Method for operating a driver assistance system of a vehicle and processing device for controlling a driver assistance system

Abstract

A method (200) for operating a driver assistance system of a vehicle (105) comprises the following steps: checking (210) whether a highway exit (A) or a construction site (B) is present on a first side of the vehicle (105); checking (220) whether an environmental sensor system (1151) of the vehicle (105) recognizes a lane marking (7) which delimits a lane (F) of the vehicle (105) towards a second side opposite the first side; if the checks (210, 220) indicate that a highway exit (A) or a construction site (B) is present on the first side of the vehicle (105) and the environmental sensor system (1151) recognizes the lane marking (7), operating (230) a lane-keeping function of the driver assistance system; if the checks (210, 220) indicate that a highway exit (A) or a construction site (B) is present on the first side of the vehicle (105) and the environmental sensor system (1151) does not recognize the lane marking (7), initiating (240) a takeover request for a driver of the vehicle (105).

Description

Technical Field

[0001] The present invention relates to a method for a driver assistance system for operating a vehicle and a processing mechanism for controlling the driver assistance system.

[0002] In particular, the present invention relates to preventing potential errors, in the form of unintentionally leaving a designated lane or an operating area prescribed for a driver assistance system, such as a highway. In this regard, reference is made to German patent application 10 2019 133316.4, which describes a scheme aimed, in particular, at reliably identifying, through positioning and sensor-based verification, when a vehicle is not traveling in the lane it should be driving in. The contents of patent application 10 2019 133 316.4 are incorporated herein by reference.

[0003] Furthermore, the present invention relates to a computer program for performing this method and a computer-readable (storage) medium including instructions for performing this method. Background Technology

[0004] The vehicle may have a driver assistance system designed to influence the vehicle's longitudinal or lateral control. For example, a lane assist system may be designed to keep the vehicle between lane markings. These markings may be scanned and automatically recognized by a camera, for example.

[0005] Many driving assistants need to know the exact location of a vehicle. This location can be determined in the longitudinal and / or lateral directions and expressed relative to a predetermined reference point. Absolute geographic location can be determined, for example, relative to a predetermined geodetic reference system such as WGS84. The vehicle's relative position can be given, for example, in the lateral direction relative to identified lane markings.

[0006] Vehicle position determination is often susceptible to numerous possible errors and inaccuracies. For example, sensors may provide noisy and / or distorted information, or occasionally malfunction completely. Different measurement conditions or complex processing trial-and-error methods can lead to determinations with varying degrees of accuracy or reliability. Controlling the vehicle based on an erroneously determined position can jeopardize the safety of the vehicle or its occupants.

[0007] One potentially serious error is that an autonomous vehicle, developed and validated for autonomous driving mode only in certain predetermined operating areas (operational design domains) (e.g., on highways), unexpectedly leaves the operating area, for example, by leaving the highway.

[0008] Under normal circumstances, vehicles prevent this from happening by automatically following lanes that remain on the highway. However, for example, due to a camera lane recognition malfunction, a vehicle may still follow incorrect lane markings leading to a highway exit. This could lead the vehicle into areas where it is unsafe to continue in autonomous driving mode, such as urban areas, where vulnerable road users (VRUs) are likely in the lane or there may be unexpected traffic intersections. Such incorrect lane markings could be, for example, actual lane markings for an open exit lane. Because at highway exits, the break line (“dashed line”) indicating the regular right lane within the exit area usually starts slightly later, by which time the solid line has already merged into the exit; therefore, if the autonomous vehicle strictly follows the solid line, it will directly enter the exit. Alternatively, incorrect lane markings could be non-existent so-called ghost lane markings, which could take the form of asphalt anomalies resembling lane markings, or temporary deviations from lane markings, remnants of previous construction sites.

[0009] In principle, such challenges can occur not only at highway exits, but also at highway intersections or construction sites. Therefore, within the scope of this application, the term "highway exit" should also include highway intersections. Summary of the Invention

[0010] The objective of this invention is to provide a method for operating a driver assistance system that at least partially overcomes the aforementioned drawbacks of driver assistance systems known in the prior art.

[0011] It should be noted that additional features of a claim subordinate to an independent claim, in the absence of features of the independent claim or in combination with only a subset of features of the independent claim, can form an independent invention independent of all combinations of features of the independent claim, which can be the subject of the independent claim, divisional application, or subsequent application. This also applies to the technical teachings described in the specification, which can form an invention independent of the features of the independent patent claim.

