users who can be observed and / or communicated with, known systems simply cannot assess the safety of, for example, a lane change. Summary of the Invention

[0006] The purpose of the present invention is to improve the safety of lane changing maneuvers.

[0007] This object is achieved by a method for generating a lane change proposal for a motor vehicle from a starting lane to a target lane of a road. Further possible embodiments of the present invention are disclosed in the description and the drawings.

[0008] The present invention is based on the recognition that the safety of lane change maneuvers can be increased in particular by planning and, if necessary, also executing the maneuver in a proactive manner and independently of other road users currently present.

[0009] The present invention provides a method for generating a lane change proposal for a motor vehicle or a host vehicle from a starting lane to a target lane on a road along which the motor vehicle is moving at its own speed. The road is preferably a multi-lane road. In particular, the road may be a road with multiple lanes per direction of travel, such as a highway.

[0010] While the vehicle is traveling along the starting lane of the road at its own speed, the vehicle's current own position is determined in the digital surroundings map. This can be achieved, for example, using a positioning method based on GPS and / or dead reckoning (GPS - Global Positioning System).

[0011] Alternatively or additionally, the respective current own position can also be determined with the aid of surroundings data, as described in more detail below.

[0012] The aforementioned surroundings data can be detected by a sensor device. For this purpose, the sensor device can include a plurality of sensors, such as camera sensors and / or radar sensors and / or lidar sensors. The sensor device can be permanently installed in the vehicle or designed to be easily removable from the vehicle, for example as a retrofit solution.

[0013] The surroundings data detectable by the sensor device may include the current distance of the motor vehicle from predetermined, fixed-position landmarks in the vehicle's surroundings. Such landmarks may be, for example, infrastructure components, such as sections of characteristic structures such as traffic signs, traffic lights, or guardrails. However, roadside structures and / or vegetation are also suitable as landmarks. The camera sensor of the sensor device may be configured to identify the landmarks based on the captured image data set. Known image data processing algorithms may be used for this purpose. The radar sensor of the sensor device may, in turn, be configured to determine the current distance of the motor vehicle from such known landmarks. The landmarks may be recorded or stored in a digital surroundings map of the road. In other words, a digital surroundings map or road map may be present for the road along which the vehicle is traveling. The local or geographic position of the landmarks may be entered in this digital surroundings map.

[0014] Preferably, the positioning unit locates one or more of the identified road markers in the digital surroundings map. Based on the respective current distances of the vehicle from the road markers, the respective current position of the vehicle along the starting lane of the road can then be determined in the digital surroundings map. In other words, the vehicle can be accurately located in the digital surroundings map based on the identified road markers. This positioning preferably has an accuracy or resolution of less than 5 meters, in particular less than 3.5 meters. This allows identification of the lane along which the vehicle is moving on a multi-lane road (e.g., a highway).

[0015] Not only the positions of ground landmarks but also further information about the road and / or the surroundings can be stored in the digital surroundings map.

[0016] According to the present invention, the average known starting lane speed is stored in the digital surroundings map for the respective current own position along the starting lane. This known starting lane speed can have been calculated based on historical speed data of other motor vehicles that have traveled along the starting lane in the past or historical group data and stored in the map (group data analysis).

[0017] According to the present invention, a lane change assistant compares the vehicle's own speed with the starting lane speed determined by group data analysis. If the deviation between the vehicle's own speed and the starting lane speed reaches a predetermined limit, the lane change assistant generates a lane change recommendation from the starting lane to the target lane.

[0018] The present invention offers the advantage that the vehicle can detect the need for a lane change without relying on real-time communication with other traffic participants currently in its vicinity. In other words, the need for a lane change can be detected independently of the current traffic flow. This is the case, for example, when the vehicle ascertains, based on the depicted speed comparison, that its current own speed does not match the average speed of its current lane. Since a lane change recommendation can already be made based on the speed comparison, a situation can be avoided in which other traffic participants, such as other motor vehicles, would have to approach the vehicle so closely that the vehicle would be forced to change lanes. In other words, critical driving situations are avoided and the safety of lane changes is advantageously improved compared to known methods. The present invention also includes the following embodiments, which yield additional advantages.