[0012] The first aspect of the present invention relates to a method for a driver assistance system for operating a vehicle.

[0013] One step in this method is to check whether there is a highway exit or construction site on the first side (e.g., the right side) of the vehicle.

[0014] In this context, the statement "there is a highway exit or construction site on the first side of the vehicle" can also mean that the highway exit or construction site is located on the right side of the vehicle ahead, at a certain distance along the direction of travel, so that the vehicle will reach the highway exit or construction site within a foreseeable time.

[0015] Experience shows that at highway exits or construction site areas, an additional lane can be created that vehicles should not be using as planned. The following steps are particularly useful for ensuring that vehicles travel along such actual or assumed off-lane routes. In principle, the methods described here can also be used outside of highway exits (or highway intersections) and construction sites—that is, situations where it is generally expected that an actual or assumed alternative or additional lane should be created that vehicles should not be using as planned.

[0016] For example, digital map information and / or information provided by the vehicle's environmental sensors can be used to check whether there is a highway exit or construction site on the first side of the vehicle.

[0017] The aforementioned digital map information can be provided, for example, in the form of a digital map from a digital map storage device, which can be located in the vehicle. Alternatively, the digital map can also be transmitted from outside the vehicle, for example, from a server, wherein the transmission is preferably performed via a wireless communication interface.

[0018] Digital maps may be based, for example, at least in part, on sensor-detected data recorded during one or more patrol trips by a patrol vehicle. Environmental sensing devices used herein may include, for example, receivers of global navigation satellite systems (such as GPS or DGPS), one or more optical cameras, one or more RADAR sensors and / or one or more LiDAR sensors.

[0019] Therefore, a digital map can contain multiple layers, such as one layer based on data from a global navigation satellite system, another based on optical camera data, and yet another based on LiDAR data. Different layers can contain features that can be identified using the corresponding sensors.

[0020] For example, digital maps can contain explicit information about the presence and location of exits and / or construction sites. Alternatively or additionally, information about the presence and location of exits and / or construction sites can also be implicitly included in the digital map information. Thus, a unique road route recorded on a digital map (where the road widens first and then suddenly narrows again) may have a high probability of indicating the presence of a highway exit. For example, exit lanes can also be marked on the map without the need for mandatory explicit labeling of the exit lane.

[0021] Environmental sensing mechanisms in vehicles are typically designed to detect and provide information about the vehicle's surroundings. These mechanisms may include, in particular, cameras, depth cameras, radar sensors, LiDAR sensors, or similar sensors. Such sensors preferably operate non-contactly, for example by detecting electromagnetic waves or ultrasonic waves, and can produce images. Environmental sensing mechanisms preferably comprise multiple distinct and / or statistically independent sensors, such as one or more LiDAR sensors and / or one or more RADAR sensors and / or one or more optical cameras.

[0022] Environmental sensors can also be used to detect signs for highway exits or construction sites. For example, gaps detected by sensors in a noise barrier can be assessed as a sign of an exit. Furthermore, environmental sensors can be used to determine the road shape characterizing an exit.

[0023] As stated above, one possible improvement involves checking whether there is a highway exit or construction site on the first side of the vehicle, while taking into account road shapes indicated, for example, in digital map information and / or in information provided by the vehicle's environmental sensing mechanisms.

[0024] Alternative or additional locations may be checked for the presence of a highway exit or construction site on the first side of the vehicle, while also taking into account one or more traffic signs and / or one or more lane markings detected by the vehicle’s environmental sensors.

[0025] As relevant traffic signs, particular consideration is given to clear construction site signs, exit signs (e.g., with exit name and distance information) or distance beacons, which typically indicate exits, especially on German motorways.

[0026] Relevant lane markings associated with construction sites may be, for example, short dashed lines and / or colored (e.g., yellow) lines on the first side of a vehicle.

[0027] A subsequent step in the method is to check whether the vehicle's environmental sensing mechanism has identified (e.g., anticipated based on digital map information) lane markings that define the vehicle's lane towards a second side (e.g., the left side) opposite the first side. In particular, it can be checked whether the lane markings on the second side are identified with sufficient reliability as (currently) important, i.e., valid, lane markings that define the vehicle's lane towards the second side. Lane markings identified on the second side can be, for example, regular (e.g., solid or dashed, white) lane markings, or temporary (e.g., yellow) lane markings, such as construction site markings.

[0028] If the inspection indicates the presence of a highway exit or construction site on the first side of the vehicle, and the environmental sensing mechanism identifies lane markings on the second side (e.g., anticipated based on digital map information), then in subsequent steps of the method, the lane-keeping function of the driver assistance system operates or continues to operate. Here, the lane-keeping function preferably refers to the lane markings identified on the second side, rather than (or at least not exclusively) referencing any additional lane markings that may be identified toward the lane defining the lane on the first side.

[0029] On the other hand, if the inspection indicates that there is a highway exit or construction site on the first side of the vehicle, and the environmental sensing mechanism does not detect lane markings, a take-over request (TOR) is issued to the driver in a subsequent step of the method. This means that the driver is prompted in a driver-perceptible manner (e.g., acoustically and / or optically) that he must quickly and at least partially manually take over control of the vehicle in order to prepare for the reliable deactivation of the driver assistance system or at least the driver assistance function of the driver assistance system, which, according to a preferred embodiment, can then be automatically executed in subsequent steps.

[0030] This invention includes the understanding that, to prevent autonomous vehicles from unintentionally leaving their designated lanes in areas such as highway exits or construction sites, it is beneficial to check whether the lane boundary on the side opposite the highway exit or construction site is reliably identified. Thus, for example, in the exit area of ​​a German highway, it is important to identify (and refer to) the left lane boundary, since one of the right lane boundaries belongs to the exit itself and leads to the exit. Therefore, according to the invention, as a prerequisite for TOR, two conditions must be met: firstly, there must be a prompt for the exit or construction site; secondly, the (second) lane boundary on the side opposite the highway exit or construction site is not identified.

[0031] Preferably, when checking whether a relevant (e.g., left-hand) lane boundary has been identified, digital map information can be combined with environmental sensing information such as camera data and compared with each other. If the vehicle is traveling, for example, near a highway exit, it is checked whether the left-hand lane boundary can be confirmed using both a camera and a map. If this is not the case, a takeover request (TOR) is triggered to prevent unintentional deviation from the highway. In this implementation, the vehicle can selectively compare lane markings in key areas with its expected values ​​based on the available map.

[0032] On the other hand, experience shows that as long as there are no nearby exits or construction sites, it is sufficient to identify either the left or right lane boundary. In fact, in areas without exits or construction sites, identifying just one lane boundary can provide sufficient safety integrity. Therefore, it is preferable not to require (i.e., outside of areas with highway exits or construction sites) to always identify the left lane boundary, otherwise TOR will be triggered. Thus, TOR will occur frequently due to unavoidable sporadic camera recognition errors, making drivers uncomfortable when using driver assistance functions. Instead, it is preferable to selectively identify the left (usually the second) lane boundary in areas with highway exits or construction sites, and, for example, if at least one (left or right) lane boundary is identified, TOR is sufficient to avoid outside these areas. In this case, this lower requirement advantageously results in very few TORs, thereby improving the overall usability of the autonomous driving function.

[0033] According to some implementations, the proposed method thus results in both a reduction in the number of TORs (Toll Road Routes) and a decrease in unexpected highway exits or lane departures. Thus, the prerequisites for an TOR might be, for example, that either the map is incorrect or no vehicle camera system can identify the left lane. Additionally, there must be a highway exit or construction site nearby. For an unexpected exit from the highway to occur, for example, a ghost lane must be incorrectly identified by a camera, and this ghost lane must also be incorrectly included in the map and lead to a highway exit. This is unlikely unless the lane previously existed and was subsequently replaced by a new lane.

[0034] According to a design variant, the method includes the following steps: checking whether the vehicle's environmental sensing mechanism has detected lane markings that define the vehicle's lane towards a first side (e.g., the right side); if the check indicates a construction site on the first side of the vehicle, and the environmental sensing mechanism detects lane markings that define the lanes towards both the first and second sides (e.g., as anticipated based on digital map information), then the lane-keeping function of the driver assistance system is (continued) activated (wherein the driver assistance system preferably refers to the lane markings on the second side rather than the lane markings on the first side); if the check indicates a construction site on the first side of the vehicle, and the environmental sensing mechanism does not detect either lane markings that define the lanes towards the first side or the lane markings that define the lanes towards the second side, then a takeover request for the vehicle's driver is triggered. In other words, in this design variant, when a construction site is detected, recognition of both lane markings is required; otherwise, a TOR (Total Takeover Request) is triggered. As a result, safety in construction site areas can be further improved, particularly in avoiding leaving the designated lane.