[0019] One embodiment is configured such that the lane change assistant generates a lane change suggestion as soon as the vehicle's own speed is closer to the average known target lane speed than the starting lane speed. In other words, not only the starting lane speed is known from the group data or from group data analysis, but also the average target lane speed of the target lanes. Specifically, if it is detected that the vehicle's current speed is closer to the target lane speed than the vehicle's current speed along the starting lane, a lane change suggestion is generated. If, for example, the known starting lane speed is 120 km / h and the target lane speed is 80 km / h, then according to the embodiment described herein, a lane change suggestion is generated as soon as the vehicle's own speed is below 100 km / h. If there are multiple possible target lanes, this can advantageously not only indicate whether a lane change away from the starting lane is meaningful, but can also indicate which of the possible target lanes the vehicle's current speed best matches. A straightforward example of this is driving on a highway. A highway may have three lanes, with right-hand traffic driving being the slowest on the right lane and the fastest on the left. The center lane typically travels at a speed between the speeds observed in the right and left lanes. For example, the average speed in the right lane might be 80 km / h, in the center lane 100 km / h, and in the leftmost lane 120 km / h. If it is determined that the vehicle is traveling in the left lane at a speed between 80 and 90 km / h, a lane change recommendation can be generated that not only suggests a change out of the left lane but also an optimal change into the rightmost lane, since the vehicle's speed is optimally matched to the typical speed for the right lane.

[0020] In a preferred embodiment, the lane change assistant generates a lane change suggestion when it detects that the target lane is free (or available, i.e., frei) at least within a target area. The target area refers to the area of ​​the target lane that the vehicle is expected to reach when changing lanes in the target lane. This advantageously increases lane change safety. For example, the sensor device's camera sensor can also detect that the target lane is free within the target area.

[0021] According to another advantageous embodiment, a lane change suggestion is generated when the target lane is associated with at least one predetermined lane type. In other words, a lane change suggestion is generated only when the target lane is not, for example, an exit or emergency lane. The information regarding the lane type of the target lane can be derived from information stored in the digital surroundings map in the form of population data.

[0022] Alternatively or additionally, the lane change assistant can generate a lane change recommendation when at least one distance between the host vehicle and at least one other motor vehicle in the starting lane is less than a predetermined minimum distance. In other words, even if the host vehicle's speed deviates from the average starting lane speed, a lane change recommendation can only be generated if, for example, the host vehicle is driving too closely to another motor vehicle ahead and / or if a motor vehicle is approaching the host vehicle from behind so closely that the predetermined minimum distance is exceeded. This results in the advantage that unnecessary lane changes are avoided.

[0023] Alternatively or additionally, it can be provided that the lane change assistant generates a lane change recommendation when it is detected that another motor vehicle is approaching the motor vehicle or the host vehicle from behind at a predetermined minimum speed. In other words, the output of the lane change recommendation can be conditional on the other motor vehicle approaching the host vehicle from behind in such a way that a critical driving situation is possible. This can be the case, for example, when the motor vehicle approaching the host vehicle from behind has a speed that is, for example, at least 1.5 times the host vehicle's own speed. The approach of a trailing motor vehicle can be detected in different ways. For example, the host vehicle itself can detect a motor vehicle approaching from behind by means of radar and / or lidar. Alternatively or additionally, a signal of the approach of the trailing motor vehicle can be sent by the trailing motor vehicle to the host vehicle via vehicle-to-vehicle communication.

[0024] One possible design variant of the last-described embodiment may be that the host vehicle and / or the following motor vehicle recognizes that the possible target lane is clear. This can be determined using the vehicle's camera sensors and / or radar and / or lidar sensors. In other words, a lane change recommendation can be generated when the following motor vehicle approaches the host vehicle from behind at a certain speed difference as described above, and when the possible target lane is clear at the same time. In this regard, the above-described use of group data is particularly advantageous for determining the lane type of an empty target lane. This advantageously ensures that lane change recommendations to exits and / or emergency lanes are not generated.

[0025] Alternatively or additionally, the following motor vehicle can output a warning to the host vehicle via vehicle-to-vehicle communication in the event of an empty target lane.

[0026] According to another advantageous embodiment, the lane change assistant generates a lane change recommendation when it detects that the vehicle has been overtaken at least once by another motor vehicle in the target lane. In particular, a lane change recommendation is generated when such an overtaking maneuver occurs within a predetermined time interval. This can be particularly advantageous in driving situations on highways where the vehicle is overtaken at least once in the left, i.e., fastest, lane and then, for example, in the right lane within 10 minutes.

[0027] According to a preferred embodiment, the starting lane speed and / or the target lane speed are checked for plausibility by comparison with at least one other average known driving speed of another lane adjacent to the starting lane and / or the target lane. This results in the advantage of increasing the security of the information provided by the group data analysis regarding the individual lanes.

[0028] Furthermore, the present invention relates to a lane change assistance system, which is configured to carry out the method according to the present invention. The lane change assistance system may include a sensor device, which is configured to carry out the method steps of the method carried out by the sensor device. Such a sensor device may, for example, include one or more camera sensors and / or radar sensors and / or lidar sensors. Furthermore, the sensor device may include a computing unit, which is configured to process data detected by the corresponding sensors. Furthermore, the lane change assistance system may include a positioning unit, which is configured to carry out the method steps that can be carried out by the positioning unit according to the method. In particular, a digital surroundings map can be stored in the positioning unit. Furthermore, the lane change assistance system may include a lane change assistance device, which is configured to carry out the method steps according to the present invention associated with the lane change assistance device. The method steps include, in particular, generating a lane change recommendation and / or generating a corresponding display for a vehicle occupant or vehicle driver.

[0029] Furthermore, the present invention relates to a motor vehicle having such a lane change assistance system.

[0030] The present invention also includes improvements of the lane change assistance system according to the present invention and / or of the motor vehicle according to the present invention, which have the features already described in connection with the improvements of the method according to the present invention, and vice versa. For this reason, the lane change assistance system according to the present invention and / or the corresponding improvements of the motor vehicle according to the present invention are not described again here. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention also includes combinations of features of the described embodiments. Further features of the present invention can be derived from the following description of the figures and from the accompanying drawings. The features and feature combinations mentioned above in the description of the figures and / or shown individually in the figures below may be used not only in the combination described in the respective description but also in other combinations or individually without departing from the scope of the present invention.

[0032] in:

[0033] Figure 1 A schematic diagram showing an exemplary driving situation is shown;

[0034] Figure 2 A schematic diagram of another exemplary driving situation is shown;

[0035] Figure 3 A schematic diagram showing the transmission of group data from a central server device to a lane change assist system is shown;

[0036] Figure 4 A schematic illustration of a method for generating a lane change recommendation according to a preferred embodiment of the present invention is shown. DETAILED DESCRIPTION

[0037] The embodiments described below are preferred embodiments of the present invention. In these embodiments, the described components of the embodiments each illustrate individual features of the present invention considered independently of one another, which also improve the present invention independently of one another. Therefore, this disclosure also encompasses the illustrated combinations of features that differ from the embodiments. Furthermore, the described embodiments may also be supplemented by other already described features of the present invention.

[0038] Identical or functionally identical elements are provided with the same reference symbols in the figures.

[0039] Figure 1 An exemplary driving situation is shown. In the driving situation shown, the motor vehicle or the vehicle 10 is traveling at its own speed v EMoving along the starting lane 12. Along the target lane 14 arranged adjacent to the starting lane 12, another motor vehicle or an alternate vehicle 16 moves at an alternate speed v F The two lanes 12 , 14 are components of a road 18 along which the exemplary driving situation occurs.

[0040] exist Figure 1 In the embodiment shown in FIG. 1 , the vehicle 10 has a lane change assist system 20, which is used for Figure 3 The driving situation described below includes the same driving situation as that described above. Figure 3 For clarity, these components are described herein as follows: Figure 1 For a detailed description of the components mentioned, the reader should refer to Figure 3 Related implementation plans.