[0035] According to a second aspect of the invention, a processing device for controlling a driver assistance system is provided, wherein the processing device is designed to perform the following steps: checking whether there is a highway exit or construction site on a first side of the vehicle; checking whether an environmental sensing mechanism of the vehicle identifies a lane marking, the lane marking defining the vehicle's lane towards a second side opposite the first side; if the check indicates that there is a highway exit or construction site on the first side of the vehicle and the environmental sensing mechanism identifies the lane marking, generating one or more commands to operate the lane keeping function of the driver assistance system; if the check indicates that there is a highway exit or construction site on the first side of the vehicle and the environmental sensing mechanism does not identify the lane marking, generating one or more commands to trigger a takeover request for the vehicle driver.

[0036] Based on the foregoing, the processing apparatus can be specifically designed to perform the method according to the first aspect of the invention. Therefore, features or advantages of the method can be transferred to the processing apparatus, and vice versa.

[0037] For example, the processing mechanism may include a programmable microcomputer or microcontroller, and the method may be in the form of a computer program product having program code segments. The computer program product may also be stored on a computer-readable data carrier.

[0038] The processing unit may be, for example, part of the vehicle's control system, which includes one or more processors (e.g., CPU and / or GPU) on which the necessary computational operations for performing the method are executed.

[0039] For example, a vehicle that is to operate its driver assistance system may have processing equipment according to the second aspect.

[0040] The vehicle preferably includes a drive motor and is a motor vehicle, particularly a road motor vehicle. The motor vehicle can be controlled in the longitudinal direction, for example, by influencing the drive motor or braking device.

[0041] Preferably, the vehicle is designed for at least partially automated driving, or even highly automated driving, or even autonomous driving. For example, driving functions within a driver assistance system can specifically enable automatic longitudinal and / or lateral control of the vehicle, such as in the form of speed assist or lane keeping assist.

[0042] The third aspect relates to a computer program including instructions that, when executed by a processing device (e.g., a processing device according to the second aspect of the invention), cause the processing device to perform the following steps: checking whether there is a highway exit or construction site on a first side of the vehicle; checking whether the vehicle's environmental sensing mechanism has detected lane markings that define the vehicle's lanes toward a second side opposite the first side; if the check indicates that there is a highway exit or construction site on the first side of the vehicle and the environmental sensing mechanism has detected lane markings, generating one or more commands to activate the lane-keeping function of the driver assistance system; and if the check indicates that there is a highway exit or construction site on the first side of the vehicle and the environmental sensing mechanism has not detected lane markings, generating one or more commands to trigger a takeover request for the vehicle's driver.

[0043] A fourth aspect of the invention relates to a computer-readable (storage) medium comprising instructions that, when executed by a processing device (e.g., a processing device according to a second aspect of the invention), cause the processing device to perform the following steps: checking whether there is a highway exit or construction site on a first side of the vehicle; checking whether an environmental sensing mechanism of the vehicle has detected lane markings that define the vehicle's lanes toward a second side opposite the first side; if the checks indicate that there is a highway exit or construction site on the first side of the vehicle and the environmental sensing mechanism has detected lane markings, generating one or more commands to activate the lane-keeping function of a driver assistance system; and if the checks indicate that there is a highway exit or construction site on the first side of the vehicle and the environmental sensing mechanism has not detected lane markings, generating one or more commands to trigger a takeover request for the vehicle's driver.

[0044] The above and below statements regarding the method according to the first aspect of the invention can also be applied, in a corresponding manner, to the processing apparatus according to the second aspect of the invention and to the computer program and computer-readable (storage) medium according to the third or fourth aspect of the invention. Advantageous embodiments of the processing apparatus according to the invention, the computer program according to the invention, and / or the computer-readable (storage) medium according to the invention, not explicitly described herein, correspond to the advantageous embodiments of the method according to the invention described in the specification, and vice versa. Attached Figure Description

[0045] The invention will now be explained in more detail with reference to embodiments and the accompanying drawings. Without departing from the scope of the invention, features and combinations thereof mentioned in the specification and / or shown separately in the drawings may be used not only in their respective specified combinations, but also in other combinations or individually.

[0046] Figure 1An example scenario with a highway exit is illustrated, in which the method according to the invention can be used.

[0047] Figure 2 An example of a highway construction site is illustrated, in which the method according to the invention can be used.