[0041] In the vehicle 10, while traveling along the starting lane 12, surroundings data can be detected, which include the respective current distance of the vehicle 10 from a predetermined fixed ground marker 22 in the surroundings of the vehicle 10. The respective current distance is Figure 1 This is shown by way of example by arrows between the host vehicle 10 and four ground markings 22 , which are also shown here by way of example.

[0042] Based on the respective current distance from the ground marking 22, the host vehicle 10 can be located in a digital surroundings map (not shown here) of the road 18. In other words, based on the distance from the host vehicle 10 to the ground marking 22, the respective current position of the host vehicle 10 along the starting lane 12 can be determined in the digital surroundings map.

[0043] The respective current own position can also be determined in other ways, for example by GPS-based and / or dead reckoning-based methods.

[0044] The average known starting lane speed v can be stored in the digital surroundings map A .

[0045] exist Figure 1 The driving situation shown by way of example in FIG. 1 can be based on the following: the own speed v of the vehicle 10 E With the starting lane speed v A There is a deviation. For the E With the starting lane speed v A If the deviation between the speed v and the speed v reaches a predetermined limit value, a lane change recommendation 24 can be generated for the vehicle 10. E Compared to the speed v close to the starting laneA Closer to the target lane speed v Z , which can generate particularly urgent lane change recommendations24.

[0046] If the driver of the host vehicle 10 follows the lane change recommendation 24, he or she will be positioned behind the other vehicle 16 in the target area 26 of the target lane 14, which is shown hatched here. The starting lane 12 is thus accessible to other road users (not shown here) whose speed corresponds to the starting lane speed v A ) is empty.

[0047] In reference to Figure 1 In the case of parts marked and described in association, Figure 2 Another exemplary driving situation is schematically shown in FIG. In the driving situation shown here, the vehicle is traveling at its own speed v E The vehicle 10 is traveling in the starting lane 12 at a speed v F For the driving situation shown here, it is assumed that the speed v of the other vehicle 16 is F At least the own speed v of the vehicle 10 E 1.5 times greater than the distance 28 between the two vehicles 10, 16. If a predetermined minimum distance 28 between the two vehicles 10, 16 is exceeded, an urgent lane change recommendation 24 can be output. Preferably, lane change recommendation 24 is generated when it is detected that target lane 14 is clear, at least within target driving area 26. Preferably, additional or alternative vehicle-to-vehicle communication can be carried out between the other vehicle 16 and the host vehicle 10. Preferably, information in the digital surroundings map can be used to detect that target lane 14 is not an exit or emergency lane. In other words, target lane 14 can be protected using the group data stored in the digital surroundings map.

[0048] In reference to Figure 1 and 2 In the case of parts marked and described in relation to Figure 3 A possible embodiment of a lane change assistance system 20 is schematically depicted. In the embodiment shown here, the lane change assistance system 20 includes a sensor system 30, a positioning unit 32, and a lane change assistance device 34. The lane change assistance system 20 can be configured to receive historical driving data or group data 36 of a large number of vehicles 16 that are being replaced. Group data 36 can be transmitted from the vehicles 16 to a central server 38, where it can be combined with a digital map of the surroundings, for example. A communication connection can be provided between the server 38 and the lane change assistance system 20 to facilitate the transfer of group data 36. The lane change assistance system 20 can also be configured to transmit its own information to the server 38.

[0049] Group data 36 may, for example, include information about the speed at which other vehicles 16 typically travel in the respective starting lane 12 and / or target lane 14. In other words, group data 36 may be historical speed data for other vehicles 16. The average speed can be analyzed over time in the future. Time can thus be incorporated as an additional parameter in the comparison of different speeds. In server device 38, group data 36 can be combined with the aforementioned digital surroundings map of road 18. The result is a digital surroundings map containing information about the speed at which vehicles typically travel along road 18, which is stored on the surroundings map.

[0050] As described above, the localization unit 32 of the lane change assistant system 20 can determine the corresponding own position of the own vehicle 10 based on the above-described distances of the own vehicle 10 from the known road markings 22. To this end, the localization unit 32 can use sensor data (e.g., camera data) from the sensor device 30. If, for example, the current own speed v of the own vehicle 10 is detected in the localization unit 32 E and the starting lane speed v determined from the group data 36 A If there is a deviation, a lane change recommendation 24 may be generated by the lane change assistant 34 of the lane change assistant system 20 .

[0051] Figure 4 A method for generating a lane change recommendation 24 is schematically shown with reference to the above-described embodiment. The starting scenario for the method described here can be as follows: the vehicle 10 is moving at its own speed v E Driving along the starting lane 12 of the road 18. In method step S1, the sensor device 30 can detect surroundings data, wherein the surroundings data include the respective current distance of the motor vehicle 10 from a ground marker 22 fixed at a predetermined position in the surroundings of the motor vehicle 10. In method step S2, the positioning unit 32 can find the ground marker 22 in a digital surroundings map of the road 18 and determine the respective current own position of the motor vehicle 10 along the starting lane 12 in the digital surroundings map based on the respective current distance of the motor vehicle 10 from the ground marker 22. As already described, the average known starting lane speed v is stored in the digital surroundings map for the respective current own position of the motor vehicle 10 along the starting lane 12. A This speed can be calculated, for example, from the group data 36. In method step S3, the lane change assistant 34 can compare the own speed v of the motor vehicle 10 with E With the starting lane speed v A If the comparison identifies that the vehicle is at its own speed v E With the starting lane speed v AIf the deviation between the lane change assistant 34 and the lane change assistant 34 reaches a predetermined limit value, the lane change assistant 34 can generate a lane change recommendation 24 for the motor vehicle 10. This is done in method step S4. However, if the predetermined limit value is not reached, method step S4 may not take place and the detection of surroundings data may continue according to method step S1 instead.

[0052] Many drivers have trouble choosing the right lane on highways. They often drive in the passing lane, even though this is unnecessary and prohibited by right-hand driving regulations. This misalignment and the high speed differential can create a critical situation when approached from behind by a fast vehicle. Car2X (i.e., vehicle-to-vehicle) communication can be used to warn road users of potentially critical situations.

[0053] The present invention utilizes swarm data to reliably identify lanes. Furthermore, swarm data can be used to issue automatic lane change recommendations, for example to reduce the burden on the driver. If a fast vehicle approaches from behind, a warning cascade can be initiated. While the present invention supports compliance with right-hand traffic regulations (also applicable in left-hand traffic), it also serves to prevent critical situations when vehicles approach each other at a high speed difference.

[0054] The group data allow the highest possible confidence level to be generated regarding the type of the adjacent lane (or the lane type of a possible target lane), in particular by means of a comparison of the group speed with the speed of the own vehicle.

[0055] The present invention is based on the following principle: using vehicle sensor systems (radar, camera, PDC, etc.) to calculate an environmental model of the vehicle's surroundings. By using environmental sensor systems (as used in modern production vehicles), it is possible to form a very accurate model of the vehicle's surroundings. For example, all vehicles surrounding the vehicle can be detected using front radar, front corner radar, rear radar, ultrasound, laser scanners, and / or cameras.

[0056] Digital maps and group data (REM – Road Experience Management) provide very precise information about the drivability of individual lanes. This allows, for example, to identify turning lanes or emergency lanes. If a free adjacent lane is identified and guaranteed by group data, a lane change suggestion is issued.

[0057] In an exemplary driving situation, a vehicle may be approaching the vehicle from behind at a significant speed difference, while the right lane is clear. In this situation, an urgent lane change recommendation is issued to the right lane. The speed difference between vehicles can be determined using radar (which offers higher accuracy and greater range for vehicle-to-vehicle communication). The vehicle ahead receives a warning or displays a lane change recommendation if the potential target lane is clear. This can be achieved by comparing front camera data, radar data, and / or lidar data, etc.

[0058] Alternatively or additionally, the vehicle behind may recognize that the target lane is clear (vehicle-to-vehicle / vehicle-to-network, lidar, etc.) and send a warning to the vehicle traveling ahead.

[0059] In this application, vehicle-to-vehicle communication is used in combination with crowd data analysis to improve traffic safety. If a vehicle approaches from behind at a high speed differential, the driver of the vehicle is warned. If the adjacent lane offers this possibility (guaranteed by crowd data), an urgent lane change suggestion is provided. This communication can be achieved via the detection of fast vehicles via rear cameras, rear radar, vehicle-to-vehicle communication, and even with "slow" vehicles, or it can also be functional for even faster approaching vehicles (then via the front sensor system).