[0048] Figure 3 A schematic flowchart of a method for operating a driver assistance system according to the present invention is shown. Detailed Implementation

[0049] Figure 1 and Figure 2 The invention relates to relevant example scenarios in which the method 200 for a driver assistance system for operating a vehicle 105 according to the invention can be used. The invention is explained below by way of these example scenarios, wherein reference is also made to... Figure 3 , Figure 3 A schematic flowchart of the method 200 according to the present invention is shown.

[0050] The vehicle 105 shown is designed for autonomous driving, at least in terms of its inclusion of a driver assistance system with lane-keeping functionality. For this purpose, it must be able to determine its position, particularly relative to lane boundaries and any objects around the vehicle. The driving functions of the vehicle 105 can then be automatically controlled based on the determined position. These driving functions can induce automatic longitudinal and / or lateral control of the vehicle 105.

[0051] Vehicle 105 is equipped with an environmental sensing system, in which... Figure 1 and Figure 2 In this illustration, only the LiDAR sensor 1151 is shown as an example of the overall environmental sensing mechanism. Furthermore, the environmental sensing mechanism of vehicle 105 may preferably include one or more cameras and optionally one or more RADAR sensors. Additionally, a receiver for a global navigation satellite system (not explicitly shown) and / or an odometer for providing odometer data may be provided.

[0052] Furthermore, a processing unit 120 is arranged in the vehicle 105. The processing unit 120 may, for example, be part of a control system for the autonomous driving functions of the vehicle 105. In this case, the processing unit 120 includes one or more processors (e.g., CPU and / or GPU) that run necessary computational operations to perform the method 200 for operating the driver assistance system.

[0053] The steps of method 200 are as follows: Figure 3 This is illustrated schematically. See below for reference. Figure 1 and Figure 2Exemplary explanation Figure 3 Each method step 210-240 in the text.

[0054] exist Figure 1 In the scenario shown, vehicle 105 is traveling in the outer right lane F of a three-lane highway. The driver assistance system is designed to keep vehicle 105 on the highway as planned. Therefore, there is no indication that vehicle 105 should leave the highway.

[0055] exist Figure 2 In the example shown, vehicle 105 is traveling in the right lane F of a two-lane highway, where it should not be leaving.

[0056] In both cases, the first step in step 210 is to check whether there is a highway exit A or a construction site B on the first side of vehicle 105.

[0057] This inspection can be performed, for example, using digital map information and / or information provided by environmental sensing mechanism 1151. For instance, processing mechanism 20 or a software module executed by processing mechanism 20 can receive a digital map with corresponding information indicating the presence of highway exit A or construction site B. In this embodiment, such a digital map is provided by digital map memory 125, which is arranged in vehicle 105 and communicatively connected to processing mechanism 20.

[0058] According to Figure 1 In the example, the inspection indicates that highway exit A is on the right side of vehicle 105. This can be identified by processing unit 20, for example, using explicit information from a digital map, using road shapes characterizing highway exits, and / or using signs detected by environmental sensing unit 1151. For example, identifying lane marking 8 with a short dashed line on the right side of vehicle 105 (which typically separates the exit lane from lane F on the right) can also be useful here.

[0059] According to Figure 2 In the example, the inspection indicates that there is a construction site B on the right side of vehicle 105, which the processing unit 20 can identify, for example, using digital map information and / or using construction site signs or one or more construction site beacons detected by environmental sensing unit 1151.

[0060] Then, in subsequent step 220, it is checked whether the environmental sensing mechanism 1151 has identified the lane marking 7 with sufficient reliability, the lane marking 7 defining the lane F of vehicle 105 on the second side opposite to the first side.

[0061] This check could include, for example, a comparison of environmental sensor data with digital map information. In other words, it could check whether environmental sensor 1151 has identified the lane marking 7 expected based on the current digital map information on the second side (here, the left side) of vehicle 105.

[0062] For example, according to Figure 1 The example of check step 220 can indicate that the environmental sensing mechanism 1151 reliably identifies lane marking 7, which defines the rightmost lane F of the three regular lanes to the left, so that the driver assistance system can use it for orientation. Alternatively, however, the check result can also be negative, for example, if there is a camera error or the lane marking 7 is faded or not easily identifiable at present due to unfavorable viewing conditions of the environmental sensing mechanism 1151.

[0063] Reference Figure 2 For example, step 220 may indicate that the environmental sensing mechanism 1151 identifies the construction site on the right side of lane F, which deviates from the original lane route, as the currently valid left lane marking - or it may not identify it at all.

[0064] exist Figure 2 For illustrative reasons, dashed lines 7 and 8 indicate a deviated lane guide that passes construction site B on the left and forms a detour there. In practice, these lines could be, for example, yellow construction site lane markings 7 and 8, while the original lane markings could be white, which is particularly common on German motorways.

[0065] If steps 210 and 220 have indicated that there is a highway exit A or a construction site B on the right side of vehicle 105, and the environmental sensing mechanism 1151 identifies the corresponding valid lane marking 7 that defines lane F to the left, then the lane keeping function of the driver assistance system is operated in further step 230 or (if it has been operated before) continues to operate.

[0066] The lane-keeping function preferably refers to the lane marking 7 identified on the left, rather than (or at least not exclusively) to any other lane marking 8 that may be identified to define lane F to the right. (Reference based on...) Figure 1 For example, referring to the left lane boundary 7 can generally be considered more reliable than referring to the right lane marking 8, because in the latter case, if the environmental sensing mechanism 1151 does not correctly identify the transition from the initially solid right lane boundary 8 to the short dashed area, it will directly enter exit A along the right solid lane boundary.

[0067] For according to Figure 2 The construction site situation, referring to the original solid line at right lane boundary 8, also presents risks, namely, the failure to identify... Figure 2The intersection is marked with an "X," so vehicle 105 will continue along the original right lane boundary and directly enter construction site B. On the other hand, if the lane keeping function refers to the left lane boundary, although there is also a risk of missing the intersection in the area marked with a "Y," vehicle 105 may initially continue along the original dotted line; however, this error may occur later. Figure 2 The next intersection marked with a "Z" was identified and corrected.

[0068] On the other hand, if steps 210 and 220 indicate that there is a highway exit A or a construction site B on the right side of vehicle 105, and the environmental sensing mechanism 1151 does not identify a corresponding valid lane marking 7 defining lane F to the left, a take-over request (TOR) is sent to the driver of vehicle 105 in step 240. For example, an audible and / or visual cue is output, requiring the driver to quickly and at least partially manually take over control of vehicle 105. This TOR can be used to prepare for reliable deactivation of the driver assistance system or at least one driver assistance function of the driver assistance system.

[0069] According to a preferred embodiment, the driver assistance system or the driver assistance function of the driver assistance system is then automatically deactivated in subsequent steps.

[0070] If a construction site is identified, such as in accordance with Figure 2 As in the example, according to the favorable design variant, it can be additionally checked whether the environmental sensing mechanism 1151 also recognizes a valid (construction site-) lane marking 8, which defines (rerouting) lane F on the right side of the first side, i.e., the right side where construction site B is located.

[0071] If the above inspection steps 210, 220 and any additional inspection steps generally indicate that there is a construction site B on the first side (right side) of vehicle 105, and the environmental sensing mechanism 1151 identifies two lane markings 7, 8 that define lane F to the first side (right side) and the second side (left side), then the lane keeping function of the driver assistance system is (further) activated, as described above in conjunction with step 230.

[0072] On the other hand, if the inspection steps indicate that there is a construction site B on the first side of vehicle 105 and the environmental sensing mechanism 1151 does not identify lane marking 8 defining lane F to the first side (right side) or lane marking 7 defining lane F to the second side (left side), then TOR is triggered, and then at least part of the driver assistance system is deactivated as necessary, as described above in conjunction with step 240.

[0073] This design variation can further improve safety in the construction site area, particularly in preventing people from leaving the intended (rerouting) lane F.

Claims

1. A method (200) for a driver assistance system for operating a vehicle (105), comprising the following steps: Check whether there is a highway exit (A) or a construction site (B) on the first side of the vehicle (105). Check whether the environmental sensing mechanism (1151) of the vehicle (105) has detected a lane marking, which defines the lane (F) of the vehicle (105) facing a second side opposite to the first side. If the inspection indicates that there is a highway exit (A) or construction site (B) on the first side of the vehicle (105), and the environmental sensing mechanism (1151) identifies the lane markings, then the lane keeping function of the driver assistance system is activated; and If the inspection indicates that there is a highway exit (A) or construction site (B) on the first side of the vehicle (105) and the environmental sensing device (1151) does not recognize the lane markings, a takeover request for the driver of the vehicle (105) is triggered.