[0060] The use of group data is very important for the present invention in order to ensure, in particular, that lane change recommendations are not output at exits, emergency lanes or the like.

[0061] In another exemplary driving situation, x compares the current vehicle speed of the vehicle with the average speed in the lane based on group data. When the following conditions are met, a warning prompt is output to the driver of the vehicle: follow the right-hand driving regulations (left-hand driving regulations):

[0062] - The adjacent lane on the right is clear and drivable (the opposite is true in left-moving traffic)

[0063] - No congestion

[0064] -The vehicle's speed is significantly below the average speed of the lane.

[0065] Overall, these examples show how a method for automated lane change suggestion can be provided by the present invention.

[0066] List of reference numerals:

[0067] 10 Motor vehicle (this vehicle)

[0068] 12 Starting Lane

[0069] 14 Target Lane

[0070] 16 Cut off

[0071] 18 Road

[0072] 20 Lane Change Assist System

[0073] 22 Ground Signs

[0074] 24 Lane Change Advice

[0075] 26 Target Area

[0076] 28 Minimum spacing

[0077] 30 sensor devices

[0078] 32 positioning units

[0079] 34 Lane Change Assist

[0080] 36 Group data

[0081] 38 Server Devices

[0082] v A Starting lane speed

[0083] v E own speed

[0084] v F Cutting speed

[0085] v Z Target lane speed.

Claims

1. A method for generating a lane change suggestion (24) for a motor vehicle (10) from a starting lane (12) to a target lane (14) of a road (18), wherein: The motor vehicle (10) is driven at its own speed (v E ) moves along the starting lane (12) of the road (18), wherein - determining the respective current own position of the motor vehicle (10) along the starting lane (12) in a digital surroundings map, wherein an average known starting lane speed (v) is stored in the digital surroundings map for the respective current own position along the starting lane (12). A ),in, - the lane change assistant (34) compares the own speed (v E ) and the starting lane speed (v A ), and once at the own speed (v E ) and the starting lane speed (v A ) reaches a predetermined limit value, generating a lane change suggestion (24) from the starting lane (12) to the target lane (14).

2. The method according to claim 1, wherein Once the own speed (v E ) compared to the starting lane speed (v A ) is closer to the average known target lane speed (v Z ), the lane change assistant (34) generates the lane change suggestion (24).

3. A method according to any one of the preceding claims, wherein The lane change assistant (34) generates the lane change suggestion (24) when it is detected that the target lane (14) is clear at least within a target area (26).

4. A method according to any one of the preceding claims, wherein The lane change assistant (34) generates the lane change suggestion (24) when the target lane (14) is associated with at least one predetermined lane type.

5. A method according to any one of the preceding claims, wherein The lane change assistant (34) generates the lane change recommendation (24) when at least one distance between the motor vehicle (10) and at least one other motor vehicle (16) in the starting lane (12) is less than a predetermined minimum distance.

6. A method according to any one of the preceding claims, wherein The lane change assistant (34) generates the lane change recommendation (24) when it is detected that another motor vehicle (16) is approaching the motor vehicle (10) from behind at a predetermined minimum speed.

7. A method according to any one of the preceding claims, wherein The lane change assistant (34) generates the lane change recommendation (24) when it is detected that the motor vehicle (10) has been overtaken at least once by another motor vehicle (16) in the target lane (14), in particular within a predetermined time interval.

8. A method according to any one of the preceding claims, wherein The starting lane speed (v A ) is checked for plausibility by comparison with at least one further average known driving speed of another lane arranged adjacent to the starting lane (12).

9. The method according to claim 2, wherein: The target lane speed (v Z ) is checked for plausibility by comparison with at least one further average known driving speed of another lane arranged adjacent to the target lane (14).

10. A lane change assistance system (20) designed to carry out the method according to one of the preceding claims.

11. A motor vehicle (10) having a lane change assistance system (20) according to claim 10.

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