2. The method (200) according to claim 1, wherein, Use digital map information and / or information provided by the environmental sensing mechanism (1151) of the vehicle (105) to check whether there is a highway exit (A) or a construction site (B) on the first side of the vehicle (105).

3. The method (200) according to claim 2, wherein, Check whether there is a highway exit (A) or construction site (B) on the first side of the vehicle (105), while taking into account the road shape indicated in the digital map information and / or in the information provided by the environmental sensing mechanism (1151) of the vehicle (105).

4. The method (200) according to claim 2 or 3, wherein, Check whether there is a highway exit (A) or construction site (B) on the first side of the vehicle (105), while taking into account one or more traffic signs detected by means of the environmental sensing mechanism (1151) of the vehicle (105).

5. The method (200) according to claim 2 or 3, wherein, Check whether there is a highway exit (A) or construction site (B) on the first side of the vehicle (105), while taking into account lane markings detected by the environmental sensing mechanism (1151) of the vehicle (105).

6. The method (200) according to any one of claims 1 to 3, wherein, The lane keeping function of the driver assistance system operates in such a way that the lane keeping function refers to the lane markings (F) that are identified and face the second side.

7. The method (200) according to any one of claims 1 to 3, further comprising: Check whether the environmental sensing mechanism (1151) of the vehicle (105) has detected the lane markings, which are oriented toward the first side to define the lane (F) of the vehicle (105). If the inspection indicates the presence of a construction site (B) on the first side of the vehicle (105), and the environmental sensing mechanism (1151) identifies lane markings defining the lanes (F) towards the first and second sides, then the lane keeping function of the driver assistance system is activated; and If the inspection indicates that there is a construction site (B) on the first side of the vehicle (105), and the environmental sensing mechanism (1151) does not identify the lane markings that define the lane (F) toward the first side or the lane markings that define the lane (F) toward the second side, a takeover request for the driver of the vehicle (105) is triggered.

8. A processing device (120) for controlling a driver assistance system of a vehicle, wherein, The processing device (120) is designed to perform the following steps: Check whether there is a highway exit (A) or a construction site (B) on the first side of the vehicle (105). Check whether the environmental sensing mechanism (1151) of the vehicle (105) has detected a lane marking, which defines the lane (F) of the vehicle (105) facing a second side opposite to the first side. If the inspection indicates that there is a highway exit (A) or construction site (B) on the first side of the vehicle (105), and the environmental sensing mechanism (1151) identifies the lane markings, one or more commands are generated to activate the lane keeping function of the driver assistance system; and If the inspection indicates that there is a highway exit (A) or construction site (B) on the first side of the vehicle (105) and the environmental sensing mechanism (1151) does not recognize the lane markings, one or more commands are generated to trigger a takeover request for the driver of the vehicle (105).

9. A computer program product comprising instructions that, when executed by a processing device (120), cause the processing device to perform the following steps: Check if there is a highway exit (A) or construction site (B) on the first side of the vehicle (105). Check whether the environmental sensing mechanism (1151) of the vehicle (105) has detected a lane marking, which defines the lane (F) of the vehicle (105) facing a second side opposite to the first side. If the inspection indicates that there is a highway exit (A) or construction site (B) on the first side of the vehicle (105), and the environmental sensing mechanism (1151) identifies the lane markings, one or more commands are generated to activate the lane keeping function of the driver assistance system; and If the inspection indicates that there is a highway exit (A) or construction site (B) on the first side of the vehicle (105) and the environmental sensing mechanism (1151) does not recognize the lane markings, one or more commands are generated to trigger a takeover request for the driver of the vehicle (105).

10. A computer-readable storage medium comprising instructions that, when executed by a processing device (120), cause the processing device to perform the following steps: Check if there is a highway exit (A) or construction site (B) on the first side of the vehicle (105). Check whether the environmental sensing mechanism (1151) of the vehicle (105) has detected a lane marking, which defines the lane (F) of the vehicle (105) facing a second side opposite to the first side. If the inspection indicates that there is a highway exit (A) or construction site (B) on the first side of the vehicle (105), and the environmental sensing mechanism (1151) identifies the lane markings, one or more commands are generated to activate the lane keeping function of the driver assistance system; and If the inspection indicates that there is a highway exit (A) or construction site (B) on the first side of the vehicle (105) and the environmental sensing mechanism (1151) does not recognize the lane markings, one or more commands are generated to trigger a takeover request for the driver of the vehicle (105).

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